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

6 files changed, 57 insertions, 20 deletions

diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index d07bd00dd..06e1c8ad3 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -54,7 +54,9 @@ public:
 		_SPE_est(0.0f),
 		_SKE_est(0.0f),
 		_SPEdot(0.0f),
-		_SKEdot(0.0f) {
+		_SKEdot(0.0f),
+		_vel_dot(0.0f),
+		_STEdotErrLast(0.0f) {
 
 	}
 
diff --git a/src/lib/mathlib/math/arm/Matrix.hpp b/src/lib/mathlib/math/arm/Matrix.hpp
index 715fd3a5e..1945bb02d 100644
--- a/src/lib/mathlib/math/arm/Matrix.hpp
+++ b/src/lib/mathlib/math/arm/Matrix.hpp
@@ -121,10 +121,10 @@ public:
 		for (size_t i = 0; i < getRows(); i++) {
 			for (size_t j = 0; j < getCols(); j++) {
 				float sig;
-				int exp;
+				int exponent;
 				float num = (*this)(i, j);
-				float2SigExp(num, sig, exp);
-				printf("%6.3fe%03.3d,", (double)sig, exp);
+				float2SigExp(num, sig, exponent);
+				printf("%6.3fe%03d ", (double)sig, exponent);
 			}
 
 			printf("\n");
diff --git a/src/lib/mathlib/math/arm/Vector.hpp b/src/lib/mathlib/math/arm/Vector.hpp
index 4155800e8..52220fc15 100644
--- a/src/lib/mathlib/math/arm/Vector.hpp
+++ b/src/lib/mathlib/math/arm/Vector.hpp
@@ -109,10 +109,10 @@ public:
 	inline void print() const {
 		for (size_t i = 0; i < getRows(); i++) {
 			float sig;
-			int exp;
+			int exponent;
 			float num = (*this)(i);
-			float2SigExp(num, sig, exp);
-			printf("%6.3fe%03.3d,", (double)sig, exp);
+			float2SigExp(num, sig, exponent);
+			printf("%6.3fe%03d ", (double)sig, exponent);
 		}
 
 		printf("\n");
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 09f4104f8..4ebf266f4 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -73,7 +73,7 @@ int do_mag_calibration(int mavlink_fd)
 
 	/* maximum 500 values */
 	const unsigned int calibration_maxcount = 500;
-	unsigned int calibration_counter = 0;
+	unsigned int calibration_counter;
 
 	struct mag_scale mscale_null = {
 		0.0f,
@@ -99,28 +99,34 @@ int do_mag_calibration(int mavlink_fd)
 		res = ioctl(fd, MAGIOCCALIBRATE, fd);
 
 		if (res != OK) {
-			mavlink_log_critical(mavlink_fd, "ERROR: failed to calibrate scale");
+			mavlink_log_critical(mavlink_fd, "Skipped scale calibration");
+			/* this is non-fatal - mark it accordingly */
+			res = OK;
 		}
 	}
 
 	close(fd);
 
-	float *x;
-	float *y;
-	float *z;
+	float *x = NULL;
+	float *y = NULL;
+	float *z = NULL;
 
 	if (res == OK) {
 		/* allocate memory */
 		mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20);
 
-		x = (float *)malloc(sizeof(float) * calibration_maxcount);
-		y = (float *)malloc(sizeof(float) * calibration_maxcount);
-		z = (float *)malloc(sizeof(float) * calibration_maxcount);
+		x = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		y = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		z = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
 
 		if (x == NULL || y == NULL || z == NULL) {
 			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
 			res = ERROR;
+			return res;
 		}
+	} else {
+		/* exit */
+		return ERROR;
 	}
 
 	if (res == OK) {
@@ -136,6 +142,8 @@ int do_mag_calibration(int mavlink_fd)
 
 		mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
 
+		calibration_counter = 0;
+
 		while (hrt_absolute_time() < calibration_deadline &&
 		       calibration_counter < calibration_maxcount) {
 
@@ -178,6 +186,7 @@ int do_mag_calibration(int mavlink_fd)
 	float sphere_radius;
 
 	if (res == OK) {
+
 		/* sphere fit */
 		mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 70);
 		sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
@@ -270,7 +279,7 @@ int do_mag_calibration(int mavlink_fd)
 		} else {
 			mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 		}
-
-		return res;
 	}
+
+	return res;
 }
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index 7abbf42ae..149b8f6d2 100644
--- a/src/modules/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
@@ -249,8 +249,10 @@ ORBDevNode::close(struct file *filp)
 	} else {
 		SubscriberData *sd = filp_to_sd(filp);
 
-		if (sd != nullptr)
+		if (sd != nullptr) {
+			hrt_cancel(&sd->update_call);
 			delete sd;
+		}
 	}
 
 	return CDev::close(filp);
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index 1c58a2db6..07581459b 100644
--- a/src/systemcmds/preflight_check/preflight_check.c
+++ b/src/systemcmds/preflight_check/preflight_check.c
@@ -109,7 +109,7 @@ int preflight_check_main(int argc, char *argv[])
 	/* ---- ACCEL ---- */
 
 	close(fd);
-	fd = open(ACCEL_DEVICE_PATH, 0);
+	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
 	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
 	
 	if (ret != OK) {
@@ -119,6 +119,29 @@ int preflight_check_main(int argc, char *argv[])
 		goto system_eval;
 	}
 
+	/* check measurement result range */
+	struct accel_report acc;
+	ret = read(fd, &acc, sizeof(acc));
+
+	if (ret == sizeof(acc)) {
+		/* evaluate values */
+		if (sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z) > 30.0f /* m/s^2 */) {
+			warnx("accel with spurious values");
+			mavlink_log_critical(mavlink_fd, "SENSOR FAIL: |ACCEL| > 30 m/s^2");
+			/* this is frickin' fatal */
+			fail_on_error = true;
+			system_ok = false;
+			goto system_eval;
+		}
+	} else {
+		warnx("accel read failed");
+		mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ");
+		/* this is frickin' fatal */
+		fail_on_error = true;
+		system_ok = false;
+		goto system_eval;
+	}
+
 	/* ---- GYRO ---- */
 
 	close(fd);
@@ -193,9 +216,10 @@ system_eval:
 		/* stop alarm */
 		ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE);
 
-		/* switch on leds */
+		/* switch off leds */
 		led_on(leds, LED_BLUE);
 		led_on(leds, LED_AMBER);
+		close(leds);
 
 		if (fail_on_error) {
 			/* exit with error message */