aerofc: Fixes for init

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -9,5 +9,6 @@ sh /etc/init.d/rc.mc_defaults
 tap_esc start -d /dev/ttyS0 -n 4
 set OUTPUT_DEV /dev/tap_esc
 set MIXER quad_x
+set USE_IO no
 
 set MAVLINK_F "-r 1200 -d /dev/ttyS2"

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -253,6 +253,21 @@ then
 	fi
 fi
 
+if ver hwcmp AEROFC_V1
+then
+	if ms5611 start
+	then
+	fi
+
+	if mpu6500 start
+	then
+	fi
+
+	if hmc5883 start
+	then
+	fi
+fi
+
 if meas_airspeed start
 then
 else

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -10,7 +10,7 @@ set(config_module_list
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/led
-	#drivers/px4fmu
+	drivers/px4fmu
 	drivers/boards/aerofc-v1
 	drivers/tap_esc
 	drivers/mpu6500
@@ -18,6 +18,8 @@ set(config_module_list
 	drivers/hmc5883
 	drivers/gps
 	modules/sensors
+	# dummy tone alarm
+	modules/dummy
 
 	#
 	# System commands
@@ -49,6 +51,9 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
 	modules/ekf2
 
 	#
@@ -90,6 +95,7 @@ set(config_module_list
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/DriverFramework/framework
+	lib/rc
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config

src/drivers/boards/aerofc-v1/CMakeLists.txt

@@ -40,6 +40,7 @@ px4_add_module(
 		aerofc_spi.c
 		aerofc_usb.c
 		aerofc_led.c
+		aerofc_timer_config.c
 	DEPENDS
 		platforms__common
 	)

src/drivers/boards/aerofc-v1/aerofc_timer_config.c

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *         Author: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file tap-v1_timer_config.c
+ *
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <stm32.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+#include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
+
+#include "board_config.h"
+
+
+// Invalidate all timers (base == 0): we don't have any
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = { };
+
+// Invalidate all channels (timer_channel == 0): we don't have any
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { };
+
+// Invalidate all timers (base == 0): we don't have any
+__EXPORT const struct io_timers_t led_pwm_timers[1] = { };
+
+// Invalidate all channels (timer_channel == 0): we don't have any
+__EXPORT const struct timer_io_channels_t led_pwm_channels[3] = { };

src/drivers/boards/aerofc-v1/board_config.h

@@ -107,21 +107,10 @@
 #define ADC_BATTERY_VOLTAGE_CHANNEL    0
 #define ADC_BATTERY_CURRENT_CHANNEL    ((uint8_t)(-1))
 
-/*
+#define DIRECT_PWM_OUTPUT_CHANNELS	1
- * PWM
+#define BOARD_HAS_PWM	0
- *
+
- * Four PWM outputs can be configured on pins
+#define BOARD_FMU_GPIO_TAB {{0, 0, 0}}
- *
- *
- * Peripheral   Port     Signal Name               CONN
- * TIM3_CH1     PA6     LED_R                     JP2-23,24
- * TIM3_CH2     PA7     LED_G                     JP2-25,26
- * TIM3_CH3     PB0     LED_B                     JP2-27,28
- * TIM3_CH4     PB1     nPWM_1 AUX1(Landing Gear) JP1-21,22
- *
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS	0
-#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
 
 /* USB OTG FS
  *

src/drivers/px4fmu/fmu.cpp

@@ -2255,6 +2255,10 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
 	unsigned count = len / 2;
 	uint16_t values[8];
 
+#if BOARD_HAS_PWM == 0
+	return 0;
+#endif
+
 	if (count > BOARD_HAS_PWM) {
 		// we have at most BOARD_HAS_PWM outputs
 		count = BOARD_HAS_PWM;

src/drivers/tap_esc/tap_esc.cpp

@@ -262,6 +262,9 @@ TAP_ESC::init()
 		return ret;
 	}
 
+#ifdef CONFIG_ARCH_BOARD_AEROFC_V1
+#else
+
 	/* Verify All ESC got the config */
 
 	for (uint8_t cid = 0; cid < _channels_count; cid++) {
@@ -304,8 +307,11 @@ TAP_ESC::init()
 		if (!valid) {
 			return -EIO;
 		}
+
 	}
 
+#endif
+
 	/* To Unlock the ESC from the Power up state we need to issue 10
 	 * ESCBUS_MSG_ID_RUN request with all the values 0;
 	 */