Merge remote-tracking branch 'upstream/master' into hott_v2

ROMFS/Makefile

@@ -32,6 +32,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
 		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
 		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
+                   $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
 		   $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
 		   $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
 		   $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \

ROMFS/mixers/FMU_quad_v.mix

@@ -0,0 +1,7 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the V configuration.  All controls
+are mixed 100%.
+
+R: 4v 10000 10000 10000 0

apps/attitude_estimator_ekf/Makefile

@@ -35,8 +35,9 @@ APPNAME		 = attitude_estimator_ekf
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
-CSRCS		 = attitude_estimator_ekf_main.c \
+CXXSRCS		 = attitude_estimator_ekf_main.cpp
-		   attitude_estimator_ekf_params.c \
+
+CSRCS		 = attitude_estimator_ekf_params.c \
 		   codegen/eye.c \
 		   codegen/attitudeKalmanfilter.c \
 		   codegen/mrdivide.c \

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -66,11 +66,17 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 #include "codegen/attitudeKalmanfilter_initialize.h"
 #include "codegen/attitudeKalmanfilter.h"
 #include "attitude_estimator_ekf_params.h"
+#ifdef __cplusplus
+}
+#endif
 
-__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
+extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
@@ -265,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* Main loop*/
 	while (!thread_should_exit) {
 
-		struct pollfd fds[2] = {
+		struct pollfd fds[2];
-			{ .fd = sub_raw,   .events = POLLIN },
+		fds[0].fd = sub_raw;
-			{ .fd = sub_params, .events = POLLIN }
+		fds[0].events = POLLIN;
-		};
+		fds[1].fd = sub_params;
+		fds[1].events = POLLIN;
 		int ret = poll(fds, 2, 1000);
 
 		if (ret < 0) {

apps/drivers/blinkm/blinkm.cpp

@@ -92,6 +92,7 @@
 
 #include <nuttx/config.h>
 
+#include <arch/board/board.h>
 #include <drivers/device/i2c.h>
 
 #include <sys/types.h>
@@ -841,7 +842,7 @@ int
 blinkm_main(int argc, char *argv[])
 {
 
-	int i2cdevice = 3;
+	int i2cdevice = PX4_I2C_BUS_EXPANSION;
 	int blinkmadr = 9;
 
 	int x;

apps/drivers/gps/ubx.cpp

@@ -33,7 +33,14 @@
  *
  ****************************************************************************/
 
-/* @file U-Blox protocol implementation */
+/**
+ * @file ubx.cpp
+ *
+ * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
+ * including Prototol Specification.
+ *
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
+ */
 
 #include <unistd.h>
 #include <stdio.h>
@@ -633,16 +640,17 @@ UBX::handle_message()
 		}
 
 		case NAV_VELNED: {
-//			printf("GOT NAV_VELNED MESSAGE\n");
 
 			if (!_waiting_for_ack) {
+				/* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */
 				gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
 
 				_gps_position->vel_m_s   = (float)packet->speed * 1e-2f;
-				_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
+				_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
-				_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
+				_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
-				_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
+				_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
 				_gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
+				_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
 				_gps_position->vel_ned_valid = true;
 				_gps_position->timestamp_velocity = hrt_absolute_time();
 			}

apps/drivers/mkblctrl/Makefile

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Interface driver for the Mikrokopter BLCtrl
+#
+
+APPNAME		 = mkblctrl
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk

apps/drivers/stm32/drv_hrt.c

@@ -125,7 +125,7 @@
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM8CC
 # define HRT_TIMER_CLOCK	STM32_APB2_TIM8_CLKIN
 # if CONFIG_STM32_TIM8
-#  error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=6
+#  error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8
 # endif
 #elif HRT_TIMER == 9
 # define HRT_TIMER_BASE		STM32_TIM9_BASE

apps/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -494,7 +494,7 @@ ToneAlarm::init()
 		return ret;
 
 	/* configure the GPIO to the idle state */
-	stm32_configgpio(GPIO_TONE_ALARM);
+	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
 
 	/* clock/power on our timer */
 	modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
@@ -606,6 +606,8 @@ ToneAlarm::start_note(unsigned note)
 	rEGR = GTIM_EGR_UG;	// force a reload of the period
 	rCCER |= TONE_CCER;	// enable the output
 
+	// configure the GPIO to enable timer output
+	stm32_configgpio(GPIO_TONE_ALARM);
 }
 
 void
@@ -616,10 +618,8 @@ ToneAlarm::stop_note()
 
 	/*
 	 * Make sure the GPIO is not driving the speaker.
-	 *
-	 * XXX this presumes PX4FMU and the onboard speaker driver FET.
 	 */
-	stm32_gpiowrite(GPIO_TONE_ALARM, 0);
+	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
 }
 
 void

apps/examples/kalman_demo/KalmanNav.cpp

@@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
 		float LDot = vN / R;
 		float lDot = vE / (cosLSing * R);
 		float rotRate = 2 * omega + lDot;
+
+		// XXX position prediction using speed
 		float vNDot = fN - vE * rotRate * sinL +
 			      vD * LDot;
 		float vDDot = fD - vE * rotRate * cosL -

apps/examples/kalman_demo/Makefile

@@ -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
@@ -32,7 +32,7 @@
 ############################################################################
 
 #
-# Basic example application
+# Full attitude / position Extended Kalman Filter
 #
 
 APPNAME		 = kalman_demo

apps/examples/nsh/Makefile

@@ -64,6 +64,8 @@ ROOTDEPPATH	= --dep-path .
 
 VPATH		= 
 
+MAXOPTIMIZATION = -Os
+
 all: .built
 .PHONY: clean depend distclean
 

apps/mavlink/mavlink_receiver.c

@@ -477,25 +477,27 @@ handle_message(mavlink_message_t *msg)
 
 			/* gps */
 			hil_gps.timestamp_position = gps.time_usec;
-//			hil_gps.counter = hil_counter++;
 			hil_gps.time_gps_usec = gps.time_usec;
 			hil_gps.lat = gps.lat;
 			hil_gps.lon = gps.lon;
 			hil_gps.alt = gps.alt;
-//			hil_gps.counter_pos_valid = hil_counter++;
 			hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
 			hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
 			hil_gps.s_variance_m_s = 5.0f;
 			hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
 			hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
 
-			/* gps.cog is in degrees 0..360 * 100, heading is -PI..PI */
+			/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
-			float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f - M_PI_F;
+			float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
+			/* go back to -PI..PI */
+			if (heading_rad > M_PI_F)
+				heading_rad -= 2.0f * M_PI_F;
 			hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
 			hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
 			hil_gps.vel_d_m_s = 0.0f;
-			/* COG (course over ground) is speced as 0..360 degrees (compass) */
+			hil_gps.vel_ned_valid = true;
-			hil_gps.cog_rad = heading_rad + M_PI_F; // from deg*100 to rad
+			/* COG (course over ground) is speced as -PI..+PI */
+			hil_gps.cog_rad = heading_rad;
 			hil_gps.fix_type = gps.fix_type;
 			hil_gps.satellites_visible = gps.satellites_visible;
 

apps/mavlink/orb_listener.c

@@ -229,6 +229,13 @@ l_vehicle_gps_position(const struct listener *l)
 	/* copy gps data into local buffer */
 	orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
 
+	/* GPS COG is 0..2PI in degrees * 1e2 */
+	float cog_deg = gps.cog_rad;
+	if (cog_deg > M_PI_F)
+		cog_deg -= 2.0f * M_PI_F;
+	cog_deg *= M_RAD_TO_DEG_F;
+
+
 	/* GPS position */
 	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
 				     gps.timestamp_position,
@@ -236,13 +243,14 @@ l_vehicle_gps_position(const struct listener *l)
 				     gps.lat,
 				     gps.lon,
 				     gps.alt,
-				     (uint16_t)(gps.eph_m * 1e2f), // from m to cm
+				     gps.eph_m * 1e2f, // from m to cm
-				     (uint16_t)(gps.epv_m * 1e2f), // from m to cm
+				     gps.epv_m * 1e2f, // from m to cm
-				     (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
+				     gps.vel_m_s * 1e2f, // from m/s to cm/s
-				     (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
+				     cog_deg * 1e2f, // from rad to deg * 100
 				     gps.satellites_visible);
 
-	if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
+	/* update SAT info every 10 seconds */
+	if (gps.satellite_info_available && (gps_counter % 50 == 0)) {
 		mavlink_msg_gps_status_send(MAVLINK_COMM_0,
 					    gps.satellites_visible,
 					    gps.satellite_prn,

apps/nshlib/Makefile

@@ -107,6 +107,8 @@ endif
 ROOTDEPPATH = --dep-path .
 VPATH = 
 
+MAXOPTIMIZATION = -Os
+
 # Build targets
 
 all: .built

apps/px4/tests/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 12000
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/system/i2c/Makefile

@@ -64,6 +64,7 @@ VPATH		=
 APPNAME		= i2c
 PRIORITY	= SCHED_PRIORITY_DEFAULT
 STACKSIZE	= 2048
+MAXOPTIMIZATION = -Os
 
 # Build targets
 

apps/systemcmds/bl_update/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/boardinfo/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/calibration/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_MAX - 1
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/delay_test/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/eeprom/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/mixer/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/param/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/perf/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/preflight_check/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/reboot/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/top/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT - 10
 STACKSIZE	 = 3000
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemlib/mixer/mixer.h

@@ -418,6 +418,7 @@ public:
 	enum Geometry {
 		QUAD_X = 0,	/**< quad in X configuration */
 		QUAD_PLUS,	/**< quad in + configuration */
+		QUAD_V,		/**< quad in V configuration */
 		HEX_X,		/**< hex in X configuration */
 		HEX_PLUS,	/**< hex in + configuration */
 		OCTA_X,

apps/systemlib/mixer/mixer_multirotor.cpp

@@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
 	{  0.000000,  1.000000, -1.00 },
 	{ -0.000000, -1.000000, -1.00 },
 };
+const MultirotorMixer::Rotor _config_quad_v[] = {
+	{ -0.927184,  0.374607,  1.00 },
+	{  0.694658, -0.719340,  1.00 },
+	{  0.927184,  0.374607, -1.00 },
+	{ -0.694658, -0.719340, -1.00 },
+};
 const MultirotorMixer::Rotor _config_hex_x[] = {
 	{ -1.000000,  0.000000, -1.00 },
 	{  1.000000,  0.000000,  1.00 },
@@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
+	&_config_quad_v[0],
 	&_config_hex_x[0],
 	&_config_hex_plus[0],
 	&_config_octa_x[0],
@@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
 const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	4, /* quad_x */
 	4, /* quad_plus */
+	4, /* quad_v */
 	6, /* hex_x */
 	6, /* hex_plus */
 	8, /* octa_x */
@@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "4x")) {
 		geometry = MultirotorMixer::QUAD_X;
 
+	} else if (!strcmp(geomname, "4v")) {
+		geometry = MultirotorMixer::QUAD_V;
+
 	} else if (!strcmp(geomname, "6+")) {
 		geometry = MultirotorMixer::HEX_PLUS;
 

apps/systemlib/mixer/multi_tables

@@ -20,6 +20,13 @@ set quad_plus {
 	 180 CW
 }
 
+set quad_v {
+	  68 CCW
+	-136 CCW
+	 -68 CW
+	 136 CW
+}
+
 set hex_x {
 	  90 CW
 	 -90 CCW
@@ -60,7 +67,7 @@ set octa_plus {
 	  90 CW
 }
 
-set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
+set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
 
 proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
 

apps/uORB/topics/vehicle_gps_position.h

@@ -55,38 +55,39 @@
  */
 struct vehicle_gps_position_s
 {
-	uint64_t timestamp_position;		/**< Timestamp for position information */
+	uint64_t timestamp_position;			/**< Timestamp for position information */
-	int32_t lat;						/**< Latitude in 1E7 degrees */
+	int32_t lat;					/**< Latitude in 1E7 degrees */
-	int32_t lon;						/**< Longitude in 1E7 degrees */
+	int32_t lon;					/**< Longitude in 1E7 degrees */
-	int32_t alt;						/**< Altitude in 1E3 meters (millimeters) above MSL  */
+	int32_t alt;					/**< Altitude in 1E3 meters (millimeters) above MSL  */
 	
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float p_variance_m;					/**< position accuracy estimate m */
+	float p_variance_m;				/**< position accuracy estimate m */
-	uint8_t fix_type; 					/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
+	float c_variance_rad;				/**< course accuracy estimate rad */
+	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
-	float eph_m;						/**< GPS HDOP horizontal dilution of position in m */
+	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
-	float epv_m;						/**< GPS VDOP horizontal dilution of position in m */
+	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
 
-	uint64_t timestamp_velocity;		/**< Timestamp for velocity informations */
+	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
-	float vel_m_s;						/**< GPS ground speed (m/s) */
+	float vel_m_s;					/**< GPS ground speed (m/s) */
-	float vel_n_m_s;					/**< GPS ground speed in m/s */
+	float vel_n_m_s;				/**< GPS ground speed in m/s */
-	float vel_e_m_s;					/**< GPS ground speed in m/s */
+	float vel_e_m_s;				/**< GPS ground speed in m/s */
-	float vel_d_m_s;					/**< GPS ground speed in m/s */
+	float vel_d_m_s;				/**< GPS ground speed in m/s */
-	float cog_rad;						/**< Course over ground (NOT heading, but direction of movement) in rad */
+	float cog_rad;					/**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
-	bool vel_ned_valid;					/**< Flag to indicate if NED speed is valid */
+	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */
 
 	uint64_t timestamp_time;			/**< Timestamp for time information */
 	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
 
-	uint64_t timestamp_satellites;		/**< Timestamp for sattelite information */
+	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
 	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
 	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
 	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
-	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
-	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
 	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
-	bool satellite_info_available;	/**< 0 for no info, 1 for info available */
+	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
 };
 
 /**

nuttx/configs/px4fmu/include/board.h

@@ -326,6 +326,7 @@
  */
 #define TONE_ALARM_TIMER	3	/* timer 3 */
 #define TONE_ALARM_CHANNEL	3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
 
 /************************************************************************************

nuttx/configs/px4fmu/nsh/appconfig

@@ -124,6 +124,7 @@ CONFIGURED_APPS += drivers/blinkm
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/stm32/adc
 CONFIGURED_APPS += drivers/px4fmu
+CONFIGURED_APPS += drivers/mkblctrl
 CONFIGURED_APPS += drivers/hil
 CONFIGURED_APPS += drivers/gps
 CONFIGURED_APPS += drivers/mb12xx

nuttx/configs/px4io/common/Make.defs

@@ -112,7 +112,6 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
-ARCHSCRIPT		+= -g
 endif
 
 ARCHCFLAGS		 = -std=gnu99
@@ -145,7 +144,7 @@ ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
 # this seems to be the only way to add linker flags
-ARCHSCRIPT		+= --warn-common \
+EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
 CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common