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

5 files changed, 55 insertions, 17 deletions

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index bef8a5a55..9c552515d 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1339,22 +1339,23 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
-		(void)range_sub->update(t);
+		if (range_sub->update(t)) {
 
-		uint8_t type;
+			uint8_t type;
 
-		switch (range->type) {
-			case RANGE_FINDER_TYPE_LASER:
-			type = MAV_DISTANCE_SENSOR_LASER;
-			break;
-		}
+			switch (range->type) {
+				case RANGE_FINDER_TYPE_LASER:
+				type = MAV_DISTANCE_SENSOR_LASER;
+				break;
+			}
 
-		uint8_t id = 0;
-		uint8_t orientation = 0;
-		uint8_t covariance = 20;
+			uint8_t id = 0;
+			uint8_t orientation = 0;
+			uint8_t covariance = 20;
 
-		mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
-			range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
+			mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
+				range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
+		}
 	}
 };
 
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 9558198f3..ebf4f3e8e 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -254,10 +254,25 @@ mixer_tick(void)
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servos[i]);
 
+		/* set S.BUS1 or S.BUS2 outputs */
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
+		} else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+		}
+
 	} else if (mixer_servos_armed && should_always_enable_pwm) {
 		/* set the disarmed servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
+
+		/* set S.BUS1 or S.BUS2 outputs */
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
 	}
 }
 
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 4db948484..ca175bfbc 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -219,6 +219,8 @@ extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
 extern void	dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
 extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
+extern bool	sbus1_output(uint16_t *values, uint16_t num_values);
+extern bool	sbus2_output(uint16_t *values, uint16_t num_values);
 
 /** global debug level for isr_debug() */
 extern volatile uint8_t debug_level;
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 9e5d7e7e2..fd7c6081f 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -463,9 +463,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			#ifdef ENABLE_SBUS_OUT
 			ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT));
 
-			/* disable the conflicting options */
-			if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
-				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI);
+			/* disable the conflicting options with SBUS 1 */
+			if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) {
+				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
+					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
+					PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
+			}
+
+			/* disable the conflicting options with SBUS 2 */
+			if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
+				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
+					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
+					PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
 			}
 			#endif
 
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index f6ec542eb..0e7dc621c 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -93,7 +93,7 @@ int
 sbus_init(const char *device)
 {
 	if (sbus_fd < 0)
-		sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
+		sbus_fd = open(device, O_RDWR | O_NONBLOCK);
 
 	if (sbus_fd >= 0) {
 		struct termios t;
@@ -113,11 +113,22 @@ sbus_init(const char *device)
 	} else {
 		debug("S.Bus: open failed");
 	}
-
 	return sbus_fd;
 }
 
 bool
+sbus1_output(uint16_t *values, uint16_t num_values)
+{
+	write(sbus_fd, 'A', 1);
+}
+
+bool
+sbus2_output(uint16_t *values, uint16_t num_values)
+{
+	write(sbus_fd, 'B', 1);
+}
+
+bool
 sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
 {
 	ssize_t		ret;