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

9 files changed, 102 insertions, 16 deletions

diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 58273f2d2..c944007a5 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -86,6 +86,7 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_SDCARD	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
 
 #define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPI_BUS_EXT		2
 
 /*
  * Use these in place of the spi_dev_e enumeration to
@@ -98,7 +99,7 @@ __BEGIN_DECLS
 /*
  * Optional devices on IO's external port
  */
-#define PX4_SPIDEV_ACCEL_MAG 2
+#define PX4_SPIDEV_ACCEL_MAG	2
 
 /*
  * I2C busses
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index c2de1bfba..36eb7bec4 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -106,8 +106,11 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_EXT0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_SPI_CS_EXT1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
 
 #define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPI_BUS_EXT		4
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1
@@ -115,6 +118,10 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_BARO		3
 #define PX4_SPIDEV_MPU		4
 
+/* External bus */
+#define PX4_SPIDEV_EXT0		1
+#define PX4_SPIDEV_EXT1		2
+
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
 #define PX4_I2C_BUS_LED		2
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 71414d62c..bf41bb1fe 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -192,6 +192,7 @@ stm32_boardinitialize(void)
 
 static struct spi_dev_s *spi1;
 static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
 static struct sdio_dev_s *sdio;
 
 #include <math.h>
@@ -305,6 +306,17 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
 
+	spi4 = up_spiinitialize(4);
+
+	/* Default SPI4 to 1MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	SPI_SELECT(spi4, PX4_SPIDEV_EXT0, false);
+	SPI_SELECT(spi4, PX4_SPIDEV_EXT1, false);
+
+	message("[boot] Initialized SPI port 4\n");
+
 	#ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
 
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
index c66c490a7..01dbd6e77 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
@@ -94,6 +94,13 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_configgpio(GPIO_SPI_CS_FRAM);
 	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
+
+#ifdef CONFIG_STM32_SPI4
+	stm32_configgpio(GPIO_SPI_CS_EXT0);
+	stm32_configgpio(GPIO_SPI_CS_EXT1);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+#endif
 }
 
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
@@ -157,3 +164,31 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 	return SPI_STATUS_PRESENT;
 }
 #endif
+
+__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case PX4_SPIDEV_EXT0:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		break;
+
+	case PX4_SPIDEV_EXT1:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		break;
+
+	default:
+		break;
+
+	}
+}
+
+__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp
index 23ecd89ac..5db1adbb3 100644
--- a/src/modules/ekf_att_pos_estimator/estimator.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator.cpp
@@ -5,7 +5,7 @@
 // Define EKF_DEBUG here to enable the debug print calls
 // if the macro is not set, these will be completely
 // optimized out by the compiler.
-#define EKF_DEBUG
+//#define EKF_DEBUG
 
 #ifdef EKF_DEBUG
 #include <stdio.h>
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 28dd97fca..bb1ad86ef 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -415,7 +415,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
 void
 Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self)
 {
-	
+
 	Mavlink *inst;
 	LL_FOREACH(_mavlink_instances, inst) {
 		if (inst != self) {
@@ -886,7 +886,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
 
 	switch (mavlink_mission_item->command) {
 	case MAV_CMD_NAV_TAKEOFF:
-		mission_item->pitch_min = mavlink_mission_item->param2;
+		mission_item->pitch_min = mavlink_mission_item->param1;
 		break;
 
 	default:
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 2f45f2267..e1a6854b2 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -63,7 +63,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* Init if not done yet */
 	init();
@@ -76,24 +76,24 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 
-	return checkGeofence(dm_current, nMissionItems, geofence);
+	return  (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* Update fixed wing navigation capabilites */
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
 
-	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
+	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
 bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
@@ -109,7 +109,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 				return false;
 			}
 
-			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude
+			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) {
 				mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i);
 				return false;
 			}
@@ -119,6 +119,36 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	return true;
 }
 
+bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error)
+{
+	/* Check if all all waypoints are above the home altitude, only return false if bool throw_error = true */
+	for (size_t i = 0; i < nMissionItems; i++) {
+		static struct mission_item_s missionitem;
+		const ssize_t len = sizeof(struct mission_item_s);
+
+		if (dm_read(dm_current, i, &missionitem, len) != len) {
+			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
+			if (throw_error) {
+				return false;
+			} else	{
+				return true;
+			}
+		}
+
+		if (home_alt > missionitem.altitude) {
+			if (throw_error) {
+				mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
+				return false;
+			} else	{
+				mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
+				return true;
+			}
+		}
+	}
+
+	return true;
+}
+
 bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
 {
 	/* Go through all mission items and search for a landing waypoint
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index f98e28462..96c9209d3 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -61,14 +61,15 @@ private:
 
 	/* Checks for all airframes */
 	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);
 
 	/* Checks specific to fixedwing airframes */
-	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
 	void updateNavigationCapabilities();
 
 	/* Checks specific to rotarywing airframes */
-	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 public:
 
 	MissionFeasibilityChecker();
@@ -77,7 +78,7 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 
 };
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 87c893079..401d50f7e 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -519,7 +519,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
 
-		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
+		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence, _home_pos.alt);
 
 		_mission.set_offboard_dataman_id(offboard_mission.dataman_id);