Merge branch 'master' of github.com:PX4/Firmware into fmuv2_bringup

25 files changed, 699 insertions, 141 deletions

diff --git a/src/drivers/md25/BlockSysIdent.cpp b/src/drivers/md25/BlockSysIdent.cpp
new file mode 100644
index 000000000..23b0724d8
--- /dev/null
+++ b/src/drivers/md25/BlockSysIdent.cpp
@@ -0,0 +1,8 @@
+#include "BlockSysIdent.hpp"
+
+BlockSysIdent::BlockSysIdent() :
+	Block(NULL, "SYSID"),
+	_freq(this, "FREQ"),
+	_ampl(this, "AMPL")
+{
+}
diff --git a/src/drivers/md25/BlockSysIdent.hpp b/src/drivers/md25/BlockSysIdent.hpp
new file mode 100644
index 000000000..270635f40
--- /dev/null
+++ b/src/drivers/md25/BlockSysIdent.hpp
@@ -0,0 +1,10 @@
+#include <controllib/block/Block.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+class BlockSysIdent : public control::Block {
+public:
+	BlockSysIdent();
+private:
+	control::BlockParam<float> _freq;
+	control::BlockParam<float> _ampl;
+};
diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp
index 71932ad65..d43e3aef9 100644
--- a/src/drivers/md25/md25.cpp
+++ b/src/drivers/md25/md25.cpp
@@ -45,9 +45,16 @@
 #include "md25.hpp"
 #include <poll.h>
 #include <stdio.h>
+#include <math.h>
+#include <string.h>
 
 #include <systemlib/err.h>
 #include <arch/board/board.h>
+#include <mavlink/mavlink_log.h>
+
+#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/topics/debug_key_value.h>
+#include <drivers/drv_hrt.h>
 
 // registers
 enum {
@@ -72,6 +79,9 @@ enum {
 	REG_COMMAND_RW,
 };
 
+// File descriptors
+static int mavlink_fd;
+
 MD25::MD25(const char *deviceName, int bus,
 	   uint16_t address, uint32_t speed) :
 	I2C("MD25", deviceName, bus, address, speed),
@@ -106,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus,
 	setMotor2Speed(0);
 	resetEncoders();
 	_setMode(MD25::MODE_UNSIGNED_SPEED);
-	setSpeedRegulation(true);
+	setSpeedRegulation(false);
+	setMotorAccel(10);
 	setTimeout(true);
 }
 
@@ -298,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address)
 	return OK;
 }
 
+int MD25::setMotorAccel(uint8_t accel)
+{
+	return _writeUint8(REG_ACCEL_RATE_RW,
+			   accel);
+}
+
 int MD25::setMotor1Speed(float value)
 {
 	return _writeUint8(REG_SPEED1_RW,
@@ -451,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
 	MD25 md25("/dev/md25", bus, address);
 
 	// print status
-	char buf[200];
+	char buf[400];
 	md25.status(buf, sizeof(buf));
 	printf("%s\n", buf);
 
 	// setup for test
-	md25.setSpeedRegulation(true);
+	md25.setSpeedRegulation(false);
 	md25.setTimeout(true);
 	float dt = 0.1;
 	float speed = 0.2;
@@ -550,4 +567,68 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
 	return 0;
 }
 
+int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
+{
+	printf("md25 sine: starting\n");
+
+	// setup
+	MD25 md25("/dev/md25", bus, address);
+
+	// print status
+	char buf[400];
+	md25.status(buf, sizeof(buf));
+	printf("%s\n", buf);
+
+	// setup for test
+	md25.setSpeedRegulation(false);
+	md25.setTimeout(true);
+	float dt = 0.01;
+	float t_final = 60.0;
+	float prev_revolution = md25.getRevolutions1();
+
+	// debug publication
+	control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
+			ORB_ID(debug_key_value));
+
+	// sine wave for motor 1
+	md25.resetEncoders();
+	while (true) {
+
+		// input
+		uint64_t timestamp = hrt_absolute_time();
+		float t = timestamp/1000000.0f;
+
+		float input_value = amplitude*sinf(2*M_PI*frequency*t);
+		md25.setMotor1Speed(input_value);
+
+		// output
+		md25.readData();
+		float current_revolution = md25.getRevolutions1();
+
+		// send input message
+		//strncpy(debug_msg.key, "md25 in   ", 10);
+		//debug_msg.timestamp_ms = 1000*timestamp;
+		//debug_msg.value = input_value;
+		//debug_msg.update();
+
+		// send output message
+		strncpy(debug_msg.key, "md25 out  ", 10);
+		debug_msg.timestamp_ms = 1000*timestamp;
+		debug_msg.value = current_revolution;
+		debug_msg.update();
+
+		if (t > t_final) break;
+
+		// update for next step
+		prev_revolution = current_revolution;
+
+		// sleep
+		usleep(1000000 * dt);
+	}
+	md25.setMotor1Speed(0);
+
+	printf("md25 sine complete\n");
+	return 0;
+}
+
 // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp
index e77511b16..1661f67f9 100644
--- a/src/drivers/md25/md25.hpp
+++ b/src/drivers/md25/md25.hpp
@@ -46,7 +46,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/block/UOrbSubscription.hpp>
+#include <controllib/uorb/UOrbSubscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -213,6 +213,19 @@ public:
 	int setDeviceAddress(uint8_t address);
 
 	/**
+	 * set motor acceleration
+	 * @param accel
+	 * controls motor speed change (1-10)
+	 * accel rate  | time for full fwd. to full rev.
+	 *  1          | 6.375 s
+	 *  2          | 1.6 s
+	 *  3          | 0.675 s
+	 *  5(default) | 1.275 s
+	 * 10          | 0.65 s
+	 */
+	int setMotorAccel(uint8_t accel);
+
+	/**
 	 * set motor 1 speed
 	 * @param normSpeed normalize speed between -1 and 1
 	 * @return non-zero -> error
@@ -290,4 +303,7 @@ private:
 // unit testing
 int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
 
+// sine testing
+int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
+
 // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index e62c46b0d..7e5904d05 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -82,7 +82,7 @@ usage(const char *reason)
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
 
-	fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
+	fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
 	exit(1);
 }
 
@@ -136,6 +136,28 @@ int md25_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "sine")) {
+
+		if (argc < 6) {
+			printf("usage: md25 sine bus address amp freq\n");
+			exit(0);
+		}
+
+		const char *deviceName = "/dev/md25";
+
+		uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+		uint8_t address = strtoul(argv[3], nullptr, 0);
+
+		float amplitude = atof(argv[4]);
+
+		float frequency = atof(argv[5]);
+
+		md25Sine(deviceName, bus, address, amplitude, frequency);
+
+		exit(0);
+	}
+
 	if (!strcmp(argv[1], "probe")) {
 		if (argc < 4) {
 			printf("usage: md25 probe bus address\n");
@@ -162,6 +184,29 @@ int md25_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "read")) {
+		if (argc < 4) {
+			printf("usage: md25 read bus address\n");
+			exit(0);
+		}
+
+		const char *deviceName = "/dev/md25";
+
+		uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+		uint8_t address = strtoul(argv[3], nullptr, 0);
+
+		MD25 md25(deviceName, bus, address);
+
+		// print status
+		char buf[400];
+		md25.status(buf, sizeof(buf));
+		printf("%s\n", buf);
+
+		exit(0);
+	}
+	
+
 	if (!strcmp(argv[1], "search")) {
 		if (argc < 3) {
 			printf("usage: md25 search bus\n");
@@ -246,7 +291,7 @@ int md25_thread_main(int argc, char *argv[])
 	uint8_t address = strtoul(argv[4], nullptr, 0);
 
 	// start
-	MD25 md25("/dev/md25", bus, address);
+	MD25 md25(deviceName, bus, address);
 
 	thread_running = true;
 
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
index 49d0d157d..f01ee0355 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
@@ -47,8 +47,8 @@
 #include <mathlib/mathlib.h>
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
-#include <controllib/block/UOrbSubscription.hpp>
-#include <controllib/block/UOrbPublication.hpp>
+#include <controllib/uorb/UOrbSubscription.hpp>
+#include <controllib/uorb/UOrbPublication.hpp>
 
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
index 5994d2315..b964d40a3 100644
--- a/src/modules/controllib/block/Block.cpp
+++ b/src/modules/controllib/block/Block.cpp
@@ -43,8 +43,8 @@
 
 #include "Block.hpp"
 #include "BlockParam.hpp"
-#include "UOrbSubscription.hpp"
-#include "UOrbPublication.hpp"
+#include "../uorb/UOrbSubscription.hpp"
+#include "../uorb/UOrbPublication.hpp"
 
 namespace control
 {
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index 7a785d12e..fefe99702 100644
--- a/src/modules/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
@@ -42,6 +42,7 @@
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
+#include <math.h>
 #include <mathlib/math/test/test.hpp>
 
 #include "block/Block.hpp"
diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk
index 13d1069c7..d815a8feb 100644
--- a/src/modules/controllib/module.mk
+++ b/src/modules/controllib/module.mk
@@ -37,7 +37,7 @@
 SRCS		 = test_params.c \
 		   block/Block.cpp \
 		   block/BlockParam.cpp \
-		   block/UOrbPublication.cpp \
-		   block/UOrbSubscription.cpp \
-		   blocks.cpp \
-		   fixedwing.cpp
+		   uorb/UOrbPublication.cpp \
+		   uorb/UOrbSubscription.cpp \
+		   uorb/blocks.cpp \
+		   blocks.cpp
diff --git a/src/modules/controllib/block/UOrbPublication.cpp b/src/modules/controllib/uorb/UOrbPublication.cpp
index f69b39d90..f69b39d90 100644
--- a/src/modules/controllib/block/UOrbPublication.cpp
+++ b/src/modules/controllib/uorb/UOrbPublication.cpp
diff --git a/src/modules/controllib/block/UOrbPublication.hpp b/src/modules/controllib/uorb/UOrbPublication.hpp
index 0a8ae2ff7..6f1f3fc1c 100644
--- a/src/modules/controllib/block/UOrbPublication.hpp
+++ b/src/modules/controllib/uorb/UOrbPublication.hpp
@@ -39,8 +39,8 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
+#include "../block/Block.hpp"
+#include "../block/List.hpp"
 
 
 namespace control
diff --git a/src/modules/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/uorb/UOrbSubscription.cpp
index 022cadd24..022cadd24 100644
--- a/src/modules/controllib/block/UOrbSubscription.cpp
+++ b/src/modules/controllib/uorb/UOrbSubscription.cpp
diff --git a/src/modules/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/uorb/UOrbSubscription.hpp
index 22cc2e114..d337d89a8 100644
--- a/src/modules/controllib/block/UOrbSubscription.hpp
+++ b/src/modules/controllib/uorb/UOrbSubscription.hpp
@@ -39,8 +39,8 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
+#include "../block/Block.hpp"
+#include "../block/List.hpp"
 
 
 namespace control
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp
new file mode 100644
index 000000000..448a42a99
--- /dev/null
+++ b/src/modules/controllib/uorb/blocks.cpp
@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 uorb_blocks.cpp
+ *
+ * uorb block library code
+ */
+
+#include "blocks.hpp"
+
+namespace control
+{
+
+BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_xtYawLimit(this, "XT2YAW"),
+	_xt2Yaw(this, "XT2YAW"),
+	_psiCmd(0)
+{
+}
+
+BlockWaypointGuidance::~BlockWaypointGuidance() {};
+
+void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
+				   vehicle_attitude_s &att,
+				   vehicle_global_position_setpoint_s &posCmd,
+				   vehicle_global_position_setpoint_s &lastPosCmd)
+{
+
+	// heading to waypoint
+	float psiTrack = get_bearing_to_next_waypoint(
+				 (double)pos.lat / (double)1e7d,
+				 (double)pos.lon / (double)1e7d,
+				 (double)posCmd.lat / (double)1e7d,
+				 (double)posCmd.lon / (double)1e7d);
+
+	// cross track
+	struct crosstrack_error_s xtrackError;
+	get_distance_to_line(&xtrackError,
+			     (double)pos.lat / (double)1e7d,
+			     (double)pos.lon / (double)1e7d,
+			     (double)lastPosCmd.lat / (double)1e7d,
+			     (double)lastPosCmd.lon / (double)1e7d,
+			     (double)posCmd.lat / (double)1e7d,
+			     (double)posCmd.lon / (double)1e7d);
+
+	_psiCmd = _wrap_2pi(psiTrack -
+			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
+}
+
+BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	// subscriptions
+	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
+	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
+	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
+	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
+	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
+	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
+	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
+	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
+	// publications
+	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
+{
+}
+
+BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
+
+} // namespace control
+
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp
new file mode 100644
index 000000000..9c0720aa5
--- /dev/null
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 uorb_blocks.h
+ *
+ * uorb block library code
+ */
+
+#pragma once
+
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_global_position_set_triplet.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <drivers/drv_hrt.h>
+#include <poll.h>
+
+extern "C" {
+#include <systemlib/geo/geo.h>
+}
+
+#include "../blocks.hpp"
+#include "UOrbSubscription.hpp"
+#include "UOrbPublication.hpp"
+
+namespace control
+{
+
+/**
+ * Waypoint Guidance block
+ */
+class __EXPORT BlockWaypointGuidance : public SuperBlock
+{
+private:
+	BlockLimitSym _xtYawLimit;
+	BlockP _xt2Yaw;
+	float _psiCmd;
+public:
+	BlockWaypointGuidance(SuperBlock *parent, const char *name);
+	virtual ~BlockWaypointGuidance();
+	void update(vehicle_global_position_s &pos,
+		    vehicle_attitude_s &att,
+		    vehicle_global_position_setpoint_s &posCmd,
+		    vehicle_global_position_setpoint_s &lastPosCmd);
+	float getPsiCmd() { return _psiCmd; }
+};
+
+/**
+ * UorbEnabledAutopilot
+ */
+class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
+{
+protected:
+	// subscriptions
+	UOrbSubscription<vehicle_attitude_s> _att;
+	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
+	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
+	UOrbSubscription<vehicle_global_position_s> _pos;
+	UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
+	UOrbSubscription<manual_control_setpoint_s> _manual;
+	UOrbSubscription<vehicle_status_s> _status;
+	UOrbSubscription<parameter_update_s> _param_update;
+	// publications
+	UOrbPublication<actuator_controls_s> _actuators;
+public:
+	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
+	virtual ~BlockUorbEnabledAutopilot();
+};
+
+} // namespace control
+
diff --git a/src/modules/controllib/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index 77b2ac806..f655a13bd 100644
--- a/src/modules/controllib/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -86,61 +86,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
 	_yawDamper.update(rCmd, r, outputScale);
 }
 
-BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
-	SuperBlock(parent, name),
-	_xtYawLimit(this, "XT2YAW"),
-	_xt2Yaw(this, "XT2YAW"),
-	_psiCmd(0)
-{
-}
-
-BlockWaypointGuidance::~BlockWaypointGuidance() {};
-
-void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
-				   vehicle_attitude_s &att,
-				   vehicle_global_position_setpoint_s &posCmd,
-				   vehicle_global_position_setpoint_s &lastPosCmd)
-{
-
-	// heading to waypoint
-	float psiTrack = get_bearing_to_next_waypoint(
-				 (double)pos.lat / (double)1e7d,
-				 (double)pos.lon / (double)1e7d,
-				 (double)posCmd.lat / (double)1e7d,
-				 (double)posCmd.lon / (double)1e7d);
-
-	// cross track
-	struct crosstrack_error_s xtrackError;
-	get_distance_to_line(&xtrackError,
-			     (double)pos.lat / (double)1e7d,
-			     (double)pos.lon / (double)1e7d,
-			     (double)lastPosCmd.lat / (double)1e7d,
-			     (double)lastPosCmd.lon / (double)1e7d,
-			     (double)posCmd.lat / (double)1e7d,
-			     (double)posCmd.lon / (double)1e7d);
-
-	_psiCmd = _wrap_2pi(psiTrack -
-			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
-}
-
-BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
-	SuperBlock(parent, name),
-	// subscriptions
-	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
-	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
-	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
-	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
-	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
-	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
-	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
-	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
-	// publications
-	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
-{
-}
-
-BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
-
 BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
 	BlockUorbEnabledAutopilot(parent, name),
 	_stabilization(this, ""), // no name needed, already unique
diff --git a/src/modules/controllib/fixedwing.hpp b/src/modules/fixedwing_backside/fixedwing.hpp
index e4028c40d..3876e4630 100644
--- a/src/modules/controllib/fixedwing.hpp
+++ b/src/modules/fixedwing_backside/fixedwing.hpp
@@ -39,31 +39,8 @@
 
 #pragma once
 
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_set_triplet.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/parameter_update.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
-#include <drivers/drv_hrt.h>
-#include <poll.h>
-
-#include "blocks.hpp"
-#include "block/UOrbSubscription.hpp"
-#include "block/UOrbPublication.hpp"
-
-extern "C" {
-#include <systemlib/geo/geo.h>
-}
+#include <controllib/blocks.hpp>
+#include <controllib/uorb/blocks.hpp>
 
 namespace control
 {
@@ -251,47 +228,6 @@ public:
  */
 
 /**
- * Waypoint Guidance block
- */
-class __EXPORT BlockWaypointGuidance : public SuperBlock
-{
-private:
-	BlockLimitSym _xtYawLimit;
-	BlockP _xt2Yaw;
-	float _psiCmd;
-public:
-	BlockWaypointGuidance(SuperBlock *parent, const char *name);
-	virtual ~BlockWaypointGuidance();
-	void update(vehicle_global_position_s &pos,
-		    vehicle_attitude_s &att,
-		    vehicle_global_position_setpoint_s &posCmd,
-		    vehicle_global_position_setpoint_s &lastPosCmd);
-	float getPsiCmd() { return _psiCmd; }
-};
-
-/**
- * UorbEnabledAutopilot
- */
-class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
-{
-protected:
-	// subscriptions
-	UOrbSubscription<vehicle_attitude_s> _att;
-	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
-	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
-	UOrbSubscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
-	UOrbSubscription<manual_control_setpoint_s> _manual;
-	UOrbSubscription<vehicle_status_s> _status;
-	UOrbSubscription<parameter_update_s> _param_update;
-	// publications
-	UOrbPublication<actuator_controls_s> _actuators;
-public:
-	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
-	virtual ~BlockUorbEnabledAutopilot();
-};
-
-/**
  * Multi-mode Autopilot
  */
 class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot
diff --git a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
index 4803a526e..f4ea05088 100644
--- a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
@@ -45,12 +45,13 @@
 #include <stdlib.h>
 #include <string.h>
 #include <systemlib/systemlib.h>
-#include <controllib/fixedwing.hpp>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
 
+#include "fixedwing.hpp"
+
 static bool thread_should_exit = false;     /**< Deamon exit flag */
 static bool thread_running = false;     /**< Deamon status flag */
 static int deamon_task;             /**< Handle of deamon task / thread */
diff --git a/src/modules/fixedwing_backside/module.mk b/src/modules/fixedwing_backside/module.mk
index ec958d7cb..133728781 100644
--- a/src/modules/fixedwing_backside/module.mk
+++ b/src/modules/fixedwing_backside/module.mk
@@ -38,4 +38,5 @@
 MODULE_COMMAND	= fixedwing_backside
 
 SRCS		= fixedwing_backside_main.cpp \
+		  fixedwing.cpp \
 		  params.c
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 3713e0b30..ba7cdd91c 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -604,6 +604,15 @@ int sdlog2_thread_main(int argc, char *argv[])
 		errx(1, "unable to create logging folder, exiting.");
 	}
 
+	const char *converter_in = "/etc/logging/conv.zip";
+	char* converter_out = malloc(150);
+	sprintf(converter_out, "%s/conv.zip", folder_path);
+
+	if (file_copy(converter_in, converter_out)) {
+		errx(1, "unable to copy conversion scripts, exiting.");
+	}
+	free(converter_out);
+
 	/* only print logging path, important to find log file later */
 	warnx("logging to directory: %s", folder_path);
 
@@ -1256,7 +1265,7 @@ int file_copy(const char *file_old, const char *file_new)
 	fclose(source);
 	fclose(target);
 
-	return ret;
+	return OK;
 }
 
 void handle_command(struct vehicle_command_s *cmd)
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
new file mode 100644
index 000000000..b1dc39445
--- /dev/null
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -0,0 +1,57 @@
+#include "BlockSegwayController.hpp"
+
+void BlockSegwayController::update() {
+	// wait for a sensor update, check for exit condition every 100 ms
+	if (poll(&_attPoll, 1, 100) < 0) return; // poll error
+
+	uint64_t newTimeStamp = hrt_absolute_time();
+	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
+	_timeStamp = newTimeStamp;
+
+	// check for sane values of dt
+	// to prevent large control responses
+	if (dt > 1.0f || dt < 0) return;
+
+	// set dt for all child blocks
+	setDt(dt);
+
+	// check for new updates
+	if (_param_update.updated()) updateParams();
+
+	// get new information from subscriptions
+	updateSubscriptions();
+
+	// default all output to zero unless handled by mode
+	for (unsigned i = 2; i < NUM_ACTUATOR_CONTROLS; i++)
+		_actuators.control[i] = 0.0f;
+
+	// only update guidance in auto mode
+	if (_status.state_machine == SYSTEM_STATE_AUTO) {
+		// update guidance
+	}
+
+	// compute speed command
+	float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed);
+
+	// handle autopilot modes
+	if (_status.state_machine == SYSTEM_STATE_AUTO ||
+	    _status.state_machine == SYSTEM_STATE_STABILIZED) {
+		_actuators.control[0] = spdCmd;
+		_actuators.control[1] = spdCmd;
+
+	} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
+		if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+			_actuators.control[CH_LEFT] = _manual.throttle;
+			_actuators.control[CH_RIGHT] = _manual.pitch;
+
+		} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+			_actuators.control[0] = spdCmd;
+			_actuators.control[1] = spdCmd;
+		}
+	}
+
+	// update all publications
+	updatePublications();
+
+}
+
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
new file mode 100644
index 000000000..4a01f785c
--- /dev/null
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <controllib/uorb/blocks.hpp>
+
+using namespace control;
+
+class BlockSegwayController : public control::BlockUorbEnabledAutopilot {
+public:
+	BlockSegwayController() :
+		BlockUorbEnabledAutopilot(NULL,"SEG"),
+		th2v(this, "TH2V"),
+		q2v(this, "Q2V"),
+		_attPoll(),
+		_timeStamp(0)
+	{
+		_attPoll.fd = _att.getHandle();
+		_attPoll.events = POLLIN;
+	}
+	void update();
+private:
+	enum {CH_LEFT, CH_RIGHT};
+	BlockPI th2v;
+	BlockP q2v;
+	struct pollfd _attPoll;
+	uint64_t _timeStamp;
+};
+
diff --git a/src/modules/segway/module.mk b/src/modules/segway/module.mk
new file mode 100644
index 000000000..d5da85601
--- /dev/null
+++ b/src/modules/segway/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 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.
+#
+############################################################################
+
+#
+# segway controller
+#
+
+MODULE_COMMAND	= segway
+
+SRCS		= segway_main.cpp \
+		  BlockSegwayController.cpp \
+		  params.c
diff --git a/src/modules/segway/params.c b/src/modules/segway/params.c
new file mode 100644
index 000000000..d72923717
--- /dev/null
+++ b/src/modules/segway/params.c
@@ -0,0 +1,8 @@
+#include <systemlib/param/param.h>
+
+// 16 is max name length
+PARAM_DEFINE_FLOAT(SEG_TH2V_P, 10.0f); // pitch to voltage
+PARAM_DEFINE_FLOAT(SEG_TH2V_I, 0.0f); // pitch integral to voltage
+PARAM_DEFINE_FLOAT(SEG_TH2V_I_MAX, 0.0f); // integral limiter
+PARAM_DEFINE_FLOAT(SEG_Q2V, 1.0f); // pitch rate to voltage
+
diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp
new file mode 100644
index 000000000..061fbf9b9
--- /dev/null
+++ b/src/modules/segway/segway_main.cpp
@@ -0,0 +1,157 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: James Goppert
+ *
+ * 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 segway_main.cpp
+ * @author James Goppert
+ *
+ * Segway controller using control library
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <math.h>
+
+#include "BlockSegwayController.hpp"
+
+static bool thread_should_exit = false;     /**< Deamon exit flag */
+static bool thread_running = false;     /**< Deamon status flag */
+static int deamon_task;             /**< Handle of deamon task / thread */
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int segway_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int segway_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: segway {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int segway_main(int argc, char *argv[])
+{
+
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("already running");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+
+		deamon_task = task_spawn_cmd("segway",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 10,
+					 5120,
+					 segway_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("is running");
+
+		} else {
+			warnx("not started");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int segway_thread_main(int argc, char *argv[])
+{
+
+	warnx("starting");
+
+	using namespace control;
+
+	BlockSegwayController autopilot;
+
+	thread_running = true;
+
+	while (!thread_should_exit) {
+		autopilot.update();
+	}
+
+	warnx("exiting.");
+
+	thread_running = false;
+
+	return 0;
+}