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

5 files changed, 26 insertions, 17 deletions

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 84815fdfb..5aff6825b 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -95,6 +95,11 @@ __BEGIN_DECLS
 #define PWM_LOWEST_MAX 1700
 
 /**
+ * Do not output a channel with this value
+ */
+#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
+
+/**
  * Servo output signal type, value is actual servo output pulse
  * width in microseconds.
  */
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 82977a032..122a3cd17 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -1272,7 +1272,9 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
 	memcpy(values, buffer, count * 2);
 
 	for (uint8_t i = 0; i < count; i++) {
-		up_pwm_servo_set(i, values[i]);
+		if (values[i] != PWM_IGNORE_THIS_CHANNEL) {
+			up_pwm_servo_set(i, values[i]);
+		}
 	}
 
 	return count * 2;
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index c555a0a69..9d479832f 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -66,10 +66,10 @@ void CatapultLaunchMethod::update(float accel_x)
 	last_timestamp = hrt_absolute_time();
 
 	if (accel_x > threshold_accel.get()) {
-		integrator += accel_x * dt;
+		integrator += dt;
 //		warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
 //				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
-		if (integrator > threshold_accel.get() * threshold_time.get()) {
+		if (integrator > threshold_time.get()) {
 			launchDetected = true;
 		}
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 5a92004a6..a2f3828ff 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -886,8 +886,8 @@ protected:
 			msg.eph = cm_uint16_from_m_float(gps.eph);
 			msg.epv = cm_uint16_from_m_float(gps.epv);
 			msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
-		    msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
-		    msg.satellites_visible = gps.satellites_used;
+			msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
+			msg.satellites_visible = gps.satellites_used;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
 		}
@@ -957,11 +957,11 @@ protected:
 			msg.lat = pos.lat * 1e7;
 			msg.lon = pos.lon * 1e7;
 			msg.alt = pos.alt * 1000.0f;
-		    msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
-		    msg.vx = pos.vel_n * 100.0f;
-		    msg.vy = pos.vel_e * 100.0f;
-		    msg.vz = pos.vel_d * 100.0f;
-		    msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
+			msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
+			msg.vx = pos.vel_n * 100.0f;
+			msg.vy = pos.vel_e * 100.0f;
+			msg.vz = pos.vel_d * 100.0f;
+			msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg);
 		}
@@ -1022,9 +1022,9 @@ protected:
 			msg.x = pos.x;
 			msg.y = pos.y;
 			msg.z = pos.z;
-		    msg.vx = pos.vx;
-		    msg.vy = pos.vy;
-		    msg.vz = pos.vz;
+			msg.vx = pos.vx;
+			msg.vy = pos.vy;
+			msg.vz = pos.vz;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg);
 		}
@@ -1085,9 +1085,9 @@ protected:
 			msg.x = pos.x;
 			msg.y = pos.y;
 			msg.z = pos.z;
-		    msg.roll = pos.roll;
-		    msg.pitch = pos.pitch;
-		    msg.yaw = pos.yaw;
+			msg.roll = pos.roll;
+			msg.pitch = pos.pitch;
+			msg.yaw = pos.yaw;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg);
 		}
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 43161aa70..0da778b6f 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -285,7 +285,9 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
 
 			/* XXX range-check value? */
-			r_page_servos[offset] = *values;
+			if (*values != PWM_IGNORE_THIS_CHANNEL) {
+				r_page_servos[offset] = *values;
+			}
 
 			offset++;
 			num_values--;