Merge branch 'master' into mpc_rc

17 files changed, 116 insertions, 60 deletions

diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 524151c90..41942aacd 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -82,10 +82,12 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
 	_max_differential_pressure_pa(0),
 	_sensor_ok(false),
+	_last_published_sensor_ok(true), /* initialize differently to force publication */
 	_measure_ticks(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_pub(-1),
+	_subsys_pub(-1),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
 	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
@@ -149,8 +151,7 @@ Airspeed::init()
 	}
 
 	ret = OK;
-	/* sensor is ok, but we don't really know if it is within range */
-	_sensor_ok = true;
+
 out:
 	return ret;
 }
@@ -344,22 +345,6 @@ Airspeed::start()
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
-
-	/* notify about state change */
-	struct subsystem_info_s info = {
-		true,
-		true,
-		true,
-		SUBSYSTEM_TYPE_DIFFPRESSURE
-	};
-	static orb_advert_t pub = -1;
-
-	if (pub > 0) {
-		orb_publish(ORB_ID(subsystem_info), pub, &info);
-
-	} else {
-		pub = orb_advertise(ORB_ID(subsystem_info), &info);
-	}
 }
 
 void
@@ -369,11 +354,34 @@ Airspeed::stop()
 }
 
 void
+Airspeed::update_status()
+{
+	if (_sensor_ok != _last_published_sensor_ok) {
+		/* notify about state change */
+		struct subsystem_info_s info = {
+			true,
+			true,
+			_sensor_ok,
+			SUBSYSTEM_TYPE_DIFFPRESSURE
+		};
+
+		if (_subsys_pub > 0) {
+			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
+		} else {
+			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
+		}
+
+		_last_published_sensor_ok = _sensor_ok;
+	}
+}
+
+void
 Airspeed::cycle_trampoline(void *arg)
 {
 	Airspeed *dev = (Airspeed *)arg;
 
 	dev->cycle();
+	dev->update_status();
 }
 
 void
diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h
index 186602eda..0b8e949c9 100644
--- a/src/drivers/airspeed/airspeed.h
+++ b/src/drivers/airspeed/airspeed.h
@@ -118,14 +118,21 @@ protected:
 	virtual int	measure() = 0;
 	virtual int	collect() = 0;
 
+	/**
+	 * Update the subsystem status
+	 */
+	void update_status();
+
 	work_s			_work;
 	float			_max_differential_pressure_pa;
 	bool			_sensor_ok;
+	bool			_last_published_sensor_ok;
 	int			_measure_ticks;
 	bool			_collect_phase;
 	float			_diff_pres_offset;
 
 	orb_advert_t		_airspeed_pub;
+	orb_advert_t		_subsys_pub;
 
 	int			_class_instance;
 
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index d873a1132..146a06e7c 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -207,14 +207,18 @@ ETSAirspeed::collect()
 void
 ETSAirspeed::cycle()
 {
+	int ret;
+
 	/* collection phase? */
 	if (_collect_phase) {
 
 		/* perform collection */
-		if (OK != collect()) {
+		ret = collect();
+		if (OK != ret) {
 			perf_count(_comms_errors);
 			/* restart the measurement state machine */
 			start();
+			_sensor_ok = false;
 			return;
 		}
 
@@ -238,8 +242,12 @@ ETSAirspeed::cycle()
 	}
 
 	/* measurement phase */
-	if (OK != measure())
-		log("measure error");
+	ret = measure();
+	if (OK != ret) {
+		debug("measure error");
+	}
+
+	_sensor_ok = (ret == OK);
 
 	/* next phase is collection */
 	_collect_phase = true;
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index cb97354ec..cdc9d3106 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -715,7 +715,7 @@ HMC5883::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
+			debug("collection error");
 			/* restart the measurement state machine */
 			start();
 			return;
@@ -742,7 +742,7 @@ HMC5883::cycle()
 
 	/* measurement phase */
 	if (OK != measure())
-		log("measure error");
+		debug("measure error");
 
 	/* next phase is collection */
 	_collect_phase = true;
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 1ad383ee0..c0f3c28e0 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -288,13 +288,17 @@ MEASAirspeed::collect()
 void
 MEASAirspeed::cycle()
 {
+	int ret;
+
 	/* collection phase? */
 	if (_collect_phase) {
 
 		/* perform collection */
-		if (OK != collect()) {
+		ret = collect();
+		if (OK != ret) {
 			/* restart the measurement state machine */
 			start();
+			_sensor_ok = false;
 			return;
 		}
 
@@ -318,10 +322,13 @@ MEASAirspeed::cycle()
 	}
 
 	/* measurement phase */
-	if (OK != measure()) {
-		log("measure error");
+	ret = measure();
+	if (OK != ret) {
+		debug("measure error");
 	}
 
+	_sensor_ok = (ret == OK);
+
 	/* next phase is collection */
 	_collect_phase = true;
 
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index 12f80c4a3..c555a0a69 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL 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 +33,10 @@
 
 /**
  * @file CatapultLaunchMethod.cpp
- * Catpult Launch detection
+ * Catapult Launch detection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  *
- * Authors and acknowledgements in header.
  */
 
 #include "CatapultLaunchMethod.h"
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index 55c46ff3f..23757f6f3 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL 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.
  *
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
index bf539701b..3bf47bbb0 100644
--- a/src/lib/launchdetection/LaunchDetector.cpp
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -12,7 +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 ECL 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.
  *
@@ -30,12 +30,11 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-
 /**
  * @file launchDetection.cpp
  * Auto Detection for different launch methods (e.g. catapult)
  *
- * Authors and acknowledgements in header.
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include "LaunchDetector.h"
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
index 8066ebab3..1a214b66e 100644
--- a/src/lib/launchdetection/LaunchDetector.h
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL 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.
  *
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
index 01fa7050e..e04467f6a 100644
--- a/src/lib/launchdetection/LaunchMethod.h
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL 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.
  *
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index 45d7957f1..8df8c696c 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013, 2014 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
@@ -18,7 +17,7 @@
  *    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
+ * "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,
diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk
index 13648b74c..de0174e37 100644
--- a/src/lib/launchdetection/module.mk
+++ b/src/lib/launchdetection/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+#   Copyright (c) 2012, 2013, 2014 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
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index ad435b251..e49288a74 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -62,6 +62,12 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
+/**
+ * Use/Accept HIL GPS message (even if not in HIL mode)
+ * If set to 1 incomming HIL GPS messages are parsed.
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
 
 mavlink_system_t mavlink_system = {
 	100,
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 227e99b48..7ecca0d65 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -208,6 +208,7 @@ Mavlink::Mavlink() :
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
+	_use_hil_gps(false),
 	_is_usb_uart(false),
 	_wait_to_transmit(false),
 	_received_messages(false),
@@ -487,11 +488,13 @@ void Mavlink::mavlink_update_system(void)
 	static param_t param_system_id;
 	static param_t param_component_id;
 	static param_t param_system_type;
+	static param_t param_use_hil_gps;
 
 	if (!initialized) {
 		param_system_id = param_find("MAV_SYS_ID");
 		param_component_id = param_find("MAV_COMP_ID");
 		param_system_type = param_find("MAV_TYPE");
+		param_use_hil_gps = param_find("MAV_USEHILGPS");
 		initialized = true;
 	}
 
@@ -516,6 +519,11 @@ void Mavlink::mavlink_update_system(void)
 	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 		mavlink_system.type = system_type;
 	}
+
+	int32_t use_hil_gps;
+	param_get(param_use_hil_gps, &use_hil_gps);
+
+	_use_hil_gps = (bool)use_hil_gps;
 }
 
 int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 66d82b471..1bf51fd31 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -157,6 +157,8 @@ public:
 
 	bool		get_hil_enabled() { return _hil_enabled; }
 
+	bool		get_use_hil_gps() { return _use_hil_gps; }
+
 	bool		get_flow_control_enabled() { return _flow_control_enabled; }
 
 	bool		get_forwarding_on() { return _forwarding_on; }
@@ -223,6 +225,7 @@ private:
 
 	/* states */
 	bool		_hil_enabled;		/**< Hardware In the Loop mode */
+	bool		_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
 	bool		_is_usb_uart;		/**< Port is USB */
 	bool        _wait_to_transmit;  /**< Wait to transmit until received messages. */
 	bool        _received_messages; /**< Whether we've received valid mavlink messages. */
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 0762b76f2..33a4fef12 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -160,6 +160,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	 * The HIL mode is enabled by the HIL bit flag
 	 * in the system mode. Either send a set mode
 	 * COMMAND_LONG message or a SET_MODE message
+	 *
+	 * Accept HIL GPS messages if use_hil_gps flag is true.
+	 * This allows to provide fake gps measurements to the system.
 	 */
 	if (_mavlink->get_hil_enabled()) {
 		switch (msg->msgid) {
@@ -167,10 +170,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			handle_message_hil_sensor(msg);
 			break;
 
-		case MAVLINK_MSG_ID_HIL_GPS:
-			handle_message_hil_gps(msg);
-			break;
-
 		case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
 			handle_message_hil_state_quaternion(msg);
 			break;
@@ -180,7 +179,20 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		}
 	}
 
-	/* If we've received a valid message, mark the flag indicating so.
+
+   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
+		switch (msg->msgid) {
+		case MAVLINK_MSG_ID_HIL_GPS:
+			handle_message_hil_gps(msg);
+			break;
+
+		default:
+			break;
+		}
+
+	}
+	
+    /* If we've received a valid message, mark the flag indicating so.
 	   This is used in the '-w' command-line flag. */
 	_mavlink->set_has_received_messages(true);
 }
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 41e2148ac..a73599526 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1242,7 +1242,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 				}
 			}
 			_last_adc = t;
-			if (_battery_status.voltage_v > 0.0f) {
+			if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
 				/* announce the battery status if needed, just publish else */
 				if (_battery_pub > 0) {
 					orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
@@ -1527,12 +1527,10 @@ Sensors::task_main()
 
 	while (!_task_should_exit) {
 
-		/* wait for up to 100ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		/* wait for up to 50ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
 
-		/* timed out - periodic check for _task_should_exit, etc. */
-		if (pret == 0)
-			continue;
+		/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -1571,7 +1569,7 @@ Sensors::task_main()
 		perf_end(_loop_perf);
 	}
 
-	printf("[sensors] exiting.\n");
+	warnx("[sensors] exiting.");
 
 	_sensors_task = -1;
 	_exit(0);