11 files changed, 625 insertions, 199 deletions

diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 5a02fd620..188dafa4e 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -2,6 +2,7 @@
  *
  *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Julian Oes <joes@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +36,7 @@
 /**
  * @file config.c
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
  *
  * config tool.
  */
@@ -69,27 +71,15 @@ config_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
 		if (!strcmp(argv[1], "gyro")) {
-			if (argc >= 3) {
-				do_gyro(argc - 2, argv + 2);
-			} else {
-				errx(1, "not enough parameters.");
-			}
+			do_gyro(argc - 2, argv + 2);
 		}
 
 		if (!strcmp(argv[1], "accel")) {
-			if (argc >= 3) {
-				do_accel(argc - 2, argv + 2);
-			} else {
-				errx(1, "not enough parameters.");
-			}
+			do_accel(argc - 2, argv + 2);
 		}
 
 		if (!strcmp(argv[1], "mag")) {
-			if (argc >= 3) {
-				do_mag(argc - 2, argv + 2);
-			} else {
-				errx(1, "not enough parameters.");
-			}
+			do_mag(argc - 2, argv + 2);
 		}
 	}
 	
@@ -100,6 +90,7 @@ static void
 do_gyro(int argc, char *argv[])
 {
 	int	fd;
+	int	ret;
 
 	fd = open(GYRO_DEVICE_PATH, 0);
 
@@ -109,44 +100,45 @@ do_gyro(int argc, char *argv[])
 
 	} else {
 
-		if (argc >= 2) {
+		if (argc == 2 && !strcmp(argv[0], "sampling")) {
 
-			char* end;
-			int i = strtol(argv[1],&end,10);
+			/* set the gyro internal sampling rate up to at least i Hz */
+			ret = ioctl(fd, GYROIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
 
-			if (!strcmp(argv[0], "sampling")) {
+			if (ret)
+				errx(ret,"sampling rate could not be set");
 
-				/* set the accel internal sampling rate up to at leat i Hz */
-				ioctl(fd, GYROIOCSSAMPLERATE, i);
+		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
 
-			} else if (!strcmp(argv[0], "rate")) {
+			/* set the driver to poll at i Hz */
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
 
-				/* set the driver to poll at i Hz */
-				ioctl(fd, SENSORIOCSPOLLRATE, i);
-			} else if (!strcmp(argv[0], "range")) {
+			if (ret)
+				errx(ret,"pollrate could not be set");
 
-				/* set the range to i dps */
-				ioctl(fd, GYROIOCSRANGE, i);
-			}
+		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+
+			/* set the range to i dps */
+			ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[1], NULL, 0));
 
-		} else if (argc > 0) {
+			if (ret)
+				errx(ret,"range could not be set");
 
-			if(!strcmp(argv[0], "check")) {
-				int ret = ioctl(fd, GYROIOCSELFTEST, 0);
+		} else if(argc == 1 && !strcmp(argv[0], "check")) {
+			ret = ioctl(fd, GYROIOCSELFTEST, 0);
 
-				if (ret) {
-					warnx("gyro self test FAILED! Check calibration:");
-					struct gyro_scale scale;
-					ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
-					warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
-					warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
-				} else {
-					warnx("gyro calibration and self test OK");
-				}
+			if (ret) {
+				warnx("gyro self test FAILED! Check calibration:");
+				struct gyro_scale scale;
+				ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+			} else {
+				warnx("gyro calibration and self test OK");
 			}
 
 		} else {
-			warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
+			errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2000' to set measurement range to 2000 dps\n\t");
 		}
 
 		int srate = ioctl(fd, GYROIOCGSAMPLERATE, 0);
@@ -165,6 +157,7 @@ static void
 do_mag(int argc, char *argv[])
 {
 	int fd;
+	int ret;
 
 	fd = open(MAG_DEVICE_PATH, 0);
 
@@ -174,31 +167,52 @@ do_mag(int argc, char *argv[])
 
 	} else {
 
-		if (argc > 0) {
+		if (argc == 2 && !strcmp(argv[0], "sampling")) {
+
+			/* set the mag internal sampling rate up to at least i Hz */
+			ret = ioctl(fd, MAGIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"sampling rate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
 
-			if (!strcmp(argv[0], "check")) {
-				int ret = ioctl(fd, MAGIOCSELFTEST, 0);
+			/* set the driver to poll at i Hz */
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
 
-				if (ret) {
-					warnx("mag self test FAILED! Check calibration.");
-					struct mag_scale scale;
-					ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
-					warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
-					warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
-				} else {
-					warnx("mag calibration and self test OK");
-				}
+			if (ret)
+				errx(ret,"pollrate could not be set");
+
+		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+
+			/* set the range to i G */
+			ret = ioctl(fd, MAGIOCSRANGE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"range could not be set");
+
+		} else if(argc == 1 && !strcmp(argv[0], "check")) {
+			ret = ioctl(fd, MAGIOCSELFTEST, 0);
+
+			if (ret) {
+				warnx("mag self test FAILED! Check calibration:");
+				struct mag_scale scale;
+				ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+			} else {
+				warnx("mag calibration and self test OK");
 			}
 
 		} else {
-			warnx("no arguments given. Try: \n\n\t'check' or 'info'\n\t");
+			errx(1, "wrong or no arguments given. Try: \n\n\t'check' for the self test\n\t");
 		}
 
-		int srate = -1;//ioctl(fd, MAGIOCGSAMPLERATE, 0);
+		int srate = ioctl(fd, MAGIOCGSAMPLERATE, 0);
 		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
-		int range = -1;//ioctl(fd, MAGIOCGRANGE, 0);
+		int range = ioctl(fd, MAGIOCGRANGE, 0);
 
-		warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d gauss", srate, prate, range);
+		warnx("mag: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d Ga", srate, prate, range);
 
 		close(fd);
 	}
@@ -210,6 +224,7 @@ static void
 do_accel(int argc, char *argv[])
 {
 	int	fd;
+	int	ret;
 
 	fd = open(ACCEL_DEVICE_PATH, 0);
 
@@ -219,50 +234,52 @@ do_accel(int argc, char *argv[])
 
 	} else {
 
-		if (argc >= 2) {
+		if (argc == 2 && !strcmp(argv[0], "sampling")) {
 
-			char* end;
-			int i = strtol(argv[1],&end,10);
+			/* set the accel internal sampling rate up to at least i Hz */
+			ret = ioctl(fd, ACCELIOCSSAMPLERATE, strtoul(argv[1], NULL, 0));
 
-			if (!strcmp(argv[0], "sampling")) {
+			if (ret)
+				errx(ret,"sampling rate could not be set");
 
-				/* set the accel internal sampling rate up to at leat i Hz */
-				ioctl(fd, ACCELIOCSSAMPLERATE, i);
+		} else if (argc == 2 && !strcmp(argv[0], "rate")) {
 
-			} else if (!strcmp(argv[0], "rate")) {
+			/* set the driver to poll at i Hz */
+			ret = ioctl(fd, SENSORIOCSPOLLRATE, strtoul(argv[1], NULL, 0));
 
-				/* set the driver to poll at i Hz */
-				ioctl(fd, SENSORIOCSPOLLRATE, i);
-			} else if (!strcmp(argv[0], "range")) {
+			if (ret)
+				errx(ret,"pollrate could not be set");
 
-				/* set the range to i dps */
-				ioctl(fd, ACCELIOCSRANGE, i);
-			}
-		} else if (argc > 0) {
-
-			if (!strcmp(argv[0], "check")) {
-				int ret = ioctl(fd, ACCELIOCSELFTEST, 0);
-
-				if (ret) {
-					warnx("accel self test FAILED! Check calibration.");
-					struct accel_scale scale;
-					ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
-					warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
-					warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
-				} else {
-					warnx("accel calibration and self test OK");
-				}
+		} else if (argc == 2 && !strcmp(argv[0], "range")) {
+
+			/* set the range to i G */
+			ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[1], NULL, 0));
+
+			if (ret)
+				errx(ret,"range could not be set");
+
+		} else if(argc == 1 && !strcmp(argv[0], "check")) {
+			ret = ioctl(fd, ACCELIOCSELFTEST, 0);
+
+			if (ret) {
+				warnx("accel self test FAILED! Check calibration:");
+				struct accel_scale scale;
+				ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+			} else {
+				warnx("accel calibration and self test OK");
 			}
 
 		} else {
-			warnx("no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 2 G\n\t");
+			errx(1,"no arguments given. Try: \n\n\t'sampling 500' to set sampling to 500 Hz\n\t'rate 500' to set publication rate to 500 Hz\n\t'range 2' to set measurement range to 4 G\n\t");
 		}
 
 		int srate = ioctl(fd, ACCELIOCGSAMPLERATE, 0);
 		int prate = ioctl(fd, SENSORIOCGPOLLRATE, 0);
 		int range = ioctl(fd, ACCELIOCGRANGE, 0);
 
-		warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d m/s", srate, prate, range);
+		warnx("accel: \n\tsample rate:\t%d Hz\n\tread rate:\t%d Hz\n\trange:\t%d G", srate, prate, range);
 
 		close(fd);
 	}
diff --git a/src/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c
index 49da51358..2aed80e01 100644
--- a/src/systemcmds/eeprom/eeprom.c
+++ b/src/systemcmds/eeprom/eeprom.c
@@ -55,7 +55,7 @@
 #include <nuttx/fs/nxffs.h>
 #include <nuttx/fs/ioctl.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include "systemlib/systemlib.h"
 #include "systemlib/param/param.h"
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
new file mode 100644
index 000000000..188fa4e37
--- /dev/null
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -0,0 +1,250 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 esc_calib.c
+ *
+ * Tool for ESC calibration
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mount.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+
+#include <nuttx/i2c.h>
+#include <nuttx/mtd.h>
+#include <nuttx/fs/nxffs.h>
+#include <nuttx/fs/ioctl.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/err.h"
+#include "drivers/drv_pwm_output.h"
+
+static void	usage(const char *reason);
+__EXPORT int	esc_calib_main(int argc, char *argv[]);
+
+#define MAX_CHANNELS 8
+
+static void
+usage(const char *reason)
+{
+	if (reason != NULL)
+		warnx("%s", reason);
+	errx(1, 
+		"usage:\n"
+		"esc_calib [-d <device>] <channels>\n"
+		"  <device>           PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
+		"  <channels>         Provide channels (e.g.: 1 2 3 4)\n"
+		);
+
+}
+
+int
+esc_calib_main(int argc, char *argv[])
+{
+	const char *dev = PWM_OUTPUT_DEVICE_PATH;
+	char *ep;
+	bool channels_selected[MAX_CHANNELS] = {false};
+	int ch;
+	int ret;
+	char c;
+
+	if (argc < 2)
+		usage(NULL);
+
+	while ((ch = getopt(argc, argv, "d:")) != EOF) {
+		switch (ch) {
+		
+		case 'd':
+			dev = optarg;
+			argc--;
+			break;
+
+		default:
+			usage(NULL);
+		}
+	}
+
+	if(argc < 1) {
+		usage("no channels provided");
+	}
+
+	while (--argc) {
+		const char *arg = argv[argc];
+		unsigned channel_number = strtol(arg, &ep, 0);
+
+		if (*ep == '\0') {
+			if (channel_number > MAX_CHANNELS || channel_number <= 0) {
+				err(1, "invalid channel number: %d", channel_number);
+			} else {
+				channels_selected[channel_number-1] = true;
+
+			}
+		}
+	}
+
+	/* Wait for confirmation */
+	int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
+	if (!console)
+		err(1, "failed opening console");
+
+	warnx("ATTENTION, please remove or fix props before starting calibration!\n"
+		"\n"
+		"Also press the arming switch first for safety off\n"
+		"\n"
+		"Do you really want to start calibration: y or n?\n");
+
+	/* wait for user input */
+	while (1) {
+		
+		if (read(console, &c, 1) == 1) {
+			if (c == 'y' || c == 'Y') {
+				
+				break;
+			} else if (c == 0x03 || c == 0x63 || c == 'q') {
+				warnx("ESC calibration exited");
+				close(console);
+				exit(0);
+			} else if (c == 'n' || c == 'N') {
+				warnx("ESC calibration aborted");
+				close(console);
+				exit(0);
+			} else {
+				warnx("Unknown input, ESC calibration aborted");
+				close(console);
+				exit(0);
+			} 
+		}
+		/* rate limit to ~ 20 Hz */
+		usleep(50000);
+	}
+
+	/* open for ioctl only */
+	int fd = open(dev, 0);
+	if (fd < 0)
+		err(1, "can't open %s", dev);
+
+	// XXX arming not necessaire at the moment
+	// /* Then arm */
+	// ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+	// 	if (ret != OK)
+	// 		err(1, "PWM_SERVO_SET_ARM_OK");
+
+	// ret = ioctl(fd, PWM_SERVO_ARM, 0);
+	// 	if (ret != OK)
+	// 		err(1, "PWM_SERVO_ARM");
+
+
+	
+
+	/* Wait for user confirmation */
+	warnx("Set high PWM\n"
+	      "Connect battery now and hit ENTER after the ESCs confirm the first calibration step");
+
+	while (1) {
+
+		/* First set high PWM */
+		for (unsigned i = 0; i<MAX_CHANNELS; i++) {
+			if(channels_selected[i]) {
+				ret = ioctl(fd, PWM_SERVO_SET(i), 2100);
+				if (ret != OK)
+					err(1, "PWM_SERVO_SET(%d)", i);
+			}
+		}
+
+		if (read(console, &c, 1) == 1) {
+			if (c == 13) {
+				
+				break;
+			} else if (c == 0x03 || c == 0x63 || c == 'q') {
+				warnx("ESC calibration exited");
+				close(console);
+				exit(0);
+			}
+		}
+		/* rate limit to ~ 20 Hz */
+		usleep(50000);
+	}
+
+	/* we don't need any more user input */
+	
+
+	warnx("Set low PWM, hit ENTER when finished");
+
+	while (1) {
+
+		/* Then set low PWM */
+		for (unsigned i = 0; i<MAX_CHANNELS; i++) {
+			if(channels_selected[i]) {
+				ret = ioctl(fd, PWM_SERVO_SET(i), 900);
+				if (ret != OK)
+					err(1, "PWM_SERVO_SET(%d)", i);
+			}
+		}
+
+		if (read(console, &c, 1) == 1) {
+			if (c == 13) {
+				
+				break;
+			} else if (c == 0x03 || c == 0x63 || c == 'q') {
+				warnx("ESC calibration exited");
+				close(console);
+				exit(0);
+			}
+		}
+		/* rate limit to ~ 20 Hz */
+		usleep(50000);
+	}
+
+	
+	warnx("ESC calibration finished");
+	close(console);
+
+	// XXX disarming not necessaire at the moment
+	/* Now disarm again */
+	// ret = ioctl(fd, PWM_SERVO_DISARM, 0);
+
+	
+
+	exit(0);
+}
\ No newline at end of file
diff --git a/src/systemcmds/esc_calib/module.mk b/src/systemcmds/esc_calib/module.mk
new file mode 100644
index 000000000..990c56768
--- /dev/null
+++ b/src/systemcmds/esc_calib/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Build the esc_calib tool.
+#
+
+MODULE_COMMAND	 = esc_calib
+SRCS		 = esc_calib.c
+
+MODULE_STACKSIZE = 4096
diff --git a/src/systemcmds/i2c/i2c.c b/src/systemcmds/i2c/i2c.c
index 4da238039..34405c496 100644
--- a/src/systemcmds/i2c/i2c.c
+++ b/src/systemcmds/i2c/i2c.c
@@ -52,7 +52,7 @@
 
 #include <nuttx/i2c.h>
 
-#include <arch/board/board.h>
+#include <board_config.h>
 
 #include "systemlib/systemlib.h"
 #include "systemlib/err.h"
diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
new file mode 100644
index 000000000..a48588535
--- /dev/null
+++ b/src/systemcmds/nshterm/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Build nshterm utility
+#
+
+MODULE_COMMAND	 = nshterm
+SRCS		 = nshterm.c
+
+MODULE_STACKSIZE = 3000
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
new file mode 100644
index 000000000..458bb2259
--- /dev/null
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Andrew Tridgell
+ *
+ * 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 nshterm.c
+ * start a nsh terminal on a given port. This can be useful for error
+ * handling in startup scripts to start a nsh shell on /dev/ttyACM0
+ * for diagnostics
+ */
+
+#include <nuttx/config.h>
+#include <termios.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <apps/nsh.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+
+__EXPORT int nshterm_main(int argc, char *argv[]);
+
+int
+nshterm_main(int argc, char *argv[])
+{
+    if (argc < 2) {
+        printf("Usage: nshterm <device>\n");
+        exit(1);
+    }
+    uint8_t retries = 0;
+    int fd = -1;
+    while (retries < 50) {
+        /* the retries are to cope with the behaviour of /dev/ttyACM0 */
+        /* which may not be ready immediately. */
+        fd = open(argv[1], O_RDWR);
+        if (fd != -1) {
+            break;
+        }
+        usleep(100000);
+        retries++;
+    }
+    if (fd == -1) {
+        perror(argv[1]);
+        exit(1);
+    }
+
+    /* set up the serial port with output processing */
+    
+    /* Try to set baud rate */
+    struct termios uart_config;
+    int termios_state;
+
+    /* Back up the original uart configuration to restore it after exit */
+    if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
+        warnx("ERROR get termios config %s: %d\n", argv[1], termios_state);
+        close(fd);
+        return -1;
+    }
+
+    /* Set ONLCR flag (which appends a CR for every LF) */
+    uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/);
+
+    if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+        warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", argv[1]);
+        close(fd);
+        return -1;
+    }
+
+    /* setup standard file descriptors */
+    close(0);
+    close(1);
+    close(2);
+    dup2(fd, 0);
+    dup2(fd, 1);
+    dup2(fd, 2);
+
+    nsh_consolemain(0, NULL);
+
+    close(fd);
+
+    return OK;
+}
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index d1dd85d47..4c19dcffb 100644
--- a/src/systemcmds/preflight_check/preflight_check.c
+++ b/src/systemcmds/preflight_check/preflight_check.c
@@ -57,6 +57,7 @@
 #include <drivers/drv_baro.h>
 
 #include <mavlink/mavlink_log.h>
+#include <systemlib/rc_check.h>
 
 __EXPORT int preflight_check_main(int argc, char *argv[]);
 static int led_toggle(int leds, int led);
@@ -139,101 +140,7 @@ int preflight_check_main(int argc, char *argv[])
 
 	/* ---- RC CALIBRATION ---- */
 
-	param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
-	_parameter_handles_rev, _parameter_handles_dz;
-
-	float param_min, param_max, param_trim, param_rev, param_dz;
-
-	bool rc_ok = true;
-	char nbuf[20];
-
-	/* first check channel mappings */
-			/* check which map param applies */
-		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
-		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
-		// 	/* give system time to flush error message in case there are more */
-		// 	usleep(100000);
-		// 	count++;
-		// }
-
-	for (int i = 0; i < 12; i++) {
-		/* should the channel be enabled? */
-		uint8_t count = 0;
-
-		/* min values */
-		sprintf(nbuf, "RC%d_MIN", i + 1);
-		_parameter_handles_min = param_find(nbuf);
-		param_get(_parameter_handles_min, &param_min);
-
-		/* trim values */
-		sprintf(nbuf, "RC%d_TRIM", i + 1);
-		_parameter_handles_trim = param_find(nbuf);
-		param_get(_parameter_handles_trim, &param_trim);
-
-		/* max values */
-		sprintf(nbuf, "RC%d_MAX", i + 1);
-		_parameter_handles_max = param_find(nbuf);
-		param_get(_parameter_handles_max, &param_max);
-
-		/* channel reverse */
-		sprintf(nbuf, "RC%d_REV", i + 1);
-		_parameter_handles_rev = param_find(nbuf);
-		param_get(_parameter_handles_rev, &param_rev);
-
-		/* channel deadzone */
-		sprintf(nbuf, "RC%d_DZ", i + 1);
-		_parameter_handles_dz = param_find(nbuf);
-		param_get(_parameter_handles_dz, &param_dz);
-
-		/* assert min..center..max ordering */
-		if (param_min < 500) {
-			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1);
-			/* give system time to flush error message in case there are more */
-			usleep(100000);
-		}
-		if (param_max > 2500) {
-			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1);
-			/* give system time to flush error message in case there are more */
-			usleep(100000);
-		}
-		if (param_trim < param_min) {
-			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN", i+1);
-			/* give system time to flush error message in case there are more */
-			usleep(100000);
-		}
-		if (param_trim > param_max) {
-			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX", i+1);
-			/* give system time to flush error message in case there are more */
-			usleep(100000);
-		}
-
-		/* assert deadzone is sane */
-		if (param_dz > 500) {
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1);
-			/* give system time to flush error message in case there are more */
-			usleep(100000);
-			count++;
-		}
-
-		/* check which map param applies */
-		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
-		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
-		// 	/* give system time to flush error message in case there are more */
-		// 	usleep(100000);
-		// 	count++;
-		// }
-
-		/* sanity checks pass, enable channel */
-		if (count) {
-			mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			usleep(100000);
-			rc_ok = false;
-		}
-	}
+	bool rc_ok = (OK == rc_calibration_check());
 
 	/* require RC ok to keep system_ok */
 	system_ok &= rc_ok;
@@ -263,7 +170,7 @@ system_eval:
 		led_toggle(leds, LED_BLUE);
 
 		/* display and sound error */
-		for (int i = 0; i < 150; i++)
+		for (int i = 0; i < 50; i++)
 		{
 			led_toggle(leds, LED_BLUE);
 			led_toggle(leds, LED_AMBER);
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index e150b5a74..c42a36c7f 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[])
 	}
 
 	/* iterate remaining arguments */
-	unsigned channel = 0;
+	unsigned nchannels = 0;
+	unsigned channel[8] = {0};
 	while (argc--) {
 		const char *arg = argv[0];
 		argv++;
@@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[])
 		}
 		unsigned pwm_value = strtol(arg, &ep, 0);
 		if (*ep == '\0') {
-			ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value);
-			if (ret != OK)
-				err(1, "PWM_SERVO_SET(%d)", channel);
-			channel++;
+			if (nchannels > sizeof(channel) / sizeof(channel[0]))
+				err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0]));
+
+			channel[nchannels] = pwm_value;
+			nchannels++;
+
 			continue;
 		}
-		usage("unrecognised option");
+		usage("unrecognized option");
 	}
 
 	/* print verbose info */
@@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[])
 		}
 		fflush(stdout);
 	}
+
+	/* perform PWM output */
+	if (nchannels) {
+
+		/* Open console directly to grab CTRL-C signal */
+		int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
+		if (!console)
+			err(1, "failed opening console");
+
+		warnx("Press CTRL-C or 'c' to abort.");
+
+		while (1) {
+			for (int i = 0; i < nchannels; i++) {
+				ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]);
+				if (ret != OK)
+					err(1, "PWM_SERVO_SET(%d)", i);
+			}
+
+			/* abort on user request */
+			char c;
+			if (read(console, &c, 1) == 1) {
+				if (c == 0x03 || c == 0x63 || c == 'q') {
+					warnx("User abort\n");
+					close(console);
+					exit(0);
+				}
+			}
+
+			/* rate limit to ~ 20 Hz */
+			usleep(50000);
+		}
+	}
+
 	exit(0);
 }
\ No newline at end of file
diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c
index 47d3cd948..91a2c2eb8 100644
--- a/src/systemcmds/reboot/reboot.c
+++ b/src/systemcmds/reboot/reboot.c
@@ -40,14 +40,31 @@
 #include <nuttx/config.h>
 #include <unistd.h>
 #include <stdio.h>
+#include <getopt.h>
 
 #include <systemlib/systemlib.h>
+#include <systemlib/err.h>
 
 __EXPORT int reboot_main(int argc, char *argv[]);
 
 int reboot_main(int argc, char *argv[])
 {
-	up_systemreset();
+	int ch;
+	bool to_bootloader = false;
+
+	while ((ch = getopt(argc, argv, "b")) != -1) {
+		switch (ch) {
+		case 'b':
+			to_bootloader = true;
+			break;
+		default:
+			errx(1, "usage: reboot [-b]\n"
+				"   -b   reboot into the bootloader");
+
+		}
+	}
+
+	systemreset(to_bootloader);
 }
 
 
diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c
index 0d064a05e..1ca3fc928 100644
--- a/src/systemcmds/top/top.c
+++ b/src/systemcmds/top/top.c
@@ -107,9 +107,6 @@ top_main(void)
 
 	float interval_time_ms_inv = 0.f;
 
-	/* Open console directly to grab CTRL-C signal */
-	int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
-
 	/* clear screen */
 	printf("\033[2J");
 
@@ -256,17 +253,24 @@ top_main(void)
 		interval_start_time = new_time;
 
 		/* Sleep 200 ms waiting for user input five times ~ 1s */
-		/* XXX use poll ... */
 		for (int k = 0; k < 5; k++) {
 			char c;
 
-			if (read(console, &c, 1) == 1) {
+			struct pollfd fds;
+			int ret;
+			fds.fd = 0; /* stdin */
+			fds.events = POLLIN;
+			ret = poll(&fds, 1, 0);
+
+			if (ret > 0) {
+
+				read(0, &c, 1);
+
 				switch (c) {
 				case 0x03: // ctrl-c
 				case 0x1b: // esc
 				case 'c':
 				case 'q':
-					close(console);
 					return OK;
 					/* not reached */
 				}
@@ -278,7 +282,5 @@ top_main(void)
 		new_time = hrt_absolute_time();
 	}
 
-	close(console);
-
 	return OK;
 }