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

9 files changed, 70 insertions, 39 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index aec6dd3b7..3c3b59862 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -529,6 +529,11 @@ PX4IO::~PX4IO()
 	if (_interface != nullptr)
 		delete _interface;
 
+	/* deallocate perfs */
+	perf_free(_perf_update);
+	perf_free(_perf_write);
+	perf_free(_perf_chan_count);
+
 	g_dev = nullptr;
 }
 
@@ -1448,7 +1453,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	/* we don't have the status bits, so input_source has to be set elsewhere */
 	input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
 
-	static const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
+	const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
 	uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
 
 	/*
@@ -1456,8 +1461,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 *
 	 * This should be the common case (9 channel R/C control being a reasonable upper bound).
 	 */
-	input_rc.timestamp_publication = hrt_absolute_time();
-
 	ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
 
 	if (ret != OK)
@@ -1469,23 +1472,38 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 */
 	channel_count = regs[PX4IO_P_RAW_RC_COUNT];
 
-	if (channel_count != _rc_chan_count)
+	/* limit the channel count */
+	if (channel_count > RC_INPUT_MAX_CHANNELS) {
+		channel_count = RC_INPUT_MAX_CHANNELS;
+	}
+
+	/* count channel count changes to identify signal integrity issues */
+	if (channel_count != _rc_chan_count) {
 		perf_count(_perf_chan_count);
+	}
 
 	_rc_chan_count = channel_count;
 
+	input_rc.timestamp_publication = hrt_absolute_time();
+
 	input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
 	input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
 	input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+	input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
 	input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
 	input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
+	input_rc.channel_count = channel_count;
 
 	/* rc_lost has to be set before the call to this function */
-	if (!input_rc.rc_lost && !input_rc.rc_failsafe)
+	if (!input_rc.rc_lost && !input_rc.rc_failsafe) {
 		_rc_last_valid = input_rc.timestamp_publication;
+	}
 
 	input_rc.timestamp_last_signal = _rc_last_valid;
 
+	/* FIELDS NOT SET HERE */
+	/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
+
 	if (channel_count > 9) {
 		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
 
@@ -1493,8 +1511,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 			return ret;
 	}
 
-	input_rc.channel_count = channel_count;
-	memcpy(input_rc.values, &regs[prolog], channel_count * 2);
+	/* last thing set are the actual channel values as 16 bit values */
+	for (unsigned i = 0; i < channel_count; i++) {
+		input_rc.values[i] = regs[prolog + i];
+	}
 
 	return ret;
 }
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
index 554dfcb08..27ca5c182 100644
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@@ -47,3 +47,7 @@ SRCS		 	= commander.cpp \
 			baro_calibration.cpp \
 			rc_calibration.cpp \
 			airspeed_calibration.cpp
+
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 56c5aa005..62e6b12cb 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -291,6 +291,7 @@ controls_tick() {
 
 		/* set RC OK flag, as we got an update */
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+		r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;
 
 		/* if we have enough channels (5) to control the vehicle, the mapping is ok */
 		if (assigned_channels > 4) {
@@ -336,6 +337,9 @@ controls_tick() {
 			PX4IO_P_STATUS_FLAGS_OVERRIDE |
 			PX4IO_P_STATUS_FLAGS_RC_OK);
 
+		/* flag raw RC as lost */
+		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
+
 		/* Mark all channels as invalid, as we just lost the RX */
 		r_rc_valid = 0;
 
@@ -405,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 		if (*num_values > PX4IO_RC_INPUT_CHANNELS)
 			*num_values = PX4IO_RC_INPUT_CHANNELS;
 
-		for (unsigned i = 0; i < *num_values; i++)
+		for (unsigned i = 0; i < *num_values; i++) {
 			values[i] = ppm_buffer[i];
+		}
 
 		/* clear validity */
 		ppm_last_valid_decode = 0;
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 6c20d6006..91975f2a0 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -142,6 +142,7 @@
 #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE		(1 << 1) /* receiver is in failsafe mode */
 #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11		(1 << 2) /* DSM decoding is 11 bit mode */
 #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK		(1 << 3) /* Channel mapping is ok */
+#define PX4IO_P_RAW_RC_FLAGS_RC_OK		(1 << 4) /* RC reception ok */
 
 #define PX4IO_P_RAW_RC_NRSSI			2	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
 #define PX4IO_P_RAW_RC_DATA			3	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c
index 6a4e9392a..45f218a5b 100644
--- a/src/modules/systemlib/pid/pid.c
+++ b/src/modules/systemlib/pid/pid.c
@@ -53,7 +53,7 @@
 
 #define SIGMA 0.000001f
 
-__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min)
+__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min)
 {
 	pid->mode = mode;
 	pid->dt_min = dt_min;
diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index e34be44e3..a3f9dffff 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -142,12 +142,9 @@ struct at24c_dev_s {
 	uint16_t              pagesize; /* 32, 63 */
 	uint16_t              npages;   /* 128, 256, 512, 1024 */
 
-	perf_counter_t        perf_reads;
-	perf_counter_t        perf_writes;
-	perf_counter_t        perf_resets;
-	perf_counter_t        perf_read_retries;
-	perf_counter_t        perf_read_errors;
-	perf_counter_t        perf_write_errors;
+	perf_counter_t        perf_transfers;
+	perf_counter_t        perf_resets_retries;
+	perf_counter_t        perf_errors;
 };
 
 /************************************************************************************
@@ -298,9 +295,9 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
 
 		for (;;) {
 
-			perf_begin(priv->perf_reads);
+			perf_begin(priv->perf_transfers);
 			ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
-			perf_end(priv->perf_reads);
+			perf_end(priv->perf_transfers);
 
 			if (ret >= 0)
 				break;
@@ -314,10 +311,10 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
 			 * XXX maybe do special first-read handling with optional
 			 * bus reset as well?
 			 */
-			perf_count(priv->perf_read_retries);
+			perf_count(priv->perf_resets_retries);
 
 			if (--tries == 0) {
-				perf_count(priv->perf_read_errors);
+				perf_count(priv->perf_errors);
 				return ERROR;
 			}
 		}
@@ -383,9 +380,9 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
 
 		for (;;) {
 
-			perf_begin(priv->perf_writes);
+			perf_begin(priv->perf_transfers);
 			ret = I2C_TRANSFER(priv->dev, &msgv[0], 1);
-			perf_end(priv->perf_writes);
+			perf_end(priv->perf_transfers);
 
 			if (ret >= 0)
 				break;
@@ -397,7 +394,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
 			 * poll for write completion.
 			 */
 			if (--tries == 0) {
-				perf_count(priv->perf_write_errors);
+				perf_count(priv->perf_errors);
 				return ERROR;
 			}
 		}
@@ -521,12 +518,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
 		priv->mtd.ioctl  = at24c_ioctl;
 		priv->dev        = dev;
 
-		priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read");
-		priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write");
-		priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset");
-		priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries");
-		priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors");
-		priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors");
+		priv->perf_transfers = perf_alloc(PC_ELAPSED, "eeprom_trans");
+		priv->perf_resets_retries = perf_alloc(PC_COUNT, "eeprom_rst");
+		priv->perf_errors = perf_alloc(PC_COUNT, "eeprom_errs");
 	}
 
 	/* attempt to read to validate device is present */
@@ -548,9 +542,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
 		}
 	};
 
-	perf_begin(priv->perf_reads);
+	perf_begin(priv->perf_transfers);
 	int ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
-	perf_end(priv->perf_reads);
+	perf_end(priv->perf_transfers);
 
 	if (ret < 0) {
 		return NULL;
diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
index a48588535..fe79ec3b7 100644
--- a/src/systemcmds/nshterm/module.mk
+++ b/src/systemcmds/nshterm/module.mk
@@ -38,4 +38,4 @@
 MODULE_COMMAND	 = nshterm
 SRCS		 = nshterm.c
 
-MODULE_STACKSIZE = 3000
+MODULE_STACKSIZE = 1500
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 984d19bd9..d92ee88ef 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -61,7 +61,7 @@ static void	do_load(const char* param_file_name);
 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_set(const char* name, const char* val, bool fail_on_not_found);
 static void	do_compare(const char* name, const char* vals[], unsigned comparisons);
 static void	do_reset();
 
@@ -117,10 +117,17 @@ param_main(int argc, char *argv[])
 		}
 
 		if (!strcmp(argv[1], "set")) {
-			if (argc >= 4) {
-				do_set(argv[2], argv[3]);
+			if (argc >= 5) {
+
+				/* if the fail switch is provided, fails the command if not found */
+				bool fail = !strcmp(argv[4], "fail");
+
+				do_set(argv[2], argv[3], fail);
+
+			} else if (argc >= 4) {
+				do_set(argv[2], argv[3], false);
 			} else {
-				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
+				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
 			}
 		}
 
@@ -282,7 +289,7 @@ do_show_print(void *arg, param_t param)
 }
 
 static void
-do_set(const char* name, const char* val)
+do_set(const char* name, const char* val, bool fail_on_not_found)
 {
 	int32_t i;
 	float f;
@@ -290,8 +297,8 @@ do_set(const char* name, const char* val)
 
 	/* set nothing if parameter cannot be found */
 	if (param == PARAM_INVALID) {
-		/* param not found */
-		errx(1, "Error: Parameter %s not found.", name);
+		/* param not found - fail silenty in scripts as it prevents booting */
+		errx(((fail_on_not_found) ? 1 : 0), "Error: Parameter %s not found.", name);
 	}
 
 	printf("%c %s: ",
diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk
index 9239aafc3..985ea846f 100644
--- a/src/systemcmds/top/module.mk
+++ b/src/systemcmds/top/module.mk
@@ -38,7 +38,7 @@
 MODULE_COMMAND	 = top
 SRCS		 = top.c
 
-MODULE_STACKSIZE = 3000
+MODULE_STACKSIZE = 2048
 
 MAXOPTIMIZATION	 = -Os