Merge branch 'master' into mount_tests

20 files changed, 1224 insertions, 42 deletions

diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 27621211a..02c26b5c0 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU internal definitions
+ * PX4FMUv1 internal definitions
  */
 
 #pragma once
@@ -60,6 +60,7 @@ __BEGIN_DECLS
 
 /* PX4IO connection configuration */
 #define PX4IO_SERIAL_DEVICE	"/dev/ttyS2"
+#define UDID_START		0x1FFF7A10
 
 //#ifdef CONFIG_STM32_SPI2
 //#  error "SPI2 is not supported on this board"
@@ -180,7 +181,7 @@ __BEGIN_DECLS
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 #define HRT_PPM_CHANNEL		3	/* use capture/compare channel 3 */
-#define GPIO_PPM_IN		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
 
 /****************************************************************************************************
  * Public Types
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index 7ab63953f..4972e6914 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU internal definitions
+ * PX4FMUv2 internal definitions
  */
 
 #pragma once
@@ -52,6 +52,8 @@ __BEGIN_DECLS
 /* these headers are not C++ safe */
 #include <stm32.h>
 #include <arch/board/board.h>
+
+#define UDID_START		0x1FFF7A10
  
 /****************************************************************************************************
  * Definitions
@@ -82,21 +84,21 @@ __BEGIN_DECLS
 #define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* Data ready pins off */
-#define GPIO_GYRO_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_MAG_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_ACCEL_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_GYRO_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_MAG_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ACCEL_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
 #define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* SPI1 off */
-#define GPIO_SPI1_SCK_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_SPI1_MISO_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_SPI1_MOSI_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_SPI1_SCK_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_SPI1_MISO_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_SPI1_MOSI_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
 
 /* SPI1 chip selects off */
-#define GPIO_SPI_CS_GYRO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_MPU		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_MPU			(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
 
 /* SPI chip selects */
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
@@ -177,7 +179,7 @@ __BEGIN_DECLS
  *
  * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
  */
-#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
diff --git a/src/drivers/boards/px4io-v1/board_config.h b/src/drivers/boards/px4io-v1/board_config.h
index 48aadbd76..c3f39addf 100644
--- a/src/drivers/boards/px4io-v1/board_config.h
+++ b/src/drivers/boards/px4io-v1/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -92,4 +92,4 @@
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
-#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h
index 4d41d0d07..8da555211 100644
--- a/src/drivers/boards/px4io-v2/board_config.h
+++ b/src/drivers/boards/px4io-v2/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_internal.h
+ * @file board_config.h
  *
  * PX4IOV2 internal definitions
  */
@@ -122,7 +122,7 @@
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
-#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
 
 /* LED definitions ******************************************************************/
 /* PX4 has two LEDs that we will encode as: */
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c
new file mode 100644
index 000000000..63b2d2d29
--- /dev/null
+++ b/src/drivers/frsky_telemetry/frsky_data.c
@@ -0,0 +1,289 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_data.c
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ */
+
+#include "frsky_data.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <arch/math.h>
+#include <geo/geo.h>
+
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
+
+/* FrSky sensor hub data IDs */
+#define FRSKY_ID_GPS_ALT_BP     0x01
+#define FRSKY_ID_TEMP1          0x02
+#define FRSKY_ID_RPM            0x03
+#define FRSKY_ID_FUEL           0x04
+#define FRSKY_ID_TEMP2          0x05
+#define FRSKY_ID_VOLTS          0x06
+#define FRSKY_ID_GPS_ALT_AP     0x09
+#define FRSKY_ID_BARO_ALT_BP    0x10
+#define FRSKY_ID_GPS_SPEED_BP   0x11
+#define FRSKY_ID_GPS_LONG_BP    0x12
+#define FRSKY_ID_GPS_LAT_BP     0x13
+#define FRSKY_ID_GPS_COURS_BP   0x14
+#define FRSKY_ID_GPS_DAY_MONTH  0x15
+#define FRSKY_ID_GPS_YEAR       0x16
+#define FRSKY_ID_GPS_HOUR_MIN   0x17
+#define FRSKY_ID_GPS_SEC        0x18
+#define FRSKY_ID_GPS_SPEED_AP   0x19
+#define FRSKY_ID_GPS_LONG_AP    0x1A
+#define FRSKY_ID_GPS_LAT_AP     0x1B
+#define FRSKY_ID_GPS_COURS_AP   0x1C
+#define FRSKY_ID_BARO_ALT_AP    0x21
+#define FRSKY_ID_GPS_LONG_EW    0x22
+#define FRSKY_ID_GPS_LAT_NS     0x23
+#define FRSKY_ID_ACCEL_X        0x24
+#define FRSKY_ID_ACCEL_Y        0x25
+#define FRSKY_ID_ACCEL_Z        0x26
+#define FRSKY_ID_CURRENT        0x28
+#define FRSKY_ID_VARIO          0x30
+#define FRSKY_ID_VFAS           0x39
+#define FRSKY_ID_VOLTS_BP       0x3A
+#define FRSKY_ID_VOLTS_AP       0x3B
+
+#define frac(f) (f - (int)f)
+
+static int battery_sub = -1;
+static int sensor_sub = -1;
+static int global_position_sub = -1;
+static int vehicle_status_sub = -1;
+
+/**
+ * Initializes the uORB subscriptions.
+ */
+void frsky_init()
+{
+	battery_sub = orb_subscribe(ORB_ID(battery_status));
+	global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+}
+
+/**
+ * Sends a 0x5E start/stop byte.
+ */
+static void frsky_send_startstop(int uart)
+{
+	static const uint8_t c = 0x5E;
+	write(uart, &c, sizeof(c));
+}
+
+/**
+ * Sends one byte, performing byte-stuffing if necessary.
+ */
+static void frsky_send_byte(int uart, uint8_t value)
+{
+	const uint8_t x5E[] = { 0x5D, 0x3E };
+	const uint8_t x5D[] = { 0x5D, 0x3D };
+
+	switch (value) {
+	case 0x5E:
+		write(uart, x5E, sizeof(x5E));
+		break;
+
+	case 0x5D:
+		write(uart, x5D, sizeof(x5D));
+		break;
+
+	default:
+		write(uart, &value, sizeof(value));
+		break;
+	}
+}
+
+/**
+ * Sends one data id/value pair.
+ */
+static void frsky_send_data(int uart, uint8_t id, int16_t data)
+{
+	/* Cast data to unsigned, because signed shift might behave incorrectly */
+	uint16_t udata = data;
+
+	frsky_send_startstop(uart);
+
+	frsky_send_byte(uart, id);
+	frsky_send_byte(uart, udata);      /* LSB */
+	frsky_send_byte(uart, udata >> 8); /* MSB */
+}
+
+/**
+ * Sends frame 1 (every 200ms):
+ *   acceleration values, barometer altitude, temperature, battery voltage & current
+ */
+void frsky_send_frame1(int uart)
+{
+	/* get a local copy of the current sensor values */
+	struct sensor_combined_s raw;
+	memset(&raw, 0, sizeof(raw));
+	orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+
+	/* get a local copy of the battery data */
+	struct battery_status_s battery;
+	memset(&battery, 0, sizeof(battery));
+	orb_copy(ORB_ID(battery_status), battery_sub, &battery);
+
+	/* send formatted frame */
+	frsky_send_data(uart, FRSKY_ID_ACCEL_X,
+			roundf(raw.accelerometer_m_s2[0] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Y,
+			roundf(raw.accelerometer_m_s2[1] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Z,
+			roundf(raw.accelerometer_m_s2[2] * 1000.0f));
+
+	frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP,
+			raw.baro_alt_meter);
+	frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP,
+			roundf(frac(raw.baro_alt_meter) * 100.0f));
+
+	frsky_send_data(uart, FRSKY_ID_TEMP1,
+			roundf(raw.baro_temp_celcius));
+
+	frsky_send_data(uart, FRSKY_ID_VFAS,
+			roundf(battery.voltage_v * 10.0f));
+	frsky_send_data(uart, FRSKY_ID_CURRENT,
+			(battery.current_a < 0) ? 0 : roundf(battery.current_a * 10.0f));
+
+	frsky_send_startstop(uart);
+}
+
+/**
+ * Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
+ */
+static float frsky_format_gps(float dec)
+{
+	float dms_deg = (int) dec;
+	float dec_deg = dec - dms_deg;
+	float dms_min = (int) (dec_deg * 60);
+	float dec_min = (dec_deg * 60) - dms_min;
+	float dms_sec = dec_min * 60;
+
+	return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
+}
+
+/**
+ * Sends frame 2 (every 1000ms):
+ *   GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level
+ */
+void frsky_send_frame2(int uart)
+{
+	/* get a local copy of the global position data */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+
+	/* get a local copy of the vehicle status data */
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status));
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+
+	/* send formatted frame */
+	float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
+	char lat_ns = 0, lon_ew = 0;
+	int sec = 0;
+	if (global_pos.valid) {
+		time_t time_gps = global_pos.time_gps_usec / 1000000;
+		struct tm *tm_gps = gmtime(&time_gps);
+
+		course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
+		lat    = frsky_format_gps(abs(global_pos.lat) / 10000000.0f);
+		lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
+		lon    = frsky_format_gps(abs(global_pos.lon) / 10000000.0f);
+		lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
+		speed  = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy)
+				* 25.0f / 46.0f;
+		alt    = global_pos.alt;
+		sec    = tm_gps->tm_sec;
+	}
+
+	frsky_send_data(uart, FRSKY_ID_GPS_COURS_BP, course);
+	frsky_send_data(uart, FRSKY_ID_GPS_COURS_AP, frac(course) * 1000.0f);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_BP, lat);
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_AP, frac(lat) * 10000.0f);
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_NS, lat_ns);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_BP, lon);
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_AP, frac(lon) * 10000.0f);
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_EW, lon_ew);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed);
+	frsky_send_data(uart, FRSKY_ID_GPS_SPEED_AP, frac(speed) * 100.0f);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt);
+	frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f);
+
+	frsky_send_data(uart, FRSKY_ID_FUEL,
+			roundf(vehicle_status.battery_remaining * 100.0f));
+
+	frsky_send_data(uart, FRSKY_ID_GPS_SEC, sec);
+
+	frsky_send_startstop(uart);
+}
+
+/**
+ * Sends frame 3 (every 5000ms):
+ *   GPS date & time
+ */
+void frsky_send_frame3(int uart)
+{
+	/* get a local copy of the battery data */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+
+	/* send formatted frame */
+	time_t time_gps = global_pos.time_gps_usec / 1000000;
+	struct tm *tm_gps = gmtime(&time_gps);
+	uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
+	frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);
+	frsky_send_data(uart, FRSKY_ID_GPS_YEAR, tm_gps->tm_year);
+	frsky_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, hour_min);
+	frsky_send_data(uart, FRSKY_ID_GPS_SEC, tm_gps->tm_sec);
+
+	frsky_send_startstop(uart);
+}
diff --git a/src/drivers/frsky_telemetry/frsky_data.h b/src/drivers/frsky_telemetry/frsky_data.h
new file mode 100644
index 000000000..a7d9eee53
--- /dev/null
+++ b/src/drivers/frsky_telemetry/frsky_data.h
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_data.h
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ */
+#ifndef _FRSKY_DATA_H
+#define _FRSKY_DATA_H
+
+// Public functions
+void frsky_init(void);
+void frsky_send_frame1(int uart);
+void frsky_send_frame2(int uart);
+void frsky_send_frame3(int uart);
+
+#endif /* _FRSKY_TELEMETRY_H */
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
new file mode 100644
index 000000000..7b08ca69e
--- /dev/null
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -0,0 +1,266 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_telemetry.c
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ * This daemon emulates an FrSky sensor hub by periodically sending data
+ * packets to an attached FrSky receiver.
+ *
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <termios.h>
+
+#include "frsky_data.h"
+
+
+/* thread state */
+static volatile bool thread_should_exit = false;
+static volatile bool thread_running = false;
+static int frsky_task;
+
+/* functions */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
+static void usage(void);
+static int frsky_telemetry_thread_main(int argc, char *argv[]);
+__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
+
+
+/**
+ * Opens the UART device and sets all required serial parameters.
+ */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
+{
+	/* Open UART */
+	const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
+
+	if (uart < 0) {
+		err(1, "Error opening port: %s", uart_name);
+	}
+
+	/* Back up the original UART configuration to restore it after exit */
+	int termios_state;
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	/* Fill the struct for the new configuration */
+	struct termios uart_config;
+	tcgetattr(uart, &uart_config);
+
+	/* Disable output post-processing */
+	uart_config.c_oflag &= ~OPOST;
+
+	/* Set baud rate */
+	static const speed_t speed = B9600;
+
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		close(uart);
+		return -1;
+	}
+
+	return uart;
+}
+
+/**
+ * Print command usage information
+ */
+static void usage()
+{
+	fprintf(stderr,
+			"usage: frsky_telemetry start [-d <devicename>]\n"
+			"       frsky_telemetry stop\n"
+			"       frsky_telemetry status\n");
+	exit(1);
+}
+
+/**
+ * The daemon thread.
+ */
+static int frsky_telemetry_thread_main(int argc, char *argv[])
+{
+	/* Default values for arguments */
+	char *device_name = "/dev/ttyS1"; /* USART2 */
+
+	/* Work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+
+	int ch;
+	while ((ch = getopt(argc, argv, "d:")) != EOF) {
+		switch (ch) {
+		case 'd':
+			device_name = optarg;
+			break;
+
+		default:
+			usage();
+			break;
+		}
+	}
+
+	/* Print welcome text */
+	warnx("FrSky telemetry interface starting...");
+
+	/* Open UART */
+	struct termios uart_config_original;
+	const int uart = frsky_open_uart(device_name, &uart_config_original);
+
+	if (uart < 0)
+		err(1, "could not open %s", device_name);
+
+	/* Subscribe to topics */
+	frsky_init();
+
+	thread_running = true;
+
+	/* Main thread loop */
+	unsigned int iteration = 0;
+	while (!thread_should_exit) {
+
+		/* Sleep 200 ms */
+		usleep(200000);
+
+		/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
+		frsky_send_frame1(uart);
+
+		/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
+		if (iteration % 5 == 0)
+		{
+			frsky_send_frame2(uart);
+		}
+
+		/* Send frame 3 (every 5000ms): date, time */
+		if (iteration % 25 == 0)
+		{
+			frsky_send_frame3(uart);
+
+			iteration = 0;
+		}
+
+		iteration++;
+	}
+
+	/* Reset the UART flags to original state */
+	tcsetattr(uart, TCSANOW, &uart_config_original);
+	close(uart);
+
+	thread_running = false;
+	return 0;
+}
+
+/**
+ * The main command function.
+ * Processes command line arguments and starts the daemon.
+ */
+int frsky_telemetry_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		warnx("missing command");
+		usage();
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		/* this is not an error */
+		if (thread_running)
+			errx(0, "frsky_telemetry already running");
+
+		thread_should_exit = false;
+		frsky_task = task_spawn_cmd("frsky_telemetry",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2048,
+					  frsky_telemetry_thread_main,
+					  (const char **)argv);
+
+		while (!thread_running) {
+			usleep(200);
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		/* this is not an error */
+		if (!thread_running)
+			errx(0, "frsky_telemetry already stopped");
+
+		thread_should_exit = true;
+
+		while (thread_running) {
+			usleep(200000);
+			warnx(".");
+		}
+
+		warnx("terminated.");
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			errx(0, "running");
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	usage();
+	/* not getting here */
+	return 0;
+}
diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk
new file mode 100644
index 000000000..1632c74f7
--- /dev/null
+++ b/src/drivers/frsky_telemetry/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2013-2014 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.
+#
+############################################################################
+
+#
+# FrSky telemetry application.
+#
+
+MODULE_COMMAND	= frsky_telemetry
+
+SRCS		= frsky_data.c \
+              frsky_telemetry.c
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 3cd6d6720..a95c4576b 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -198,7 +198,9 @@ MEASAirspeed::collect()
 //	uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
 	const float P_min = -1.0f;
 	const float P_max = 1.0f;
-	float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f)   - _diff_pres_offset);
+	float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
+        if (diff_press_pa < 0.0f)
+            diff_press_pa = 0.0f;
 
 	struct differential_pressure_s report;
 
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 87788824a..6326cf7fc 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -124,6 +124,8 @@ protected:
 	int32_t			_TEMP;
 	int64_t			_OFF;
 	int64_t			_SENS;
+	float			_P;
+	float			_T;
 
 	/* altitude conversion calibration */
 	unsigned		_msl_pressure;	/* in kPa */
@@ -623,6 +625,8 @@ MS5611::collect()
 
 		/* pressure calculation, result in Pa */
 		int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
+		_P = P * 0.01f;
+		_T = _TEMP * 0.01f;
 
 		/* generate a new report */
 		report.temperature = _TEMP / 100.0f;
@@ -695,6 +699,8 @@ MS5611::print_info()
 	printf("TEMP:           %d\n", _TEMP);
 	printf("SENS:           %lld\n", _SENS);
 	printf("OFF:            %lld\n", _OFF);
+	printf("P:              %.3f\n", _P);
+	printf("T:              %.3f\n", _T);
 	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
 	printf("factory_setup             %u\n", _prom.factory_setup);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index b878d29bc..b28d318d7 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -65,6 +65,7 @@
 #include <systemlib/err.h>
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
+#include <systemlib/board_serial.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_rc_input.h>
 
@@ -224,10 +225,10 @@ PX4FMU::PX4FMU() :
 	_armed(false),
 	_pwm_on(false),
 	_mixers(nullptr),
-	_failsafe_pwm( {0}),
-	       _disarmed_pwm( {0}),
-	       _num_failsafe_set(0),
-	       _num_disarmed_set(0)
+	_failsafe_pwm({0}),
+	      _disarmed_pwm({0}),
+	      _num_failsafe_set(0),
+	      _num_disarmed_set(0)
 {
 	for (unsigned i = 0; i < _max_actuators; i++) {
 		_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -575,7 +576,7 @@ PX4FMU::task_main()
 						if (i >= outputs.noutputs ||
 						    !isfinite(outputs.output[i]) ||
 						    outputs.output[i] < -1.0f ||
-						outputs.output[i] > 1.0f) {
+						    outputs.output[i] > 1.0f) {
 							/*
 							 * Value is NaN, INF or out of band - set to the minimum value.
 							 * This will be clearly visible on the servo status and will limit the risk of accidentally
@@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(3):
 	case PWM_SERVO_SET(2):
 		if (_mode < MODE_4PWM) {
@@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(1):
 	case PWM_SERVO_SET(0):
 		if (arg <= 2100) {
@@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(3):
 	case PWM_SERVO_GET(2):
 		if (_mode < MODE_4PWM) {
@@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(1):
 	case PWM_SERVO_GET(0):
 		*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
@@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
 		errx(0, "FMU driver stopped");
 	}
 
+	if (!strcmp(verb, "id")) {
+		char id[12];
+		(void)get_board_serial(id);
+
+		errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
+		     (unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
+		     (unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
+	}
+
 
 	if (fmu_start() != OK)
 		errx(1, "failed to start the FMU driver");
@@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
 			sensor_reset(0);
 			warnx("resettet default time");
 		}
+
 		exit(0);
 	}
 
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index 4d306d6d0..60eda2319 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
 int
 dsm_init(const char *device)
 {
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+	// enable power on DSM connector
+	POWER_SPEKTRUM(true);
+#endif
+
 	if (dsm_fd < 0)
 		dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
 
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 745bd5705..0b8c4a6a8 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -125,6 +125,25 @@ heartbeat_blink(void)
 	LED_BLUE(heartbeat = !heartbeat);
 }
 
+static uint64_t reboot_time;
+
+/**
+   schedule a reboot in time_delta_usec microseconds
+ */
+void schedule_reboot(uint32_t time_delta_usec)
+{
+    reboot_time = hrt_absolute_time() + time_delta_usec;
+}
+
+/**
+   check for a scheduled reboot
+ */
+static void check_reboot(void)
+{
+    if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
+        up_systemreset();
+    }
+}
 
 static void
 calculate_fw_crc(void)
@@ -249,6 +268,8 @@ user_start(int argc, char *argv[])
                     heartbeat_blink();
                 }
 
+                check_reboot();
+
 #if 0
 		/* check for debug activity */
 		show_debug_messages();
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index dea04a663..a0daa97ea 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -220,3 +220,7 @@ extern volatile uint8_t debug_level;
 
 /** send a debug message to the console */
 extern void	isr_debug(uint8_t level, const char *fmt, ...);
+
+/** schedule a reboot */
+extern void schedule_reboot(uint32_t time_delta_usec);
+
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 0358725db..ad4473073 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -518,16 +518,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			// check the magic value
 			if (value != PX4IO_REBOOT_BL_MAGIC)
 				break;
-                        
-                        // note that we don't set BL_WAIT_MAGIC in
-                        // BKP_DR1 as that is not necessary given the
-                        // timing of the forceupdate command. The
-                        // bootloader on px4io waits for enough time
-                        // anyway, and this method works with older
-                        // bootloader versions (tested with both
-                        // revision 3 and revision 4).
-
-			up_systemreset();
+
+                        // we schedule a reboot rather than rebooting
+                        // immediately to allow the IO board to ACK
+                        // the reboot command
+                        schedule_reboot(100000);
 			break;
 
 		case PX4IO_P_SETUP_DSM:
diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c
new file mode 100644
index 000000000..ad8c2bf83
--- /dev/null
+++ b/src/modules/systemlib/board_serial.c
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include "otp.h"
+#include "board_config.h"
+#include "board_serial.h"
+
+int get_board_serial(char *serialid)
+{
+	const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
+	union udid id;
+	val_read((unsigned *)&id, udid_ptr, sizeof(id));
+
+
+	/* Copy the serial from the chips non-write memory and swap endianess */
+	serialid[0] = id.data[3];   serialid[1] = id.data[2];  serialid[2] = id.data[1];  serialid[3] = id.data[0];
+	serialid[4] = id.data[7];   serialid[5] = id.data[6];  serialid[6] = id.data[5];  serialid[7] = id.data[4];
+	serialid[8] = id.data[11];   serialid[9] = id.data[10];  serialid[10] = id.data[9];  serialid[11] = id.data[8];
+
+	return 0;
+}
\ No newline at end of file
diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h
new file mode 100644
index 000000000..b14bb4376
--- /dev/null
+++ b/src/modules/systemlib/board_serial.h
@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT int get_board_serial(char *serialid);
+
+__END_DECLS
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 843cda722..8c6c300d6 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -49,4 +49,7 @@ SRCS		 = err.c \
 		   airspeed.c \
 		   system_params.c \
 		   mavlink_log.c \
-		   rc_check.c
+		   rc_check.c \
+		   otp.c \
+		   board_serial.c
+
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
new file mode 100644
index 000000000..695574fdc
--- /dev/null
+++ b/src/modules/systemlib/otp.c
@@ -0,0 +1,224 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Authors:
+ *      Lorenz Meier <lm@inf.ethz.ch>
+ *      David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ * 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 otp.c
+ * otp estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include <nuttx/config.h>
+#include <board_config.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <string.h>  // memset
+#include "conversions.h"
+#include "otp.h"
+#include "err.h"   // warnx 
+#include <assert.h>
+
+
+int val_read(void *dest, volatile const void *src, int bytes)
+{
+
+	int i;
+
+	for (i = 0; i < bytes / 4; i++) {
+		*(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i);
+	}
+
+	return i * 4;
+}
+
+
+int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
+{
+
+	warnx("write_otp: PX4 / %02X / %02X / %02X  / ... etc  \n", id_type, vid, pid);
+
+	int errors = 0;
+
+	// descriptor
+	if (F_write_byte(ADDR_OTP_START, 'P'))
+		errors++;
+	  //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 1, 'X'))
+		errors++; //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 2, '4'))
+		errors++;
+	if (F_write_byte(ADDR_OTP_START + 3, '\0'))
+		errors++;
+	//id_type
+	if (F_write_byte(ADDR_OTP_START + 4, id_type))
+		errors++;
+	// vid and pid are 4 bytes each
+	if (F_write_word(ADDR_OTP_START + 5, vid))
+		errors++;
+	if (F_write_word(ADDR_OTP_START + 9, pid))
+		errors++;
+
+	// leave some 19 bytes of space, and go to the next block...
+	// then the auth sig starts
+	for (int i = 0 ; i < 128 ; i++) {
+		if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i]))
+			errors++;
+	}
+
+	return errors;
+}
+
+int lock_otp(void)
+{
+	//determine the required locking size - can only write full lock bytes */
+//	int size = sizeof(struct otp) / 32;
+//
+//	struct otp_lock otp_lock_mem;
+//
+//	memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem));
+//	for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++)
+//		otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED;
+	//XXX add the actual call here to write the OTP_LOCK bytes only at final stage
+	// val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem));
+
+	int locksize = 5;
+
+	int errors = 0;
+
+	// or just realise it's exctly 5x 32byte blocks we need to lock.  1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes.
+	for (int i = 0 ; i < locksize ; i++) {
+		if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED))
+			errors++;
+	}
+
+	return errors;
+}
+
+
+
+// COMPLETE, BUSY, or other flash error?
+int F_GetStatus(void)
+{
+	int fs = F_COMPLETE;
+
+	if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else {
+
+		if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else {
+
+			if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else {
+
+				if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else {
+					fs = F_COMPLETE;
+				}
+			}
+		}
+	}
+
+	return fs;
+}
+
+
+// enable FLASH Registers
+void F_unlock(void)
+{
+	if ((FLASH->control & F_CR_LOCK) != 0) {
+		FLASH->key = F_KEY1;
+		FLASH->key = F_KEY2;
+	}
+}
+
+//  lock the FLASH Registers
+void F_lock(void)
+{
+	FLASH->control |= F_CR_LOCK;
+}
+
+// flash write word.
+int F_write_word(uint32_t Address, uint32_t Data)
+{
+	unsigned char octet[4] = {0, 0, 0, 0};
+
+	int ret = 0;
+
+	for (int i = 0; i < 4; i++) {
+		octet[i] = (Data >> (i * 8)) & 0xFF;
+		ret = F_write_byte(Address + i, octet[i]);
+	}
+
+	return ret;
+}
+
+// flash write byte
+int F_write_byte(uint32_t Address, uint8_t Data)
+{
+	volatile int status = F_COMPLETE;
+
+	//warnx("F_write_byte: %08X %02d", Address , Data ) ;
+
+	//Check the parameters
+	assert(IS_F_ADDRESS(Address));
+
+	//Wait for FLASH operation to complete by polling on BUSY flag.
+	status = F_GetStatus();
+
+	while (status == F_BUSY) { status = F_GetStatus();}
+
+	if (status == F_COMPLETE) {
+		//if the previous operation is completed, proceed to program the new data
+		FLASH->control &= CR_PSIZE_MASK;
+		FLASH->control |= F_PSIZE_BYTE;
+		FLASH->control |= F_CR_PG;
+
+		*(volatile uint8_t *)Address = Data;
+
+		//Wait for FLASH operation to complete by polling on BUSY flag.
+		status = F_GetStatus();
+
+		while (status == F_BUSY) { status = F_GetStatus();}
+
+		//if the program operation is completed, disable the PG Bit
+		FLASH->control &= (~F_CR_PG);
+	}
+
+	//Return the Program Status
+	return !(status == F_COMPLETE);
+}
+
+
+
diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h
new file mode 100644
index 000000000..f10e129d8
--- /dev/null
+++ b/src/modules/systemlib/otp.h
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 otp.h
+ * One TIme Programmable ( OTP ) Flash routine/s.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#ifndef OTP_H_
+#define OTP_H_
+
+__BEGIN_DECLS
+
+#define ADDR_OTP_START			0x1FFF7800
+#define ADDR_OTP_LOCK_START		0x1FFF7A00
+
+#define OTP_LOCK_LOCKED			0x00
+#define OTP_LOCK_UNLOCKED		0xFF
+
+
+
+#include <unistd.h>
+#include <stdio.h>
+
+// possible flash statuses
+#define F_BUSY 1
+#define F_ERROR_WRP 2
+#define F_ERROR_PROGRAM 3
+#define F_ERROR_OPERATION 4
+#define F_COMPLETE 5
+
+typedef struct {
+	volatile uint32_t accesscontrol;      // 0x00
+	volatile uint32_t key;     //  0x04
+	volatile uint32_t optionkey;  //  0x08
+	volatile uint32_t status;       // 0x0C
+	volatile uint32_t control;       // 0x10
+	volatile uint32_t optioncontrol;    //0x14
+} flash_registers;
+
+#define PERIPH_BASE           ((uint32_t)0x40000000) //Peripheral base address
+#define AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000)
+#define F_R_BASE          (AHB1PERIPH_BASE + 0x3C00)
+#define FLASH               ((flash_registers *) F_R_BASE)
+
+#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit
+#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit
+#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit
+#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF)
+#define F_PSIZE_WORD ((uint32_t)0x00000200)
+#define F_PSIZE_BYTE ((uint32_t)0x00000000)
+#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register
+#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit.
+
+#define F_KEY1 ((uint32_t)0x45670123)
+#define F_KEY2 ((uint32_t)0xCDEF89AB)
+#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F)))
+
+
+
+#pragma pack(push, 1)
+
+/*
+ * The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes.
+ * The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15)
+ * to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed
+ * until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only
+ * contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly.
+ */
+
+struct otp {
+	// first 32 bytes =  the '0' Block
+	char		id[4];		///4 bytes < 'P' 'X' '4' '\n'
+	uint8_t		id_type;	///1 byte < 0 for USB VID, 1 for generic VID
+	uint32_t	vid;        ///4 bytes
+	uint32_t	pid;        ///4 bytes
+	char        unused[19];  ///19 bytes
+	// Cert-of-Auth is next 4 blocks ie 1-4  ( where zero is first block )
+	char        signature[128];
+	// insert extras here
+	uint32_t	lock_bytes[4];
+};
+
+struct otp_lock {
+	uint8_t		lock_bytes[16];
+};
+#pragma pack(pop)
+
+#define ADDR_F_SIZE		0x1FFF7A22
+
+#pragma pack(push, 1)
+union udid {
+	uint32_t	serial[3];
+	char  data[12];
+};
+#pragma pack(pop)
+
+
+/**
+ *   s
+ */
+//__EXPORT float calc_indicated_airspeed(float differential_pressure);
+
+__EXPORT void F_unlock(void);
+__EXPORT void F_lock(void);
+__EXPORT int val_read(void *dest, volatile const void *src, int bytes);
+__EXPORT int val_write(volatile void *dest, const void *src, int bytes);
+__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature);
+__EXPORT int lock_otp(void);
+
+
+__EXPORT int F_write_byte(uint32_t Address, uint8_t Data);
+__EXPORT int F_write_word(uint32_t Address, uint32_t Data);
+
+__END_DECLS
+
+#endif