Merge branch 'mpc_local_pos' into mpc_rc

10 files changed, 111 insertions, 48 deletions

diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index cf91f7030..e45939b37 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -46,6 +46,10 @@
 
 #define RANGE_FINDER_DEVICE_PATH	"/dev/range_finder"
 
+enum RANGE_FINDER_TYPE {
+	RANGE_FINDER_TYPE_LASER = 0,
+};
+
 /**
  * range finder report structure.  Reads from the device must be in multiples of this
  * structure.
@@ -53,8 +57,11 @@
 struct range_finder_report {
 	uint64_t timestamp;
 	uint64_t error_count;
-	float distance; 			/** in meters */
-	uint8_t valid;				/** 1 == within sensor range, 0 = outside sensor range */
+	unsigned type;				/**< type, following RANGE_FINDER_TYPE enum */
+	float distance; 			/**< in meters */
+	float minimum_distance;			/**< minimum distance the sensor can measure */
+	float maximum_distance;			/**< maximum distance the sensor can measure */
+	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
 };
 
 /*
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 03baf47fe..829d6884b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1057,7 +1057,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 
 			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
-			if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
+			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
 				status.condition_battery_voltage_valid = true;
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c
index 34d20e485..c132b0040 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -44,7 +44,9 @@
 #include <stdlib.h>
 #include <fcntl.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/err.h>
 #include <queue.h>
+#include <string.h>
 
 #include "dataman.h"
 
@@ -594,6 +596,20 @@ task_main(int argc, char *argv[])
 
 	sem_init(&g_work_queued_sema, 1, 0);
 
+	/* See if the data manage file exists and is a multiple of the sector size */
+	g_task_fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
+	if (g_task_fd >= 0) {
+		/* File exists, check its size */
+		int file_size = lseek(g_task_fd, 0, SEEK_END);
+		if ((file_size % k_sector_size) != 0) {
+			warnx("Incompatible data manager file %s, resetting it", k_data_manager_device_path);
+			close(g_task_fd);
+			unlink(k_data_manager_device_path);
+		}
+		else
+			close(g_task_fd);
+	}
+
 	/* Open or create the data manager file */
 	g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
 
@@ -603,7 +619,7 @@ task_main(int argc, char *argv[])
 		return -1;
 	}
 
-	if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
+	if ((unsigned)lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
 		close(g_task_fd);
 		warnx("Could not seek data manager file %s", k_data_manager_device_path);
 		sem_post(&g_init_sema); /* Don't want to hang startup */
@@ -776,4 +792,3 @@ dataman_main(int argc, char *argv[])
 
 	exit(1);
 }
-
diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h
index a70638ccc..33c9fcd15 100644
--- a/src/modules/dataman/dataman.h
+++ b/src/modules/dataman/dataman.h
@@ -79,7 +79,7 @@ extern "C" {
 	} dm_reset_reason;
 
 	/* Maximum size in bytes of a single item instance */
-	#define DM_MAX_DATA_SIZE 126
+	#define DM_MAX_DATA_SIZE 124
 
 	/* Retrieve from the data manager store */
 	__EXPORT ssize_t
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 2416a1264..a9f5f4de7 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1953,6 +1953,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult);
 		configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult);
 		configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult);
+		configure_stream("DISTANCE_SENSOR", 0.5f);
 		break;
 
 	case MAVLINK_MODE_CAMERA:
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 648228e3b..678ce1645 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -72,6 +72,7 @@
 #include <uORB/topics/navigation_capabilities.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_range_finder.h>
 
 #include "mavlink_messages.h"
 
@@ -270,7 +271,7 @@ protected:
 						status->load * 1000.0f,
 						status->battery_voltage * 1000.0f,
 						status->battery_current * 1000.0f,
-						status->battery_remaining,
+						status->battery_remaining * 100.0f,
 						status->drop_rate_comm,
 						status->errors_comm,
 						status->errors_count1,
@@ -1312,6 +1313,51 @@ protected:
 	}
 };
 
+class MavlinkStreamDistanceSensor : public MavlinkStream
+{
+public:
+	const char *get_name()
+	{
+		return "DISTANCE_SENSOR";
+	}
+
+	MavlinkStream *new_instance()
+	{
+		return new MavlinkStreamDistanceSensor();
+	}
+
+private:
+	MavlinkOrbSubscription *range_sub;
+	struct range_finder_report *range;
+
+protected:
+	void subscribe(Mavlink *mavlink)
+	{
+		range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
+		range = (struct range_finder_report *)range_sub->get_data();
+	}
+
+	void send(const hrt_abstime t)
+	{
+		(void)range_sub->update(t);
+
+		uint8_t type;
+
+		switch (range->type) {
+			case RANGE_FINDER_TYPE_LASER:
+			type = MAV_DISTANCE_SENSOR_LASER;
+			break;
+		}
+
+		uint8_t id = 0;
+		uint8_t orientation = 0;
+		uint8_t covariance = 20;
+
+		mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, 
+			range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
+	}
+};
+
 MavlinkStream *streams_list[] = {
 	new MavlinkStreamHeartbeat(),
 	new MavlinkStreamSysStatus(),
@@ -1338,6 +1384,7 @@ MavlinkStream *streams_list[] = {
 	new MavlinkStreamAttitudeControls(),
 	new MavlinkStreamNamedValueFloat(),
 	new MavlinkStreamCameraCapture(),
+	new MavlinkStreamDistanceSensor(),
 	new MavlinkStreamViconPositionEstimate(),
 	nullptr
 };
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index c44354ff0..dcca11977 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -47,4 +47,4 @@ SRCS		 += mavlink_main.cpp \
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
-MAXOPTIMIZATION		 = -Os
+MAXOPTIMIZATION	 = -Os
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index ca71aab70..56983a0c3 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -777,8 +777,8 @@ Navigator::task_main()
 		if (fds[1].revents & POLLIN) {
 			global_position_update();
 
-			/* publish position setpoint triplet on each position update if navigator active */
 			if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
+				/* publish position setpoint triplet on each position update if navigator active */
 				_pos_sp_triplet_updated = true;
 
 				if (myState == NAV_STATE_LAND && !_global_pos_valid) {
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 97be2ce4a..b74d4183b 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -908,9 +908,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 	hrt_abstime barometer_timestamp = 0;
 	hrt_abstime differential_pressure_timestamp = 0;
 
-	/* track changes in distance status */
-	bool dist_bottom_present = false;
-
 	/* enable logging on start if needed */
 	if (log_on_start) {
 		/* check GPS topic to get GPS time */
@@ -963,6 +960,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_STAT_MSG;
 			log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
 			log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
+			log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe_state;
 			log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
 			log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
 			log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
@@ -1099,6 +1097,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.x = buf.local_pos.x;
 			log_msg.body.log_LPOS.y = buf.local_pos.y;
 			log_msg.body.log_LPOS.z = buf.local_pos.z;
+			log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom;
+			log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate;
 			log_msg.body.log_LPOS.vx = buf.local_pos.vx;
 			log_msg.body.log_LPOS.vy = buf.local_pos.vy;
 			log_msg.body.log_LPOS.vz = buf.local_pos.vz;
@@ -1108,19 +1108,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
 			log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
 			log_msg.body.log_LPOS.landed = buf.local_pos.landed;
+			log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
 			LOGBUFFER_WRITE_AND_COUNT(LPOS);
-
-			if (buf.local_pos.dist_bottom_valid) {
-				dist_bottom_present = true;
-			}
-
-			if (dist_bottom_present) {
-				log_msg.msg_type = LOG_DIST_MSG;
-				log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
-				log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
-				log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
-				LOGBUFFER_WRITE_AND_COUNT(DIST);
-			}
 		}
 
 		/* --- LOCAL POSITION SETPOINT --- */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index a37437346..595a787d6 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -101,6 +101,8 @@ struct log_LPOS_s {
 	float x;
 	float y;
 	float z;
+	float ground_dist;
+	float ground_dist_rate;
 	float vx;
 	float vy;
 	float vz;
@@ -110,6 +112,7 @@ struct log_LPOS_s {
 	uint8_t xy_flags;
 	uint8_t z_flags;
 	uint8_t landed;
+	uint8_t ground_dist_flags;
 };
 
 /* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -151,6 +154,7 @@ struct log_ATTC_s {
 struct log_STAT_s {
 	uint8_t main_state;
 	uint8_t arming_state;
+	uint8_t failsafe_state;
 	float battery_remaining;
 	uint8_t battery_warning;
 	uint8_t landed;
@@ -340,30 +344,30 @@ struct log_PARM_s {
 /* construct list of all message formats */
 static const struct log_format_s log_formats[] = {
 	/* business-level messages, ID < 0x80 */
-	LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
-	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
-	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
-	LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
-	LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
-	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
-	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
-	LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
-	LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"),
-	LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
-	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
-	LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
-	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
-	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
-	LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
-	LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
-	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
-	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
-	LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
-	LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
-	LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
-	LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"),
-	LOG_FORMAT(PWR, "fffBBBBB", "Periph_5V,Servo_5V,RSSI,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC"),
-	LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
+	LOG_FORMAT(ATT, "fffffffff",		"Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
+	LOG_FORMAT(ATSP, "ffff",		"RollSP,PitchSP,YawSP,ThrustSP"),
+	LOG_FORMAT(IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	LOG_FORMAT(SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
+	LOG_FORMAT(LPOS, "ffffffffLLfBBBB",	"X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"),
+	LOG_FORMAT(LPSP, "ffff",		"X,Y,Z,Yaw"),
+	LOG_FORMAT(GPS, "QBffLLfffff",		"GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
+	LOG_FORMAT(ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
+	LOG_FORMAT(STAT, "BBBfBB",		"MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"),
+	LOG_FORMAT(RC, "ffffffffBB",		"Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
+	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
+	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
+	LOG_FORMAT(FLOW, "hhfffBB",		"RawX,RawY,CompX,CompY,Dist,Q,SensID"),
+	LOG_FORMAT(GPOS, "LLffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
+	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
+	LOG_FORMAT(ESC, "HBBBHHHHHHfH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
+	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
+	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
+	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
+	LOG_FORMAT(TELE, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
+	LOG_FORMAT(ESTM, "ffffffffffBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
+	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
+	LOG_FORMAT(VICN, "ffffff",		"X,Y,Z,Roll,Pitch,Yaw"),
 
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */