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

5 files changed, 62 insertions, 3 deletions

diff --git a/src/lib/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp
index 38400beef..d28966fca 100644
--- a/src/lib/mathlib/math/Quaternion.hpp
+++ b/src/lib/mathlib/math/Quaternion.hpp
@@ -116,6 +116,35 @@ public:
 	}
 
 	/**
+	 * inverse of quaternion
+	 */
+	math::Quaternion inverse() {
+		Quaternion res;
+		memcpy(res.data,data,sizeof(res.data));
+		res.data[1] = -res.data[1];
+		res.data[2] = -res.data[2];
+		res.data[3] = -res.data[3];
+		return res;
+	}
+
+
+	/**
+	* rotate vector by quaternion
+	*/
+	Vector<3> rotate(const Vector<3> &w) {
+		Quaternion q_w;	// extend vector to quaternion
+		Quaternion q = {data[0],data[1],data[2],data[3]};
+		Quaternion q_rotated;	// quaternion representation of rotated vector
+		q_w(0) = 0;
+		q_w(1) = w.data[0];
+		q_w(2) = w.data[1];
+		q_w(3) = w.data[2];
+		q_rotated = q*q_w*q.inverse();
+		Vector<3> res = {q_rotated.data[1],q_rotated.data[2],q_rotated.data[3]};
+		return res;
+	}
+
+	/**
 	 * set quaternion to rotation defined by euler angles
 	 */
 	void from_euler(float roll, float pitch, float yaw) {
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 74ebe0ae4..f832f761e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -966,7 +966,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	pthread_attr_t commander_low_prio_attr;
 	pthread_attr_init(&commander_low_prio_attr);
-	pthread_attr_setstacksize(&commander_low_prio_attr, 2600);
+	pthread_attr_setstacksize(&commander_low_prio_attr, 2400);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 0132a3193..f8e819ce7 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1621,7 +1621,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2700,
+		       2400,
 		       (main_t)&Mavlink::start_helper,
 		       (char * const *)argv);
 
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index f9d30dcbe..e82b8bd93 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -51,7 +51,7 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
 MAXOPTIMIZATION	 = -Os
 
-MODULE_STACKSIZE = 1024
+MODULE_STACKSIZE = 1200
 
 EXTRACXXFLAGS	= -Weffc++ -Wno-attributes -Wno-packed
 
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 5ec678033..272e4b14f 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -994,6 +994,36 @@ PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124);	/* scaling for 3DR power brick */
 
 
 /**
+ * RC channel count
+ *
+ * This parameter is used by Ground Station software to save the number
+ * of channels which were used during RC calibration. It is only meant
+ * for ground station use.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+
+PARAM_DEFINE_INT32(RC_CHAN_CNT, 0);
+
+/**
+ * RC mode switch threshold automaic distribution
+ *
+ * This parameter is used by Ground Station software to specify whether
+ * the threshold values for flight mode switches were automatically calculated.
+ * 0 indicates that the threshold values were set by the user. Any other value
+ * indicates that the threshold value where automatically set by the ground
+ * station software. It is only meant for ground station use.
+ *
+ * @min 0
+ * @max 1
+ * @group Radio Calibration
+ */
+
+PARAM_DEFINE_INT32(RC_TH_USER, 1);
+
+/**
  * Roll control channel mapping.
  *
  * The channel index (starting from 1 for channel 1) indicates