Merge branch 'master' into vector_control2

ROMFS/px4fmu_common/init.d/102_3dr_skywalker

@@ -0,0 +1,89 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
+	
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+pwm disarmed -c 3 -p 1056
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/12-13_hex

@@ -78,7 +78,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
 #
 # Set PWM output frequency to 400 Hz
 #
-pwm rate -c 123456 -r 400
+pwm rate -a -r 400
 
 #
 # Set disarmed, min and max PWM signals

ROMFS/px4fmu_common/init.d/rcS

@@ -313,6 +313,12 @@ then
 		sh /etc/init.d/101_hk_bixler
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 102
+	then
+		sh /etc/init.d/102_3dr_skywalker
+		set MODE custom
+	fi
 	
 	# Start any custom extensions that might be missing
 	if [ -f /fs/microsd/etc/rc.local ]

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -299,9 +299,10 @@ CONFIG_STM32_USART=y
 # CONFIG_USART2_RS485 is not set
 CONFIG_USART2_RXDMA=y
 # CONFIG_USART3_RS485 is not set
-# CONFIG_USART3_RXDMA is not set
+CONFIG_USART3_RXDMA=y
 # CONFIG_UART4_RS485 is not set
-# CONFIG_UART4_RXDMA is not set
+CONFIG_UART4_RXDMA=y
+# CONFIG_UART5_RXDMA is not set
 # CONFIG_USART6_RS485 is not set
 # CONFIG_USART6_RXDMA is not set
 # CONFIG_UART7_RS485 is not set

src/drivers/airspeed/airspeed.h

@@ -119,7 +119,7 @@ protected:
 	virtual int	collect() = 0;
 
 	work_s			_work;
-	float		_max_differential_pressure_pa;
+	float			_max_differential_pressure_pa;
 	bool			_sensor_ok;
 	int			_measure_ticks;
 	bool			_collect_phase;

src/drivers/boards/px4fmu-v2/board_config.h

@@ -79,17 +79,37 @@ __BEGIN_DECLS
 #define GPIO_EXTI_GYRO_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
 #define GPIO_EXTI_MAG_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
+#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_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)
+
+/* 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)
 
 /* SPI chip selects */
-#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1
 #define PX4_SPIDEV_ACCEL_MAG	2
 #define PX4_SPIDEV_BARO		3
+#define PX4_SPIDEV_MPU		4
 
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1

src/drivers/boards/px4fmu-v2/px4fmu2_init.c

@@ -215,9 +215,9 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
 	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
 	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
-	stm32_configgpio(GPIO_ADC1_IN10);	/* unrouted */
-	stm32_configgpio(GPIO_ADC1_IN11);	/* unrouted */
-	stm32_configgpio(GPIO_ADC1_IN12);	/* unrouted */
+	// stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
+	// stm32_configgpio(GPIO_ADC1_IN11);	/* unused */
+	// stm32_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
 	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
 	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
 	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
@@ -279,6 +279,7 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);
 
 	message("[boot] Successfully initialized SPI port 1\n");

src/drivers/boards/px4fmu-v2/px4fmu_spi.c

@@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_configgpio(GPIO_SPI_CS_GYRO);
 	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
 	stm32_configgpio(GPIO_SPI_CS_BARO);
+	stm32_configgpio(GPIO_SPI_CS_MPU);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
@@ -81,6 +82,12 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
+	stm32_configgpio(GPIO_EXTI_MPU_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
@@ -99,6 +106,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_ACCEL_MAG:
@@ -106,6 +114,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_BARO:
@@ -113,6 +122,15 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		break;
+
+	case PX4_SPIDEV_MPU:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 
 	default:

src/drivers/device/cdev.cpp

@@ -108,6 +108,42 @@ CDev::~CDev()
 		unregister_driver(_devname);
 }
 
+int
+CDev::register_class_devname(const char *class_devname)
+{
+	if (class_devname == nullptr) {
+		return -EINVAL;
+	}
+	int class_instance = 0;
+	int ret = -ENOSPC;
+	while (class_instance < 4) {
+		if (class_instance == 0) {
+			ret = register_driver(class_devname, &fops, 0666, (void *)this);
+			if (ret == OK) break;
+		} else {
+			char name[32];
+			snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
+			ret = register_driver(name, &fops, 0666, (void *)this);
+			if (ret == OK) break;
+		}
+		class_instance++;
+	}
+	if (class_instance == 4)
+		return ret;
+	return class_instance;
+}
+
+int
+CDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
+{
+	if (class_instance > 0) {
+		char name[32];
+		snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
+		return unregister_driver(name);
+	}
+	return unregister_driver(class_devname);
+}
+
 int
 CDev::init()
 {

src/drivers/device/device.h

@@ -396,6 +396,25 @@ protected:
 	 */
 	virtual int	close_last(struct file *filp);
 
+        /**
+	 * Register a class device name, automatically adding device
+	 * class instance suffix if need be.
+	 *
+	 * @param class_devname   Device class name
+	 * @return class_instamce Class instance created, or -errno on failure
+	 */
+	virtual int register_class_devname(const char *class_devname);
+
+        /**
+	 * Register a class device name, automatically adding device
+	 * class instance suffix if need be.
+	 *
+	 * @param class_devname   Device class name
+	 * @param class_instance  Device class instance from register_class_devname()
+	 * @return		  OK on success, -errno otherwise
+	 */
+	virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
+
 private:
 	static const unsigned _max_pollwaiters = 8;
 
@@ -488,4 +507,7 @@ private:
 
 } // namespace device
 
+// class instance for primary driver of each class
+#define CLASS_DEVICE_PRIMARY 0
+
 #endif /* _DEVICE_DEVICE_H */

src/drivers/device/spi.cpp

@@ -181,4 +181,10 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	return OK;
 }
 
+void 
+SPI::set_frequency(uint32_t frequency)
+{
+	_frequency = frequency;
+}
+
 } // namespace device

src/drivers/device/spi.h

@@ -101,6 +101,17 @@ protected:
 	 */
 	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
 
+	/**
+	 * Set the SPI bus frequency
+	 * This is used to change frequency on the fly. Some sensors
+	 * (such as the MPU6000) need a lower frequency for setup
+	 * registers and can handle higher frequency for sensor 
+	 * value registers
+	 *
+	 * @param frequency	Frequency to set (Hz)
+	 */
+        void		set_frequency(uint32_t frequency);
+
 	/**
 	 * Locking modes supported by the driver.
 	 */

src/drivers/drv_gpio.h

@@ -46,7 +46,7 @@
 /*
  * PX4FMU GPIO numbers.
  *
- * For shared pins, alternate function 1 selects the non-GPIO mode 
+ * For shared pins, alternate function 1 selects the non-GPIO mode
  * (USART2, CAN2, etc.)
  */
 # define GPIO_EXT_1		(1<<0)		/**< high-power GPIO 1 */
@@ -144,4 +144,6 @@
 /** read all the GPIOs and return their values in *(uint32_t *)arg */
 #define GPIO_GET	GPIOC(12)
 
+#define GPIO_SENSOR_RAIL_RESET	GPIOC(13)
+
 #endif /* _DRV_GPIO_H */

src/drivers/drv_hrt.h

@@ -141,6 +141,20 @@ __EXPORT extern bool	hrt_called(struct hrt_call *entry);
  */
 __EXPORT extern void	hrt_cancel(struct hrt_call *entry);
 
+/*
+ * initialise a hrt_call structure
+ */
+__EXPORT extern void	hrt_call_init(struct hrt_call *entry);
+
+/*
+ * delay a hrt_call_every() periodic call by the given number of
+ * microseconds. This should be called from within the callout to
+ * cause the callout to be re-scheduled for a later time. The periodic
+ * callouts will then continue from that new base time at the
+ * previously specified period.
+ */
+__EXPORT extern void	hrt_call_delay(struct hrt_call *entry, hrt_abstime delay);
+
 /*
  * Initialise the HRT.
  */

src/drivers/hmc5883/hmc5883.cpp

@@ -77,6 +77,7 @@
  */
 
 #define HMC5883L_ADDRESS		PX4_I2C_OBDEV_HMC5883
+#define HMC5883L_DEVICE_PATH		"/dev/hmc5883"
 
 /* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */
 #define HMC5883_CONVERSION_INTERVAL	(1000000 / 150)	/* microseconds */
@@ -154,6 +155,7 @@ private:
 	float 			_range_scale;
 	float 			_range_ga;
 	bool			_collect_phase;
+	int			_class_instance;
 
 	orb_advert_t		_mag_topic;
 
@@ -315,12 +317,13 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
 
 
 HMC5883::HMC5883(int bus) :
-	I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
+	I2C("HMC5883", HMC5883L_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
 	_measure_ticks(0),
 	_reports(nullptr),
 	_range_scale(0), /* default range scale from counts to gauss */
 	_range_ga(1.3f),
 	_mag_topic(-1),
+	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@@ -351,6 +354,9 @@ HMC5883::~HMC5883()
 	if (_reports != nullptr)
 		delete _reports;
 
+	if (_class_instance != -1)
+		unregister_class_devname(MAG_DEVICE_PATH, _class_instance);
+
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -374,13 +380,17 @@ HMC5883::init()
 	/* reset the device configuration */
 	reset();
 
-	/* get a publish handle on the mag topic */
-	struct mag_report zero_report;
-	memset(&zero_report, 0, sizeof(zero_report));
-	_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
+	_class_instance = register_class_devname(MAG_DEVICE_PATH);
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		/* get a publish handle on the mag topic if we are
+		 * the primary mag */
+		struct mag_report zero_report;
+		memset(&zero_report, 0, sizeof(zero_report));
+		_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
 
-	if (_mag_topic < 0)
-		debug("failed to create sensor_mag object");
+		if (_mag_topic < 0)
+			debug("failed to create sensor_mag object");
+	}
 
 	ret = OK;
 	/* sensor is ok, but not calibrated */
@@ -875,8 +885,10 @@ HMC5883::collect()
 	}
 #endif
 
-	/* publish it */
-	orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
+	if (_mag_topic != -1) {
+		/* publish it */
+		orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
+	}
 
 	/* post a report to the ring */
 	if (_reports->force(&new_report)) {
@@ -1256,7 +1268,7 @@ start()
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
 		goto fail;
@@ -1288,10 +1300,10 @@ test()
 	ssize_t sz;
 	int ret;
 
-	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
+		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
@@ -1388,10 +1400,10 @@ int calibrate()
 {
 	int ret;
 
-	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
+		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
 
 	if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
 		warnx("failed to enable sensor calibration mode");
@@ -1413,7 +1425,7 @@ int calibrate()
 void
 reset()
 {
-	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "failed ");

src/drivers/l3gd20/l3gd20.cpp

@@ -66,6 +66,8 @@
 #include <board_config.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 
+#define L3GD20_DEVICE_PATH "/dev/l3gd20"
+
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
 # undef ERROR
@@ -92,9 +94,17 @@ static const int ERROR = -1;
 #define REG1_RATE_LP_MASK			0xF0 /* Mask to guard partial register update */
 /* keep lowpass low to avoid noise issues */
 #define RATE_95HZ_LP_25HZ		((0<<7) | (0<<6) | (0<<5) | (1<<4))
-#define RATE_190HZ_LP_25HZ		((0<<7) | (1<<6) | (1<<5) | (1<<4))
+#define RATE_190HZ_LP_25HZ		((0<<7) | (1<<6) | (0<<5) | (1<<4))
+#define RATE_190HZ_LP_50HZ		((0<<7) | (1<<6) | (1<<5) | (0<<4))
+#define RATE_190HZ_LP_70HZ		((0<<7) | (1<<6) | (1<<5) | (1<<4))
 #define RATE_380HZ_LP_20HZ		((1<<7) | (0<<6) | (1<<5) | (0<<4))
+#define RATE_380HZ_LP_25HZ		((1<<7) | (0<<6) | (0<<5) | (1<<4))
+#define RATE_380HZ_LP_50HZ		((1<<7) | (0<<6) | (1<<5) | (0<<4))
+#define RATE_380HZ_LP_100HZ		((1<<7) | (0<<6) | (1<<5) | (1<<4))
 #define RATE_760HZ_LP_30HZ		((1<<7) | (1<<6) | (0<<5) | (0<<4))
+#define RATE_760HZ_LP_35HZ		((1<<7) | (1<<6) | (0<<5) | (1<<4))
+#define RATE_760HZ_LP_50HZ		((1<<7) | (1<<6) | (1<<5) | (0<<4))
+#define RATE_760HZ_LP_100HZ		((1<<7) | (1<<6) | (1<<5) | (1<<4))
 
 #define ADDR_CTRL_REG2			0x21
 #define ADDR_CTRL_REG3			0x22
@@ -191,6 +201,7 @@ private:
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 	orb_advert_t		_gyro_topic;
+	int			_class_instance;
 
 	unsigned		_current_rate;
 	unsigned		_orientation;
@@ -198,6 +209,8 @@ private:
 	unsigned		_read;
 
 	perf_counter_t		_sample_perf;
+	perf_counter_t		_reschedules;
+	perf_counter_t		_errors;
 
 	math::LowPassFilter2p	_gyro_filter_x;
 	math::LowPassFilter2p	_gyro_filter_y;
@@ -218,6 +231,11 @@ private:
 	 */
 	void			reset();
 
+	/**
+	 * disable I2C on the chip
+	 */
+	void			disable_i2c();
+
 	/**
 	 * Static trampoline from the hrt_call context; because we don't have a
 	 * generic hrt wrapper yet.
@@ -304,10 +322,13 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_gyro_topic(-1),
+	_class_instance(-1),
 	_current_rate(0),
 	_orientation(SENSOR_BOARD_ROTATION_270_DEG),
 	_read(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
+	_reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")),
+	_errors(perf_alloc(PC_COUNT, "l3gd20_errors")),
 	_gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
 	_gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
 	_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ)
@@ -333,8 +354,13 @@ L3GD20::~L3GD20()
 	if (_reports != nullptr)
 		delete _reports;
 
+	if (_class_instance != -1)
+		unregister_class_devname(GYRO_DEVICE_PATH, _class_instance);
+
 	/* delete the perf counter */
 	perf_free(_sample_perf);
+	perf_free(_reschedules);
+	perf_free(_errors);
 }
 
 int
@@ -352,10 +378,13 @@ L3GD20::init()
 	if (_reports == nullptr)
 		goto out;
 
-	/* advertise sensor topic */
-	struct gyro_report zero_report;
-	memset(&zero_report, 0, sizeof(zero_report));
-	_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report);
+	_class_instance = register_class_devname(GYRO_DEVICE_PATH);
+        if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		/* advertise sensor topic */
+		struct gyro_report zero_report;
+		memset(&zero_report, 0, sizeof(zero_report));
+		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report);
+        }
 
 	reset();
 
@@ -574,6 +603,7 @@ L3GD20::read_reg(unsigned reg)
 	uint8_t cmd[2];
 
 	cmd[0] = reg | DIR_READ;
+	cmd[1] = 0;
 
 	transfer(cmd, cmd, sizeof(cmd));
 
@@ -653,16 +683,15 @@ L3GD20::set_samplerate(unsigned frequency)
 
 	} else if (frequency <= 200) {
 		_current_rate = 190;
-		bits |= RATE_190HZ_LP_25HZ;
+		bits |= RATE_190HZ_LP_50HZ;
 
 	} else if (frequency <= 400) {
 		_current_rate = 380;
-		bits |= RATE_380HZ_LP_20HZ;
+		bits |= RATE_380HZ_LP_50HZ;
 
 	} else if (frequency <= 800) {
 		_current_rate = 760;
-		bits |= RATE_760HZ_LP_30HZ;
-
+		bits |= RATE_760HZ_LP_50HZ;
 	} else {
 		return -EINVAL;
 	}
@@ -699,13 +728,31 @@ L3GD20::stop()
 	hrt_cancel(&_call);
 }
 
+void
+L3GD20::disable_i2c(void)
+{
+	uint8_t retries = 10;
+	while (retries--) {
+		// add retries
+		uint8_t a = read_reg(0x05);
+		write_reg(0x05, (0x20 | a));
+		if (read_reg(0x05) == (a | 0x20)) {
+			return;
+		}
+	}
+	debug("FAILED TO DISABLE I2C");
+}
+
 void
 L3GD20::reset()
 {
+	// ensure the chip doesn't interpret any other bus traffic as I2C
+	disable_i2c();
+
 	/* set default configuration */
 	write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
 	write_reg(ADDR_CTRL_REG2, 0);		/* disable high-pass filters */
-	write_reg(ADDR_CTRL_REG3, 0);		/* no interrupts - we don't use them */
+	write_reg(ADDR_CTRL_REG3, 0x08);        /* DRDY enable */
 	write_reg(ADDR_CTRL_REG4, REG4_BDU);
 	write_reg(ADDR_CTRL_REG5, 0);
 
@@ -716,7 +763,7 @@ L3GD20::reset()
 	 * callback fast enough to not miss data. */
 	write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
 
-	set_samplerate(L3GD20_DEFAULT_RATE);
+	set_samplerate(0); // 760Hz
 	set_range(L3GD20_DEFAULT_RANGE_DPS);
 	set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ);
 
@@ -732,9 +779,26 @@ L3GD20::measure_trampoline(void *arg)
 	dev->measure();
 }
 
+#ifdef GPIO_EXTI_GYRO_DRDY
+# define L3GD20_USE_DRDY 1
+#else
+# define L3GD20_USE_DRDY 0
+#endif
+
 void
 L3GD20::measure()
 {
+#if L3GD20_USE_DRDY
+	// if the gyro doesn't have any data ready then re-schedule
+	// for 100 microseconds later. This ensures we don't double
+	// read a value and then miss the next value
+	if (stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
+		perf_count(_reschedules);
+		hrt_call_delay(&_call, 100);
+		return;
+	}
+#endif
+
 	/* status register and data as read back from the device */
 #pragma pack(push, 1)
 	struct {
@@ -753,9 +817,20 @@ L3GD20::measure()
 	perf_begin(_sample_perf);
 
 	/* fetch data from the sensor */
+	memset(&raw_report, 0, sizeof(raw_report));
 	raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT;
 	transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report));
 
+#if L3GD20_USE_DRDY
+        if ((raw_report.status & 0xF) != 0xF) {
+            /*
+              we waited for DRDY, but did not see DRDY on all axes
+              when we captured. That means a transfer error of some sort
+             */
+            perf_count(_errors);            
+            return;
+        }
+#endif
 	/*
 	 * 1) Scale raw value to SI units using scaling from datasheet.
 	 * 2) Subtract static offset (in SI units)
@@ -833,6 +908,8 @@ L3GD20::print_info()
 {
 	printf("gyro reads:          %u\n", _read);
 	perf_print_counter(_sample_perf);
+	perf_print_counter(_reschedules);
+	perf_print_counter(_errors);
 	_reports->print_info("report queue");
 }
 
@@ -883,7 +960,7 @@ start()
 		errx(0, "already started");
 
 	/* create the driver */
-	g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
+	g_dev = new L3GD20(1 /* SPI bus 1 */, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
 
 	if (g_dev == nullptr)
 		goto fail;
@@ -892,7 +969,7 @@ start()
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(GYRO_DEVICE_PATH, O_RDONLY);
+	fd = open(L3GD20_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
 		goto fail;
@@ -900,6 +977,8 @@ start()
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
 
+        close(fd);
+
 	exit(0);
 fail:
 
@@ -924,10 +1003,10 @@ test()
 	ssize_t sz;
 
 	/* get the driver */
-	fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+	fd_gyro = open(L3GD20_DEVICE_PATH, O_RDONLY);
 
 	if (fd_gyro < 0)
-		err(1, "%s open failed", GYRO_DEVICE_PATH);
+		err(1, "%s open failed", L3GD20_DEVICE_PATH);
 
 	/* reset to manual polling */
 	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
@@ -948,6 +1027,8 @@ test()
 	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
 	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
 
+        close(fd_gyro);
+
 	/* XXX add poll-rate tests here too */
 
 	reset();
@@ -960,7 +1041,7 @@ test()
 void
 reset()
 {
-	int fd = open(GYRO_DEVICE_PATH, O_RDONLY);
+	int fd = open(L3GD20_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "failed ");
@@ -971,6 +1052,8 @@ reset()
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		err(1, "accel pollrate reset failed");
 
+        close(fd);
+
 	exit(0);
 }
 

src/drivers/mpu6000/mpu6000.cpp

@@ -75,6 +75,9 @@
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
 
+#define MPU_DEVICE_PATH_ACCEL		"/dev/mpu6000_accel"
+#define MPU_DEVICE_PATH_GYRO		"/dev/mpu6000_gyro"
+
 // MPU 6000 registers
 #define MPUREG_WHOAMI			0x75
 #define MPUREG_SMPLRT_DIV		0x19
@@ -161,6 +164,14 @@
 
 #define MPU6000_ONE_G					9.80665f
 
+/*
+  the MPU6000 can only handle high SPI bus speeds on the sensor and
+  interrupt status registers. All other registers have a maximum 1MHz
+  SPI speed
+ */
+#define MPU6000_LOW_BUS_SPEED				1000*1000
+#define MPU6000_HIGH_BUS_SPEED				10*1000*1000
+
 class MPU6000_gyro;
 
 class MPU6000 : public device::SPI
@@ -200,17 +211,19 @@ private:
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
+	int			_accel_class_instance;
 
 	RingBuffer		*_gyro_reports;
 
 	struct gyro_scale	_gyro_scale;
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
-	orb_advert_t		_gyro_topic;
 
-	unsigned		_reads;
 	unsigned		_sample_rate;
+	perf_counter_t		_accel_reads;
+	perf_counter_t		_gyro_reads;
 	perf_counter_t		_sample_perf;
+	perf_counter_t		_bad_transfers;
 
 	math::LowPassFilter2p	_accel_filter_x;
 	math::LowPassFilter2p	_accel_filter_y;
@@ -338,12 +351,17 @@ public:
 	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
+	virtual int		init();
+
 protected:
 	friend class MPU6000;
 
 	void			parent_poll_notify();
+
 private:
 	MPU6000			*_parent;
+	orb_advert_t		_gyro_topic;
+	int			_gyro_class_instance;
 
 };
 
@@ -351,7 +369,7 @@ private:
 extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
 
 MPU6000::MPU6000(int bus, spi_dev_e device) :
-	SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 10000000),
+	SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
 	_gyro(new MPU6000_gyro(this)),
 	_product(0),
 	_call_interval(0),
@@ -359,13 +377,15 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
 	_accel_topic(-1),
+	_accel_class_instance(-1),
 	_gyro_reports(nullptr),
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
-	_gyro_topic(-1),
-	_reads(0),
 	_sample_rate(1000),
+	_accel_reads(perf_alloc(PC_COUNT, "mpu6000_accel_read")),
+	_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
+	_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
 	_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -409,8 +429,14 @@ MPU6000::~MPU6000()
 	if (_gyro_reports != nullptr)
 		delete _gyro_reports;
 
+	if (_accel_class_instance != -1)
+		unregister_class_devname(ACCEL_DEVICE_PATH, _accel_class_instance);
+
 	/* delete the perf counter */
 	perf_free(_sample_perf);
+	perf_free(_accel_reads);
+	perf_free(_gyro_reads);
+	perf_free(_bad_transfers);
 }
 
 int
@@ -455,24 +481,23 @@ MPU6000::init()
 	_gyro_scale.z_scale  = 1.0f;
 
 	/* do CDev init for the gyro device node, keep it optional */
-	gyro_ret = _gyro->init();
+	ret = _gyro->init();
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		debug("gyro init failed");
+		return ret;
+	}
 
 	/* fetch an initial set of measurements for advertisement */
 	measure();
 
-	if (gyro_ret != OK) {
-		_gyro_topic = -1;
-	} else {
-		gyro_report gr;
-		_gyro_reports->get(&gr);
-
-		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
-	}
-
-	/* advertise accel topic */
-	accel_report ar;
-	_accel_reports->get(&ar);
-	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
+	_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
+	if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
+		/* advertise accel topic */
+		accel_report ar;
+		_accel_reports->get(&ar);
+		_accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar);
+	}		
 
 out:
 	return ret;
@@ -652,6 +677,8 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
 	if (_accel_reports->empty())
 		return -EAGAIN;
 
+	perf_count(_accel_reads);
+
 	/* copy reports out of our buffer to the caller */
 	accel_report *arp = reinterpret_cast<accel_report *>(buffer);
 	int transferred = 0;
@@ -669,12 +696,12 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen)
 int
 MPU6000::self_test()
 {
-	if (_reads == 0) {
+	if (perf_event_count(_sample_perf) == 0) {
 		measure();
 	}
 
 	/* return 0 on success, 1 else */
-	return (_reads > 0) ? 0 : 1;
+	return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
 }
 
 int
@@ -746,6 +773,8 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	if (_gyro_reports->empty())
 		return -EAGAIN;
 
+	perf_count(_gyro_reads);
+
 	/* copy reports out of our buffer to the caller */
 	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
 	int transferred = 0;
@@ -987,9 +1016,10 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 uint8_t
 MPU6000::read_reg(unsigned reg)
 {
-	uint8_t cmd[2];
+	uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0};
 
-	cmd[0] = reg | DIR_READ;
+        // general register transfer at low clock speed
+        set_frequency(MPU6000_LOW_BUS_SPEED);
 
 	transfer(cmd, cmd, sizeof(cmd));
 
@@ -999,9 +1029,10 @@ MPU6000::read_reg(unsigned reg)
 uint16_t
 MPU6000::read_reg16(unsigned reg)
 {
-	uint8_t cmd[3];
+	uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
 
-	cmd[0] = reg | DIR_READ;
+        // general register transfer at low clock speed
+        set_frequency(MPU6000_LOW_BUS_SPEED);
 
 	transfer(cmd, cmd, sizeof(cmd));
 
@@ -1016,6 +1047,9 @@ MPU6000::write_reg(unsigned reg, uint8_t value)
 	cmd[0] = reg | DIR_WRITE;
 	cmd[1] = value;
 
+        // general register transfer at low clock speed
+        set_frequency(MPU6000_LOW_BUS_SPEED);
+
 	transfer(cmd, nullptr, sizeof(cmd));
 }
 
@@ -1139,12 +1173,13 @@ MPU6000::measure()
 	 * Fetch the full set of measurements from the MPU6000 in one pass.
 	 */
 	mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
+
+        // sensor transfer at high clock speed
+        set_frequency(MPU6000_HIGH_BUS_SPEED);
+
 	if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report)))
 		return;
 
-	/* count measurement */
-	_reads++;
-
 	/*
 	 * Convert from big to little endian
 	 */
@@ -1159,6 +1194,20 @@ MPU6000::measure()
 	report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y);
 	report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z);
 
+	if (report.accel_x == 0 &&
+	    report.accel_y == 0 &&
+	    report.accel_z == 0 &&
+	    report.temp == 0 &&
+	    report.gyro_x == 0 &&
+	    report.gyro_y == 0 &&
+	    report.gyro_z == 0) {
+		// all zero data - probably a SPI bus error
+		perf_count(_bad_transfers);
+		perf_end(_sample_perf);
+		return;
+	}
+	    
+
 	/*
 	 * Swap axes and negate y
 	 */
@@ -1249,10 +1298,11 @@ MPU6000::measure()
 	poll_notify(POLLIN);
 	_gyro->parent_poll_notify();
 
-	/* and publish for subscribers */
-	orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
-	if (_gyro_topic != -1) {
-		orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
+	if (_accel_topic != -1) {
+		orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+	}
+	if (_gyro->_gyro_topic != -1) {
+		orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
 	}
 
 	/* stop measuring */
@@ -1263,19 +1313,48 @@ void
 MPU6000::print_info()
 {
 	perf_print_counter(_sample_perf);
-	printf("reads:          %u\n", _reads);
+	perf_print_counter(_accel_reads);
+	perf_print_counter(_gyro_reads);
 	_accel_reports->print_info("accel queue");
 	_gyro_reports->print_info("gyro queue");
 }
 
 MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
-	CDev("MPU6000_gyro", GYRO_DEVICE_PATH),
-	_parent(parent)
+	CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO),
+	_parent(parent),
+	_gyro_class_instance(-1)
 {
 }
 
 MPU6000_gyro::~MPU6000_gyro()
 {
+	if (_gyro_class_instance != -1)
+		unregister_class_devname(GYRO_DEVICE_PATH, _gyro_class_instance);
+}
+
+int
+MPU6000_gyro::init()
+{
+	int ret;
+
+	// do base class init
+	ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		debug("gyro init failed");
+		return ret;
+	}
+
+	_gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH);
+	if (_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
+		gyro_report gr;
+		memset(&gr, 0, sizeof(gr));
+		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr);
+	}
+
+out:
+	return ret;
 }
 
 void
@@ -1331,7 +1410,7 @@ start()
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd < 0)
 		goto fail;
@@ -1339,6 +1418,8 @@ start()
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
 
+        close(fd);
+
 	exit(0);
 fail:
 
@@ -1363,17 +1444,17 @@ test()
 	ssize_t sz;
 
 	/* get the driver */
-	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
-		    ACCEL_DEVICE_PATH);
+		    MPU_DEVICE_PATH_ACCEL);
 
 	/* get the driver */
-	int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+	int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY);
 
 	if (fd_gyro < 0)
-		err(1, "%s open failed", GYRO_DEVICE_PATH);
+		err(1, "%s open failed", MPU_DEVICE_PATH_GYRO);
 
 	/* reset to manual polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
@@ -1431,7 +1512,7 @@ test()
 void
 reset()
 {
-	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "failed ");
@@ -1442,6 +1523,8 @@ reset()
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		err(1, "driver poll restart failed");
 
+        close(fd);
+
 	exit(0);
 }
 

src/drivers/ms5611/ms5611.cpp

@@ -420,8 +420,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return _reports->size();
 
 	case SENSORIOCRESET:
-		/* XXX implement this */
-		return -EINVAL;
+		/*
+		 * Since we are initialized, we do not need to do anything, since the
+		 * PROM is correctly read and the part does not need to be configured.
+		 */
+		return OK;
 
 	case BAROIOCSMSLPRESSURE:
 

src/drivers/ms5611/ms5611_spi.cpp

@@ -121,7 +121,7 @@ MS5611_spi_interface(ms5611::prom_u &prom_buf)
 }
 
 MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
-	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 2000000),
+	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 6*1000*1000),
 	_prom(prom_buf)
 {
 }
@@ -134,7 +134,6 @@ int
 MS5611_SPI::init()
 {
 	int ret;
-	irqstate_t flags;
 
 	ret = SPI::init();
 	if (ret != OK) {
@@ -167,10 +166,9 @@ MS5611_SPI::read(unsigned offset, void *data, unsigned count)
 		uint8_t	b[4];
 		uint32_t w;
 	} *cvt = (_cvt *)data;
-	uint8_t buf[4];
+	uint8_t buf[4] = { 0 | DIR_WRITE, 0, 0, 0 };
 
 	/* read the most recent measurement */
-	buf[0] = 0 | DIR_WRITE;
 	int ret = _transfer(&buf[0], &buf[0], sizeof(buf));
 
 	if (ret == OK) {
@@ -238,21 +236,31 @@ MS5611_SPI::_read_prom()
 	usleep(3000);
 
 	/* read and convert PROM words */
+        bool all_zero = true;
 	for (int i = 0; i < 8; i++) {
 		uint8_t cmd = (ADDR_PROM_SETUP + (i * 2));
 		_prom.c[i] = _reg16(cmd);
+                if (_prom.c[i] != 0)
+			all_zero = false;
+                //debug("prom[%u]=0x%x", (unsigned)i, (unsigned)_prom.c[i]);
 	}
 
 	/* calculate CRC and return success/failure accordingly */
-	return ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
+	int ret = ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
+        if (ret != OK) {
+		debug("crc failed");
+        }
+        if (all_zero) {
+		debug("prom all zero");
+		ret = -EIO;
+        }
+        return ret;
 }
 
 uint16_t
 MS5611_SPI::_reg16(unsigned reg)
 {
-	uint8_t cmd[3];
-
-	cmd[0] = reg | DIR_READ;
+	uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
 
 	_transfer(cmd, cmd, sizeof(cmd));
 

src/drivers/px4io/px4io.cpp

@@ -54,6 +54,7 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <math.h>
+#include <crc32.h>
 
 #include <arch/board/board.h>
 
@@ -95,6 +96,8 @@ extern device::Device *PX4IO_serial_interface() weak_function;
 
 #define PX4IO_SET_DEBUG			_IOC(0xff00, 0)
 #define PX4IO_INAIR_RESTART_ENABLE	_IOC(0xff00, 1)
+#define PX4IO_REBOOT_BOOTLOADER		_IOC(0xff00, 2)
+#define PX4IO_CHECK_CRC			_IOC(0xff00, 3)
 
 #define UPDATE_INTERVAL_MIN		2			// 2 ms	-> 500 Hz
 #define ORB_CHECK_INTERVAL		200000		// 200 ms -> 5 Hz
@@ -1659,11 +1662,13 @@ void
 PX4IO::print_status()
 {
 	/* basic configuration */
-	printf("protocol %u hardware %u bootloader %u buffer %uB\n",
+	printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
 	       io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
 	       io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION),
 	       io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
-	       io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER));
+	       io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER),
+	       io_reg_get(PX4IO_PAGE_SETUP,  PX4IO_P_SETUP_CRC),
+	       io_reg_get(PX4IO_PAGE_SETUP,  PX4IO_P_SETUP_CRC+1));
 	printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
 	       io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
 	       io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
@@ -2146,6 +2151,29 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
 		break;
 
+	case PX4IO_REBOOT_BOOTLOADER:
+		if (system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
+			return -EINVAL;
+
+		/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
+		// we don't expect a reply from this operation
+		ret = OK;
+		break;
+
+	case PX4IO_CHECK_CRC: {
+		/* check IO firmware CRC against passed value */		
+		uint32_t io_crc = 0;
+		ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
+		if (ret != OK)
+			return ret;
+		if (io_crc != arg) {
+			debug("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg);
+			return -EINVAL;
+		}
+		break;
+	}
+
 	case PX4IO_INAIR_RESTART_ENABLE:
 
 		/* set/clear the 'in-air restart' bit */
@@ -2530,7 +2558,7 @@ px4io_main(int argc, char *argv[])
 		}
 
 		PX4IO_Uploader *up;
-		const char *fn[3];
+		const char *fn[4];
 
 		/* work out what we're uploading... */
 		if (argc > 2) {
@@ -2673,6 +2701,82 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "forceupdate")) {
+		/*
+		  force update of the IO firmware without requiring
+		  the user to hold the safety switch down
+		 */
+		if (argc <= 3) {
+			printf("usage: px4io forceupdate MAGIC filename\n");
+			exit(1);
+		}
+		if (g_dev == nullptr) {
+			printf("px4io is not started\n");
+			exit(1);
+		}
+		uint16_t arg = atol(argv[2]);
+		int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
+		if (ret != OK) {
+			printf("reboot failed - %d\n", ret);
+			exit(1);			
+		}
+
+		// tear down the px4io instance
+		delete g_dev;
+
+		// upload the specified firmware
+		const char *fn[2];
+		fn[0] = argv[3];
+		fn[1] = nullptr;
+		PX4IO_Uploader *up = new PX4IO_Uploader;
+		up->upload(&fn[0]);
+		delete up;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "checkcrc")) {
+		/*
+		  check IO CRC against CRC of a file
+		 */
+		if (argc <= 2) {
+			printf("usage: px4io checkcrc filename\n");
+			exit(1);
+		}
+		if (g_dev == nullptr) {
+			printf("px4io is not started\n");
+			exit(1);
+		}
+		int fd = open(argv[2], O_RDONLY);
+		if (fd == -1) {
+			printf("open of %s failed - %d\n", argv[2], errno);
+			exit(1);			
+		}
+		const uint32_t app_size_max = 0xf000;
+		uint32_t fw_crc = 0;
+		uint32_t nbytes = 0;
+		while (true) {
+			uint8_t buf[16];
+			int n = read(fd, buf, sizeof(buf));
+			if (n <= 0) break;
+			fw_crc = crc32part(buf, n, fw_crc);
+			nbytes += n;
+		}
+		close(fd);
+		while (nbytes < app_size_max) {
+			uint8_t b = 0xff;
+			fw_crc = crc32part(&b, 1, fw_crc);			
+			nbytes++;
+		}
+
+		int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
+		if (ret != OK) {
+			printf("check CRC failed - %d\n", ret);
+			exit(1);			
+		}
+		printf("CRCs match\n");
+		exit(0);
+	}
+
 	if (!strcmp(argv[1], "rx_dsm") ||
 	    !strcmp(argv[1], "rx_dsm_10bit") ||
 	    !strcmp(argv[1], "rx_dsm_11bit") ||
@@ -2690,5 +2794,5 @@ px4io_main(int argc, char *argv[])
 		bind(argc, argv);
 
 out:
-	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind', 'checkcrc', 'forceupdate' or 'update'");
 }

src/drivers/px4io/px4io_uploader.cpp

@@ -274,7 +274,10 @@ PX4IO_Uploader::drain()
 	int ret;
 
 	do {
-		ret = recv(c, 1000);
+		// the small recv timeout here is to allow for fast
+		// drain when rebooting the io board for a forced
+		// update of the fw without using the safety switch
+		ret = recv(c, 40);
 
 #ifdef UDEBUG
 		if (ret == OK) {

src/drivers/stm32/drv_hrt.c

@@ -733,6 +733,13 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
 	irqstate_t flags = irqsave();
 
 	/* if the entry is currently queued, remove it */
+        /* note that we are using a potentially uninitialised
+           entry->link here, but it is safe as sq_rem() doesn't
+           dereference the passed node unless it is found in the
+           list. So we potentially waste a bit of time searching the
+           queue for the uninitialised entry->link but we don't do
+           anything actually unsafe.
+        */
 	if (entry->deadline != 0)
 		sq_rem(&entry->link, &callout_queue);
 
@@ -839,7 +846,12 @@ hrt_call_invoke(void)
 
 		/* if the callout has a non-zero period, it has to be re-entered */
 		if (call->period != 0) {
-			call->deadline = deadline + call->period;
+			// re-check call->deadline to allow for
+			// callouts to re-schedule themselves 
+			// using hrt_call_delay()
+			if (call->deadline <= now) {
+				call->deadline = deadline + call->period;
+			}
 			hrt_call_enter(call);
 		}
 	}
@@ -906,5 +918,16 @@ hrt_latency_update(void)
 	latency_counters[index]++;
 }
 
+void
+hrt_call_init(struct hrt_call *entry)
+{
+	memset(entry, 0, sizeof(*entry));
+}
+
+void
+hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
+{
+	entry->deadline = hrt_absolute_time() + delay;
+}
 
 #endif /* HRT_TIMER */

src/lib/mathlib/math/filter/LowPassFilter2p.cpp

@@ -46,6 +46,10 @@ namespace math
 void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq)
 {
     _cutoff_freq = cutoff_freq;
+    if (_cutoff_freq <= 0.0f) {
+        // no filtering
+        return;
+    }
     float fr = sample_freq/_cutoff_freq;
     float ohm = tanf(M_PI_F/fr);
     float c = 1.0f+2.0f*cosf(M_PI_F/4.0f)*ohm + ohm*ohm;
@@ -58,6 +62,10 @@ void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq)
 
 float LowPassFilter2p::apply(float sample)
 {
+    if (_cutoff_freq <= 0.0f) {
+        // no filtering
+        return sample;
+    }
     // do the filtering
     float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2;
     if (isnan(delay_element_0) || isinf(delay_element_0)) {

src/modules/mavlink/missionlib.c

@@ -276,7 +276,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 			next_setpoint_index = index + 1;
 		}
 
-		while (next_setpoint_index < wpm->size - 1) {
+		while (next_setpoint_index < wpm->size) {
 
 			if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
 					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
@@ -301,7 +301,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 			sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
 			sp.altitude = wpm->waypoints[last_setpoint_index].z;
 			sp.altitude_is_relative = false;
-			sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
+			sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F);
 			set_special_fields(wpm->waypoints[last_setpoint_index].param1,
 				wpm->waypoints[last_setpoint_index].param2,
 				wpm->waypoints[last_setpoint_index].param3,
@@ -317,7 +317,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 			sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
 			sp.altitude = wpm->waypoints[next_setpoint_index].z;
 			sp.altitude_is_relative = false;
-			sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
+			sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F);
 			set_special_fields(wpm->waypoints[next_setpoint_index].param1,
 				wpm->waypoints[next_setpoint_index].param2,
 				wpm->waypoints[next_setpoint_index].param3,
@@ -343,7 +343,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.lon = param6_lon_y * 1e7f;
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = true;
-		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
 		set_special_fields(param1, param2, param3, param4, command, &sp);
 
 		/* Initialize publication if necessary */
@@ -364,7 +364,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.x = param5_lat_x;
 		sp.y = param6_lon_y;
 		sp.z = param7_alt_z;
-		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
 
 		/* Initialize publication if necessary */
 		if (local_position_setpoint_pub < 0) {

src/modules/px4iofirmware/protocol.h

@@ -186,6 +186,11 @@ enum {							/* DSM bind states */
  					     /*	8 */
 #define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
 
+#define PX4IO_P_SETUP_REBOOT_BL		       10	/* reboot IO into bootloader */
+#define PX4IO_REBOOT_BL_MAGIC               14662       /* required argument for reboot (random) */
+
+#define PX4IO_P_SETUP_CRC		       11	/* get CRC of IO firmware */
+
 /* autopilot control values, -10000..10000 */
 #define PX4IO_PAGE_CONTROLS		51		/* 0..CONFIG_CONTROL_COUNT */
 

src/modules/px4iofirmware/px4io.c

@@ -45,6 +45,7 @@
 #include <string.h>
 #include <poll.h>
 #include <signal.h>
+#include <crc32.h>
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
@@ -117,6 +118,29 @@ show_debug_messages(void)
 	}
 }
 
+static void
+heartbeat_blink(void)
+{
+	static bool heartbeat = false;
+	LED_BLUE(heartbeat = !heartbeat);
+}
+
+
+static void
+calculate_fw_crc(void)
+{
+#define APP_SIZE_MAX 0xf000
+#define APP_LOAD_ADDRESS 0x08001000
+	// compute CRC of the current firmware
+	uint32_t sum = 0;
+	for (unsigned p = 0; p < APP_SIZE_MAX; p += 4) {
+		uint32_t bytes = *(uint32_t *)(p + APP_LOAD_ADDRESS);
+		sum = crc32part((uint8_t *)&bytes, sizeof(bytes), sum);
+	}
+	r_page_setup[PX4IO_P_SETUP_CRC]   = sum & 0xFFFF;
+	r_page_setup[PX4IO_P_SETUP_CRC+1] = sum >> 16;
+}
+
 int
 user_start(int argc, char *argv[])
 {
@@ -129,6 +153,9 @@ user_start(int argc, char *argv[])
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
 
+	/* calculate our fw CRC so FMU can decide if we need to update */
+	calculate_fw_crc();
+
 	/*
 	 * Poll at 1ms intervals for received bytes that have not triggered
 	 * a DMA event.
@@ -201,6 +228,7 @@ user_start(int argc, char *argv[])
 	 */
 
 	uint64_t last_debug_time = 0;
+        uint64_t last_heartbeat_time = 0;
 	for (;;) {
 
 		/* track the rate at which the loop is running */
@@ -216,6 +244,11 @@ user_start(int argc, char *argv[])
 		controls_tick();
 		perf_end(controls_perf);
 
+                if ((hrt_absolute_time() - last_heartbeat_time) > 250*1000) {
+                    last_heartbeat_time = hrt_absolute_time();
+                    heartbeat_blink();
+                }
+
 #if 0
 		/* check for debug activity */
 		show_debug_messages();

src/modules/px4iofirmware/registers.c

@@ -45,6 +45,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
+#include <systemlib/systemlib.h>
+#include <stm32_pwr.h>
 
 #include "px4io.h"
 #include "protocol.h"
@@ -154,6 +156,8 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
 #endif
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
+	[PX4IO_P_SETUP_REBOOT_BL]		= 0,
+	[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
 };
 
 #define PX4IO_P_SETUP_FEATURES_VALID	(0)
@@ -501,6 +505,29 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
 			break;
 
+		case PX4IO_P_SETUP_REBOOT_BL:
+			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
+			    (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ||
+			    (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+				// don't allow reboot while armed
+				break;
+			}
+
+			// 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();
+			break;
+
 		case PX4IO_P_SETUP_DSM:
 			dsm_bind(value & 0x0f, (value >> 4) & 7);
 			break;

src/modules/px4iofirmware/safety.c

@@ -77,7 +77,6 @@ static unsigned blink_counter = 0;
 static bool safety_button_pressed;
 
 static void safety_check_button(void *arg);
-static void heartbeat_blink(void *arg);
 static void failsafe_blink(void *arg);
 
 void
@@ -86,9 +85,6 @@ safety_init(void)
 	/* arrange for the button handler to be called at 10Hz */
 	hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
 
-	/* arrange for the heartbeat handler to be called at 4Hz */
-	hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL);
-
 	/* arrange for the failsafe blinker to be called at 8Hz */
 	hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
 }
@@ -163,16 +159,6 @@ safety_check_button(void *arg)
 	}
 }
 
-static void
-heartbeat_blink(void *arg)
-{
-	static bool heartbeat = false;
-
-	/* XXX add flags here that need to be frobbed by various loops */
-
-	LED_BLUE(heartbeat = !heartbeat);
-}
-
 static void
 failsafe_blink(void *arg)
 {
@@ -192,4 +178,4 @@ failsafe_blink(void *arg)
 	}
 
 	LED_AMBER(failsafe);
-}
+}

src/systemcmds/pwm/pwm.c

@@ -210,7 +210,7 @@ pwm_main(int argc, char *argv[])
 		err(1, "PWM_SERVO_GET_COUNT");
 
 	if (!strcmp(argv[1], "arm")) {
-		/* tell IO that its ok to disable its safety with the switch */
+		/* tell safety that its ok to disable it with the switch */
 		ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
 		if (ret != OK)
 			err(1, "PWM_SERVO_SET_ARM_OK");

src/systemcmds/tests/module.mk

@@ -24,6 +24,7 @@ SRCS			 = test_adc.c \
 			   test_uart_loopback.c \
 			   test_uart_send.c \
 			   test_mixer.cpp \
-			   tests_file.c \
+			   test_file.c \
 			   tests_main.c \
-			   tests_param.c
+			   test_param.c \
+			   test_ppm_loopback.c

src/systemcmds/tests/test_file.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file tests_file.c
+ * @file test_file.c
  *
  * File write test.
  */

src/systemcmds/tests/test_param.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file tests_param.c
+ * @file test_param.c
  *
  * Tests related to the parameter system.
  */

src/systemcmds/tests/test_ppm_loopback.c

@@ -0,0 +1,178 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test_ppm_loopback.c
+ * Tests the PWM outputs and PPM input
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_rc_input.h>
+#include <uORB/topics/rc_channels.h>
+#include <systemlib/err.h>
+
+#include "tests.h"
+
+#include <math.h>
+#include <float.h>
+
+int test_ppm_loopback(int argc, char *argv[])
+{
+
+	int _rc_sub = orb_subscribe(ORB_ID(input_rc));
+
+	int servo_fd, result;
+	servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
+	servo_position_t pos;
+
+	servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
+
+	if (servo_fd < 0) {
+		printf("failed opening /dev/pwm_servo\n");
+	}
+
+	printf("Servo readback, pairs of values should match defaults\n");
+
+	unsigned servo_count;
+	result = ioctl(servo_fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
+	if (result != OK) {
+		warnx("PWM_SERVO_GET_COUNT");
+		return ERROR;
+	}
+
+	for (unsigned i = 0; i < servo_count; i++) {
+		result = ioctl(servo_fd, PWM_SERVO_GET(i), (unsigned long)&pos);
+
+		if (result < 0) {
+			printf("failed reading channel %u\n", i);
+		}
+
+		//printf("%u: %u %u\n", i, pos, data[i]);
+
+	}
+
+	// /* tell safety that its ok to disable it with the switch */
+	// result = ioctl(servo_fd, PWM_SERVO_SET_ARM_OK, 0);
+	// if (result != OK)
+	// 	warnx("FAIL: PWM_SERVO_SET_ARM_OK");
+	//  tell output device that the system is armed (it will output values if safety is off) 
+	// result = ioctl(servo_fd, PWM_SERVO_ARM, 0);
+	// if (result != OK)
+	// 	warnx("FAIL: PWM_SERVO_ARM");
+
+	int pwm_values[] = {1200, 1300, 1900, 1700, 1500, 1250, 1800, 1400};
+
+
+	// for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
+	// 	result = ioctl(servo_fd, PWM_SERVO_SET(i), pwm_values[i]);
+
+	// 	if (result) {
+	// 		(void)close(servo_fd);
+	// 		return ERROR;
+	// 	} else {
+	// 		warnx("channel %d set to %d", i, pwm_values[i]);
+	// 	}
+	// }
+
+	warnx("servo count: %d", servo_count);
+
+	struct pwm_output_values pwm_out = {.values = {0}, .channel_count = 0};
+
+	for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
+		pwm_out.values[i] = pwm_values[i];
+		//warnx("channel %d: disarmed PWM: %d", i+1, pwm_values[i]);
+		pwm_out.channel_count++;
+	}
+
+	result = ioctl(servo_fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_out);
+
+	/* give driver 10 ms to propagate */
+
+	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
+	struct rc_input_values	rc_input;
+	orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+	usleep(100000);
+
+	/* open PPM input and expect values close to the output values */
+
+	bool rc_updated;
+	orb_check(_rc_sub, &rc_updated);
+
+	if (rc_updated) {
+
+		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+
+		// int ppm_fd = open(RC_INPUT_DEVICE_PATH, O_RDONLY);
+
+
+
+		// struct rc_input_values rc;
+		// result = read(ppm_fd, &rc, sizeof(rc));
+
+		// if (result != sizeof(rc)) {
+		// 	warnx("Error reading RC output");
+		// 	(void)close(servo_fd);
+		// 	(void)close(ppm_fd);
+		// 	return ERROR;
+		// }
+
+		/* go and check values */
+		for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
+			if (fabsf(rc_input.values[i] - pwm_values[i]) > 10) {
+				warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], pwm_values[i]);
+				(void)close(servo_fd);
+				return ERROR;
+			}
+		}
+	} else {
+		warnx("failed reading RC input data");
+		return ERROR;
+	}
+
+	warnx("PPM LOOPBACK TEST PASSED SUCCESSFULLY!");
+
+	return 0;
+}

src/systemcmds/tests/test_sensors.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -49,6 +48,8 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <debug.h>
+#include <math.h>
+#include <systemlib/err.h>
 
 #include <arch/board/board.h>
 
@@ -77,6 +78,7 @@ static int accel(int argc, char *argv[]);
 static int gyro(int argc, char *argv[]);
 static int mag(int argc, char *argv[]);
 static int baro(int argc, char *argv[]);
+static int mpu6k(int argc, char *argv[]);
 
 /****************************************************************************
  * Private Data
@@ -91,6 +93,7 @@ struct {
 	{"gyro",	"/dev/gyro",	gyro},
 	{"mag",		"/dev/mag",	mag},
 	{"baro",	"/dev/baro",	baro},
+	{"mpu6k",	"/dev/mpu6k",	mpu6k},
 	{NULL, NULL, NULL}
 };
 
@@ -133,23 +136,83 @@ accel(int argc, char *argv[])
 		printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
-	// /* wait at least 10ms, sensor should have data after no more than 2ms */
-	// usleep(100000);
-
-	// ret = read(fd, buf, sizeof(buf));
-
-	// if (ret != sizeof(buf)) {
-	// 	printf("\tMPU-6000: read2 fail (%d)\n", ret);
-	// 	return ERROR;
-
-	// } else {
-	// 	printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
-	// }
-
-	/* XXX more tests here */
+	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
+		warnx("MPU6K acceleration values out of range!");
+		return ERROR;
+	}
 
 	/* Let user know everything is ok */
 	printf("\tOK: ACCEL passed all tests successfully\n");
+	close(fd);
+
+	return OK;
+}
+
+static int
+mpu6k(int argc, char *argv[])
+{
+	printf("\tMPU6K: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct accel_report buf;
+	struct gyro_report gyro_buf;
+	int		ret;
+
+	fd = open("/dev/accel_mpu6k", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tMPU6K: open fail, run <mpu6000 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 100ms, sensor should have data after no more than 20ms */
+	usleep(100000);
+
+	/* read data - expect samples */
+	ret = read(fd, &buf, sizeof(buf));
+
+	if (ret != sizeof(buf)) {
+		printf("\tMPU6K: read1 fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
+	}
+
+	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
+		warnx("MPU6K acceleration values out of range!");
+		return ERROR;
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: MPU6K ACCEL passed all tests successfully\n");
+
+	close(fd);
+	fd = open("/dev/gyro_mpu6k", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 5 ms, sensor should have data after that */
+	usleep(5000);
+
+	/* read data - expect samples */
+	ret = read(fd, &gyro_buf, sizeof(gyro_buf));
+
+	if (ret != sizeof(gyro_buf)) {
+		printf("\tMPU6K GYRO: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: MPU6K GYRO passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }
@@ -187,6 +250,7 @@ gyro(int argc, char *argv[])
 
 	/* Let user know everything is ok */
 	printf("\tOK: GYRO passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }
@@ -224,6 +288,7 @@ mag(int argc, char *argv[])
 
 	/* Let user know everything is ok */
 	printf("\tOK: MAG passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }
@@ -261,6 +326,7 @@ baro(int argc, char *argv[])
 
 	/* Let user know everything is ok */
 	printf("\tOK: BARO passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }

src/systemcmds/tests/test_servo.c

@@ -1,7 +1,6 @@
 /****************************************************************************
- * px4/sensors/test_hrt.c
  *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -13,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
+ * 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.
  *
@@ -32,9 +31,11 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- * Included Files
- ****************************************************************************/
+/**
+ * @file test_servo.c
+ * Tests the servo outputs
+ *
+ */
 
 #include <nuttx/config.h>
 
@@ -55,39 +56,6 @@
 
 #include "tests.h"
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_servo
- ****************************************************************************/
-
 int test_servo(int argc, char *argv[])
 {
 	int fd, result;
@@ -110,7 +78,14 @@ int test_servo(int argc, char *argv[])
 
 	printf("Servo readback, pairs of values should match defaults\n");
 
-	for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
+	unsigned servo_count;
+	result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
+	if (result != OK) {
+		warnx("PWM_SERVO_GET_COUNT");
+		return ERROR;
+	}
+
+	for (unsigned i = 0; i < servo_count; i++) {
 		result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
 
 		if (result < 0) {
@@ -122,11 +97,20 @@ int test_servo(int argc, char *argv[])
 
 	}
 
-	printf("Servos arming at default values\n");
+	/* tell safety that its ok to disable it with the switch */
+	result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+	if (result != OK)
+		warnx("FAIL: PWM_SERVO_SET_ARM_OK");
+	/* tell output device that the system is armed (it will output values if safety is off) */
 	result = ioctl(fd, PWM_SERVO_ARM, 0);
+	if (result != OK)
+		warnx("FAIL: PWM_SERVO_ARM");
+
 	usleep(5000000);
 	printf("Advancing channel 0 to 1500\n");
 	result = ioctl(fd, PWM_SERVO_SET(0), 1500);
+	printf("Advancing channel 1 to 1800\n");
+	result = ioctl(fd, PWM_SERVO_SET(1), 1800);
 out:
 	return 0;
 }

src/systemcmds/tests/test_uart_loopback.c

@@ -1,8 +1,6 @@
 /****************************************************************************
- * px4/sensors/test_gpio.c
  *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *            Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -14,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
+ * 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.
  *
@@ -33,9 +31,11 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- * Included Files
- ****************************************************************************/
+/**
+ * @file test_uart_loopback.c
+ * Tests the uart outputs
+ *
+ */
 
 #include <nuttx/config.h>
 
@@ -55,40 +55,6 @@
 #include <math.h>
 #include <float.h>
 
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
 int test_uart_loopback(int argc, char *argv[])
 {
 
@@ -97,11 +63,11 @@ int test_uart_loopback(int argc, char *argv[])
 	int uart5_nwrite = 0;
 	int uart2_nwrite = 0;
 
-	int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); //
+	/* opening stdout */
+	int stdout_fd = 1;
 
-	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
-	int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); //
-	int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); //
+	int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY);
+	int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY);
 
 	if (uart2 < 0) {
 		printf("ERROR opening UART2, aborting..\n");
@@ -113,7 +79,7 @@ int test_uart_loopback(int argc, char *argv[])
 		exit(uart5);
 	}
 
-	uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'};
+	uint8_t sample_stdout_fd[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'};
 	uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
 	uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
 
@@ -121,7 +87,7 @@ int test_uart_loopback(int argc, char *argv[])
 
 	for (i = 0; i < 1000; i++) {
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		/* uart2 -> uart5 */
 		r = write(uart2, sample_uart2, sizeof(sample_uart2));
@@ -130,7 +96,7 @@ int test_uart_loopback(int argc, char *argv[])
 			uart2_nwrite += r;
 
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		/* uart2 -> uart5 */
 		r = write(uart5, sample_uart5, sizeof(sample_uart5));
@@ -139,7 +105,7 @@ int test_uart_loopback(int argc, char *argv[])
 			uart5_nwrite += r;
 
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		/* try to read back values */
 		do {
@@ -150,7 +116,7 @@ int test_uart_loopback(int argc, char *argv[])
 		} while (r > 0);
 
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		do {
 			r = read(uart2, sample_uart5, sizeof(sample_uart5));
@@ -160,7 +126,7 @@ int test_uart_loopback(int argc, char *argv[])
 		} while (r > 0);
 
 //		printf("TEST #%d\n",i);
-//		write(uart1, sample_uart1, sizeof(sample_uart5));
+//		write(stdout_fd, sample_stdout_fd, sizeof(sample_uart5));
 	}
 
 	for (i = 0; i < 200000; i++) {
@@ -181,7 +147,7 @@ int test_uart_loopback(int argc, char *argv[])
 	}
 
 
-	close(uart1);
+	close(stdout_fd);
 	close(uart2);
 	close(uart5);
 

src/systemcmds/tests/tests.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -34,6 +34,12 @@
 #ifndef __APPS_PX4_TESTS_H
 #define __APPS_PX4_TESTS_H
 
+/**
+ * @file tests.h
+ * Tests declaration file.
+ *
+ */
+
 /****************************************************************************
  * Included Files
  ****************************************************************************/
@@ -88,6 +94,7 @@ extern int	test_int(int argc, char *argv[]);
 extern int	test_float(int argc, char *argv[]);
 extern int	test_ppm(int argc, char *argv[]);
 extern int	test_servo(int argc, char *argv[]);
+extern int	test_ppm_loopback(int argc, char *argv[]);
 extern int	test_uart_loopback(int argc, char *argv[]);
 extern int	test_uart_baudchange(int argc, char *argv[]);
 extern int	test_cpuload(int argc, char *argv[]);

src/systemcmds/tests/tests_main.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -35,6 +34,8 @@
 /**
  * @file tests_main.c
  * Tests main file, loads individual tests.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -57,14 +58,6 @@
 
 #include "tests.h"
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
 /****************************************************************************
  * Private Function Prototypes
  ****************************************************************************/
@@ -94,6 +87,7 @@ const struct {
 	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"ppm_loopback",	test_ppm_loopback,	OPT_NOALLTEST},
 	{"adc",			test_adc,	OPT_NOJIGTEST},
 	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
 	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},