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

15 files changed, 193 insertions, 52 deletions

diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 212a92cfa..36af2298c 100644
--- a/src/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
-	led_on(LED_BLUE);
+	led_off(LED_BLUE);
 
 
 	/* Configure SPI-based devices */
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 59e90d86c..ac3bdc132 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1221,7 +1221,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver, attempt expansion bus first */
 	g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 220842536..8d9054a38 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1063,7 +1063,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 59ab5936e..c13b65d5a 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -969,7 +969,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new MS5611(MS5611_BUS);
diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
index 4befdc879..372b2d162 100644
--- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp
+++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
@@ -121,12 +121,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			warnx("is running\n");
+			exit(0);
 
 		} else {
 			warnx("not started\n");
+			exit(1);
 		}
 
-		exit(0);
 	}
 
 	usage("unrecognized command");
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index d1b941ffe..19c96e9f4 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tattitude_estimator_ekf app is running\n");
+			warnx("running");
+			exit(0);
 
 		} else {
-			printf("\tattitude_estimator_ekf app not started\n");
+			warnx("not started");
+			exit(1);
 		}
 
 		exit(0);
diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
index 2a06f1628..236052b56 100755
--- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
@@ -139,10 +139,12 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tattitude_estimator_so3_comp app is running\n");
+			warnx("running");
+			exit(0);
 
 		} else {
-			printf("\tattitude_estimator_so3_comp app not started\n");
+			warnx("not started");
+			exit(1);
 		}
 
 		exit(0);
diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c
index 50234a45e..bc9d24956 100644
--- a/src/modules/commander/accelerometer_calibration.c
+++ b/src/modules/commander/accelerometer_calibration.c
@@ -283,6 +283,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	hrt_abstime t = t_start;
 	hrt_abstime t_prev = t_start;
 	hrt_abstime t_still = 0;
+
+	unsigned poll_errcount = 0;
+
 	while (true) {
 		/* wait blocking for new data */
 		int poll_ret = poll(fds, 1, 1000);
@@ -327,12 +330,14 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 				}
 			}
 		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "ERROR: poll failure");
-			return -3;
+			poll_errcount++;
 		}
 		if (t > t_timeout) {
-			mavlink_log_info(mavlink_fd, "ERROR: timeout");
+			poll_errcount++;
+		}
+
+		if (poll_errcount > 1000) {
+			mavlink_log_info(mavlink_fd, "ERROR: failed reading accel");
 			return -1;
 		}
 	}
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 5f683c443..db8ee9067 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -413,12 +413,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	case 921600: speed = B921600; break;
 
 	default:
-		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
+		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
 		return -EINVAL;
 	}
 
 	/* open uart */
-	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
+	warnx("UART is %s, baudrate is %d\n", uart_name, baud);
 	uart = open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* Try to set baud rate */
@@ -426,37 +426,35 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	int termios_state;
 	*is_usb = false;
 
-	/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
-	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
-		/* Back up the original uart configuration to restore it after exit */
-		if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-			fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
-			close(uart);
-			return -1;
-		}
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	/* Fill the struct for the new configuration */
+	tcgetattr(uart, &uart_config);
 
-		/* Fill the struct for the new configuration */
-		tcgetattr(uart, &uart_config);
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
 
-		/* Clear ONLCR flag (which appends a CR for every LF) */
-		uart_config.c_oflag &= ~ONLCR;
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
 
 		/* Set baud rate */
 		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+			warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
 			close(uart);
 			return -1;
 		}
 
+	}
 
-		if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
-			close(uart);
-			return -1;
-		}
-
-	} else {
-		*is_usb = true;
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		close(uart);
+		return -1;
 	}
 
 	return uart;
@@ -748,8 +746,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	pthread_join(uorb_receive_thread, NULL);
 
 	/* Reset the UART flags to original state */
-	if (!usb_uart)
-		tcsetattr(uart, TCSANOW, &uart_config_original);
+	tcsetattr(uart, TCSANOW, &uart_config_original);
 
 	thread_running = false;
 
diff --git a/src/modules/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c
index d9416a08b..192195856 100644
--- a/src/modules/mavlink/mavlink_log.c
+++ b/src/modules/mavlink/mavlink_log.c
@@ -41,16 +41,20 @@
 
 #include <string.h>
 #include <stdlib.h>
+#include <stdio.h>
 #include <stdarg.h>
 
 #include <mavlink/mavlink_log.h>
 
+static FILE* text_recorder_fd = NULL;
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {
 	lb->size  = size;
 	lb->start = 0;
 	lb->count = 0;
 	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+	text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
 }
 
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
 		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
 		lb->start = (lb->start + 1) % lb->size;
 		--lb->count;
+
+		if (text_recorder_fd) {
+			fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
+			fputc("\n", text_recorder_fd);
+			fsync(text_recorder_fd);
+		}
+
 		return 0;
 
 	} else {
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 5e334638f..89d5cd374 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -139,14 +139,12 @@ public:
 private:
 	static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX;	/**< maximum number of r/c channels we handle */
 
-#if CONFIG_HRT_PPM
 	hrt_abstime	_ppm_last_valid;		/**< last time we got a valid ppm signal */
 
 	/**
 	 * Gather and publish PPM input data.
 	 */
 	void		ppm_poll();
-#endif
 
 	/* XXX should not be here - should be own driver */
 	int 		_fd_adc;			/**< ADC driver handle */
@@ -393,9 +391,7 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
-#ifdef CONFIG_HRT_PPM
 	_ppm_last_valid(0),
-#endif
 
 	_fd_adc(-1),
 	_last_adc(0),
@@ -1120,16 +1116,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 	}
 }
 
-#if CONFIG_HRT_PPM
 void
 Sensors::ppm_poll()
 {
 
 	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
-	bool rc_updated;
-	orb_check(_rc_sub, &rc_updated);
+	struct pollfd fds[1];
+	fds[0].fd = _rc_sub;
+	fds[0].events = POLLIN;
+	/* check non-blocking for new data */
+	int poll_ret = poll(fds, 1, 0);
 
-	if (rc_updated) {
+	if (poll_ret > 0) {
 		struct rc_input_values	rc_input;
 
 		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@@ -1316,7 +1314,6 @@ Sensors::ppm_poll()
 	}
 
 }
-#endif
 
 void
 Sensors::task_main_trampoline(int argc, char *argv[])
@@ -1429,10 +1426,8 @@ Sensors::task_main()
 		if (_publishing)
 			orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
 
-#ifdef CONFIG_HRT_PPM
 		/* Look for new r/c input data */
 		ppm_poll();
-#endif
 
 		perf_end(_loop_perf);
 	}
@@ -1472,7 +1467,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (sensors::g_sensors != nullptr)
-			errx(1, "sensors task already running");
+			errx(0, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;
 
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index fd0289c9a..b470c1227 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -47,4 +47,5 @@ SRCS		 = err.c \
 		   pid/pid.c \
 		   geo/geo.c \
 		   systemlib.c \
-		   airspeed.c
+		   airspeed.c \
+		   system_params.c
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
new file mode 100644
index 000000000..75be090f8
--- /dev/null
+++ b/src/modules/systemlib/system_params.c
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 system_params.c
+ *
+ * System wide parameters
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+// Auto-start script with index #n
+PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
+
+// Automatically configure default values
+PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 60e61d07b..40a9297a7 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -63,6 +63,7 @@ static void	do_import(const char* param_file_name);
 static void	do_show(const char* search_string);
 static void	do_show_print(void *arg, param_t param);
 static void	do_set(const char* name, const char* val);
+static void	do_compare(const char* name, const char* val);
 
 int
 param_main(int argc, char *argv[])
@@ -117,9 +118,17 @@ param_main(int argc, char *argv[])
 				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
 			}
 		}
+
+		if (!strcmp(argv[1], "compare")) {
+			if (argc >= 4) {
+				do_compare(argv[2], argv[3]);
+			} else {
+				errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
+			}
+		}
 	}
 	
-	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
+	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
 }
 
 static void
@@ -295,3 +304,65 @@ do_set(const char* name, const char* val)
 
 	exit(0);
 }
+
+static void
+do_compare(const char* name, const char* val)
+{
+	int32_t i;
+	float f;
+	param_t param = param_find(name);
+
+	/* set nothing if parameter cannot be found */
+	if (param == PARAM_INVALID) {
+		/* param not found */
+		errx(1, "Error: Parameter %s not found.", name);
+	}
+
+	/*
+	 * Set parameter if type is known and conversion from string to value turns out fine
+	 */
+
+	int ret = 1;
+
+	switch (param_type(param)) {
+	case PARAM_TYPE_INT32:
+		if (!param_get(param, &i)) {
+
+			/* convert string */
+			char* end;
+			int j = strtol(val,&end,10);
+			if (i == j) {
+				printf(" %d: ", i);
+				ret = 0;
+			}
+
+		}
+
+		break;
+
+	case PARAM_TYPE_FLOAT:
+		if (!param_get(param, &f)) {
+
+			/* convert string */
+			char* end;
+			float g = strtod(val, &end);
+			if (fabsf(f - g) < 1e-7f) {
+				printf(" %4.4f: ", (double)f);
+				ret = 0;	
+			}
+		}
+
+		break;
+
+	default:
+		errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
+	}
+
+	if (ret == 0) {
+		printf("%c %s: equal\n",
+		param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+		param_name(param));
+	}
+
+	exit(ret);
+}
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index 7752ffe67..d1dd85d47 100644
--- a/src/systemcmds/preflight_check/preflight_check.c
+++ b/src/systemcmds/preflight_check/preflight_check.c
@@ -135,6 +135,7 @@ int preflight_check_main(int argc, char *argv[])
 
 	close(fd);
 	fd = open(BARO_DEVICE_PATH, 0);
+	close(fd);
 
 	/* ---- RC CALIBRATION ---- */
 
@@ -251,6 +252,11 @@ system_eval:
 		int buzzer = open("/dev/tone_alarm", O_WRONLY);
 		int leds = open(LED_DEVICE_PATH, 0);
 
+		if (leds < 0) {
+			close(buzzer);
+			errx(1, "failed to open leds, aborting");
+		}
+
 		/* flip blue led into alternating amber */
 		led_off(leds, LED_BLUE);
 		led_off(leds, LED_AMBER);