Merge branch 'master' of github.com:PX4/Firmware into px4dev_new_param

apps/drivers/drv_mag.h

@@ -76,7 +76,7 @@ ORB_DECLARE(sensor_mag);
  */
 
 #define _MAGIOCBASE		(0x2300)
-#define _MAGIOC(_n)		(_IOC(_MAGIOBASE, _n))
+#define _MAGIOC(_n)		(_IOC(_MAGIOCBASE, _n))
 
 /** set the driver polling rate to (arg) Hz, or one of the MAG_POLLRATE constants */
 #define MAGIOCSPOLLRATE		_MAGIOC(0)

apps/drivers/hmc5883/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# HMC5883 driver
+#
+
+APPNAME		 = hmc5883
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk

apps/px4/attitude_estimator_bm/attitude_estimator_bm.c

@@ -87,14 +87,25 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
 	gyro_values.z =  raw->gyro_rad_s[2];
 
 	float_vect3 accel_values;
-	accel_values.x = raw->accelerometer_m_s2[0] * 9.81f * 9.0f;
+	accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 100;
-	accel_values.y = raw->accelerometer_m_s2[1] * 9.81f * 9.0f;
+	accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 100;
-	accel_values.z = raw->accelerometer_m_s2[2] * 9.81f * 9.0f;
+	accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 100;
 
 	float_vect3 mag_values;
-	mag_values.x = raw->magnetometer_ga[0]*510.0f;
+	mag_values.x = raw->magnetometer_ga[0]*456.0f;
-	mag_values.y = raw->magnetometer_ga[1]*510.0f;
+	mag_values.y = raw->magnetometer_ga[1]*456.0f;
-	mag_values.z = raw->magnetometer_ga[2]*510.0f;
+	mag_values.z = raw->magnetometer_ga[2]*456.0f;
+
+	static int i = 0;
+
+	if (i == 500) {
+		printf("gyro: %8.4f\t%8.4f\t%8.4f\t accel: %8.4f\t%8.4f\t%8.4f\t mag: %8.4f\t%8.4f\t%8.4f\t\n",
+			gyro_values.x, gyro_values.y, gyro_values.z,
+			accel_values.x, accel_values.y, accel_values.z,
+			mag_values.x, mag_values.y, mag_values.z);
+		i = 0;
+	}
+	i++;
 
 	attitude_blackmagic(&accel_values, &mag_values, &gyro_values);
 

nuttx/configs/px4fmu/nsh/appconfig

@@ -86,6 +86,7 @@ CONFIGURED_APPS += attitude_estimator_ekf
 # Communication and Drivers
 CONFIGURED_APPS	+= drivers/device
 CONFIGURED_APPS += drivers/ms5611
+CONFIGURED_APPS += drivers/hmc5883
 CONFIGURED_APPS += drivers/mpu6000
 CONFIGURED_APPS	+= px4/px4io/driver
 CONFIGURED_APPS += px4/fmu