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

Makefile

@@ -114,6 +114,10 @@ endif
 
 upload:		$(FIRMWARE_BUNDLE) $(UPLOADER)
 	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
+	
+upload-jtag-px4fmu:
+	@echo Attempting to flash PX4FMU board via JTAG
+	@openocd -f interface/olimex-jtag-tiny.cfg -f Tools/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
 
 #
 # Hacks and fixups
@@ -129,7 +133,7 @@ endif
 # a complete re-compilation, 'distclean' should remove everything 
 # that's generated leaving only files that are in source control.
 #
-.PHONY:	clean
+.PHONY:	clean upload-jtag-px4fmu
 clean:
 	@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	@make -C $(ROMFS_SRC) -r $(MQUIET) clean

ROMFS/scripts/rc.PX4IOAR

@@ -2,69 +2,75 @@
 #
 # Flight startup script for PX4FMU on PX4IOAR carrier board.
 #
-
+ 
+set USB no
+ 
 echo "[init] doing PX4IOAR startup..."
-
+ 
 #
 # Start the ORB
 #
 uorb start
-
+ 
+#
+# Init the EEPROM
+#
+echo "[init] eeprom"
+eeprom start
+if [ -f /eeprom/parameters ]
+then
+	eeprom load_param /eeprom/parameters
+fi
+ 
 #
 # Start the sensors.
 #
 sh /etc/init.d/rc.sensors
-
+ 
 #
 # Start MAVLink
 #
 mavlink start -d /dev/ttyS0 -b 57600
 usleep 5000
-
+ 
 #
 # Start the commander.
 #
-# XXX this should be '<command> start'.
+commander start
-#
+ 
-commander &
-
 #
 # Start the attitude estimator
 #
-# XXX this should be '<command> start'.
+attitude_estimator_ekf start
-#
+ 
-attitude_estimator_bm &
-#position_estimator &
-
 #
 # Configure PX4FMU for operation with PX4IOAR
 #
-# XXX arguments?
+fmu mode_gpio_serial
+ 
 #
-#fmu mode_
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+ 
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start
 
 #
-# Fire up the AR.Drone controller.
+# Start logging
 #
-# XXX this should be '<command> start'.
+#sdlog start
-#
-ardrone_control -d /dev/ttyS1 -m attitude &
 
 #
-# Start looking for a GPS.
+# Start GPS capture
 #
-# XXX this should not need to be backgrounded
+gps start
-#
+ 
-#gps -d /dev/ttyS3 -m all &
-
-#
-# Start logging to microSD if we can
-#
-#sh /etc/init.d/rc.logging
-
 #
 # startup is done; we don't want the shell because we
-# use the same UART for telemetry (dumb).
+# use the same UART for telemetry
 #
-echo "[init] startup done, exiting."
+echo "[init] startup done"
-exit
+exit

Tools/px_uploader.py

@@ -60,6 +60,7 @@ import json
 import zlib
 import base64
 import time
+import array
 
 from sys import platform as _platform
 
@@ -67,7 +68,41 @@ class firmware(object):
 	'''Loads a firmware file'''
 
 	desc = {}
-	image = bytearray()
+	image = bytes()
+	crctab = array.array('I', [
+		0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+		0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+		0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+		0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+		0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+		0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+		0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+		0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+		0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+		0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+		0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+		0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+		0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+		0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+		0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+		0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+		0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+		0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+		0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+		0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+		0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+		0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+		0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+		0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+		0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+		0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+		0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+		0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+		0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+		0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+		0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+		0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ])
+	crcpad = bytearray('\xff\xff\xff\xff')
 
 	def __init__(self, path):
 
@@ -76,30 +111,48 @@ class firmware(object):
 		self.desc = json.load(f)
 		f.close()
 
-		self.image = zlib.decompress(base64.b64decode(self.desc['image']))
+		self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
 
 		# pad image to 4-byte length
 		while ((len(self.image) % 4) != 0):
-			self.image += b'\x00'
+			self.image.append('\xff')
 
 	def property(self, propname):
 		return self.desc[propname]
 
+	def __crc32(self, bytes, state):
+		for byte in bytes:
+			index = (state ^ byte) & 0xff
+			state = self.crctab[index] ^ (state >> 8)
+		return state
+
+	def crc(self, padlen):
+		state = self.__crc32(self.image, int(0))
+		for i in range(len(self.image), (padlen - 1), 4):
+			state = self.__crc32(self.crcpad, state)
+		return state
 
 class uploader(object):
 	'''Uploads a firmware file to the PX FMU bootloader'''
 
-	NOP		= chr(0x00)
+	# protocol bytes
-	OK		= chr(0x10)
-	FAILED		= chr(0x11)
 	INSYNC		= chr(0x12)
 	EOC		= chr(0x20)
+
+	# reply bytes
+	OK		= chr(0x10)
+	FAILED		= chr(0x11)
+	INVALID		= chr(0x13)	# rev3+
+
+	# command bytes
+	NOP		= chr(0x00)	# guaranteed to be discarded by the bootloader
 	GET_SYNC	= chr(0x21)
 	GET_DEVICE	= chr(0x22)
 	CHIP_ERASE	= chr(0x23)
-	CHIP_VERIFY	= chr(0x24)
+	CHIP_VERIFY	= chr(0x24)	# rev2 only
 	PROG_MULTI	= chr(0x27)
-	READ_MULTI	= chr(0x28)
+	READ_MULTI	= chr(0x28)	# rev2 only
+	GET_CRC		= chr(0x29)	# rev3+
 	REBOOT		= chr(0x30)
 	
 	INFO_BL_REV	= chr(1)	# bootloader protocol revision
@@ -126,19 +179,28 @@ class uploader(object):
 
 	def __recv(self, count = 1):
 		c = self.port.read(count)
-		if (len(c) < 1):
+		if len(c) < 1:
 			raise RuntimeError("timeout waiting for data")
 #		print("recv " + binascii.hexlify(c))
 		return c
 
+	def __recv_int(self):
+		raw = self.__recv(4)
+		val = struct.unpack("<I", raw)
+		return val[0]
+
 	def __getSync(self):
 		self.port.flush()
 		c = self.__recv()
-		if (c != self.INSYNC):
+		if c is not self.INSYNC:
 			raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
 		c = self.__recv()
-		if (c != self.OK):
+		if c == self.INVALID:
-			raise RuntimeError("unexpected 0x%x instead of OK" % ord(c))
+			raise RuntimeError("bootloader reports INVALID OPERATION")
+		if c == self.FAILED:
+			raise RuntimeError("bootloader reports OPERATION FAILED")
+		if c != self.OK:
+			raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
 
 	# attempt to get back into sync with the bootloader
 	def __sync(self):
@@ -164,10 +226,9 @@ class uploader(object):
 	# send the GET_DEVICE command and wait for an info parameter
 	def __getInfo(self, param):
 		self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-		raw = self.__recv(4)
+		value = self.__recv_int()
 		self.__getSync()
-		value = struct.unpack_from('<I', raw)
+		return value
-		return value[0]
 
 	# send the CHIP_ERASE command and wait for the bootloader to become ready
 	def __erase(self):
@@ -200,7 +261,7 @@ class uploader(object):
 				+ uploader.EOC)
 		self.port.flush()
 		programmed = self.__recv(len(data))
-		if (programmed != data):
+		if programmed != data:
 			print("got    " + binascii.hexlify(programmed))
 			print("expect " + binascii.hexlify(data))
 			return False
@@ -209,9 +270,14 @@ class uploader(object):
 		
 	# send the reboot command
 	def __reboot(self):
-		self.__send(uploader.REBOOT)
+		self.__send(uploader.REBOOT
+				+ uploader.EOC)
 		self.port.flush()
 
+		# v3+ can report failure if the first word flash fails
+		if self.bl_rev >= 3:
+			self.__getSync()
+
 	# split a sequence into a list of size-constrained pieces
 	def __split_len(self, seq, length):
     		return [seq[i:i+length] for i in range(0, len(seq), length)]
@@ -224,7 +290,7 @@ class uploader(object):
 			self.__program_multi(bytes)
 
 	# verify code
-	def __verify(self, fw):
+	def __verify_v2(self, fw):
 		self.__send(uploader.CHIP_VERIFY
 				+ uploader.EOC)
 		self.__getSync()
@@ -234,14 +300,25 @@ class uploader(object):
 			if (not self.__verify_multi(bytes)):
 				raise RuntimeError("Verification failed")
 
+	def __verify_v3(self, fw):
+		expect_crc = fw.crc(self.fw_maxsize)
+		self.__send(uploader.GET_CRC
+				+ uploader.EOC)
+		report_crc = self.__recv_int()
+		self.__getSync()
+		if report_crc != expect_crc:
+			print("Expected 0x%x" % expect_crc)
+			print("Got      0x%x" % report_crc)
+			raise RuntimeError("Program CRC failed")
+
 	# get basic data about the board
 	def identify(self):
 		# make sure we are in sync before starting
 		self.__sync()
 
 		# get the bootloader protocol ID first
-		bl_rev = self.__getInfo(uploader.INFO_BL_REV)
+		self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-		if (bl_rev < uploader.BL_REV_MIN) or (bl_rev > uploader.BL_REV_MAX):
+		if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
 			print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
 			raise RuntimeError("Bootloader protocol mismatch")
 
@@ -264,7 +341,10 @@ class uploader(object):
 		self.__program(fw)
 
 		print("verify...")
-		self.__verify(fw)
+		if self.bl_rev == 2:
+			self.__verify_v2(fw)
+		else:
+			self.__verify_v3(fw)
 
 		print("done, rebooting.")
 		self.__reboot()
@@ -313,7 +393,7 @@ while True:
 		try:
 			# identify the bootloader
 			up.identify()
-			print("Found board %x,%x on %s" % (up.board_type, up.board_rev, port))
+			print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
 
 		except:
 			# most probably a timeout talking to the port, no bootloader

apps/ardrone_interface/ardrone_interface.c

@@ -56,6 +56,8 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
 
+#include <systemlib/systemlib.h>
+
 #include "ardrone_motor_control.h"
 
 __EXPORT int ardrone_interface_main(int argc, char *argv[]);
@@ -112,7 +114,12 @@ int ardrone_interface_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		ardrone_interface_task = task_create("ardrone_interface", SCHED_PRIORITY_MAX - 15, 4096, ardrone_interface_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		ardrone_interface_task = task_spawn("ardrone_interface",
+						    SCHED_RR,
+						    SCHED_PRIORITY_MAX - 15,
+						    4096,
+						    ardrone_interface_thread_main,
+						    (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
 

apps/attitude_estimator_ekf/Makefile

@@ -45,9 +45,9 @@ CSRCS		 = attitude_estimator_ekf_main.c \
 		   codegen/rtGetInf.c \
 		   codegen/rtGetNaN.c \
 		   codegen/norm.c \
-		   codegen/find.c \
 		   codegen/diag.c \
-		   codegen/cross.c
+		   codegen/cross.c \
+		   codegen/power.c
 
 # XXX this is *horribly* broken
 INCLUDES	+= $(TOPDIR)/../mavlink/include/mavlink

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c

@@ -60,6 +60,8 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <arch/board/up_hrt.h>
 
+#include <systemlib/systemlib.h>
+
 #include "codegen/attitudeKalmanfilter_initialize.h"
 #include "codegen/attitudeKalmanfilter.h"
 
@@ -73,38 +75,45 @@ __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
 
 static unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
-static float dt = 1;
+static float dt = 1.0f;
 /* 0, 0, -9.81, 1, 1, 1, wo (gyro offset), w */
 /* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
-static float z_k[9] = {0};					/**< Measurement vector */
+static float z_k[9];					/**< Measurement vector */
-static float x_aposteriori_k[9] = {0,0,0,0,0,-9.81,1,1,-1};		/**< */
+static float x_aposteriori_k[12];		/**< */
-static float x_aposteriori[9] = {0};
+static float x_aposteriori[12];
-static float P_aposteriori_k[81] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,
+static float P_aposteriori_k[144] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0, 100.f,   0,   0,   0,   0,   0,   0,   0,
+				   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
+				   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
+				   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,  100.f,  0,   0,   0,   0,
+				   0,   0,   0,   0,  100.f,  0,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
+				   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0,   0, 100.f,   0,   0,
+				   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0,   0,   0, 100.f,   0,
+				   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0,   0,   0,   0, 100.f,
+				   0,   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
+				   0,   0,   0,   0,   0,   0,   0,   0,  0.0f, 100.0f,   0,   0,
+				   0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   100.0f,   0,
+				   0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   0,   100.0f,
 				  };
-static float P_aposteriori[81] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,
+static float P_aposteriori[144] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0, 100.f,   0,   0,   0,   0,   0,   0,   0,
+				   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
+				   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
+				   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,  100.f,  0,   0,   0,   0,
+				   0,   0,   0,   0,  100.f,  0,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
+				   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0,   0, 100.f,   0,   0,
+				   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0,   0,   0, 100.f,   0,
+				   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,
-				   0,   0,   0,   0,   0,   0,   0,   0, 100.f,
+				   0,   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
+				   0,   0,   0,   0,   0,   0,   0,   0,  0.0f, 100.0f,   0,   0,
+				   0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   100.0f,   0,
+				   0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   0,   100.0f,
 				  };	/**< init: diagonal matrix with big values */
-static float knownConst[15] = {1, 1, 1, 1, 1, 0.04, 4, 0.1, 70, 70, -2000, 9.81, 1, 4, 1};			/**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
+// static float knownConst[15] = {1, 1, 1, 1, 1, 0.04, 4, 0.1, 70, 70, -2000, 9.81, 1, 4, 1};			/**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
 static float Rot_matrix[9] = {1.f,  0,  0,
 			      0,  1.f,  0,
 			      0,  0,  1.f
 			     };		/**< init: identity matrix */
 
+
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
 static int attitude_estimator_ekf_task;				/**< Handle of deamon task / thread */
@@ -150,7 +159,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		attitude_estimator_ekf_task = task_create("attitude_estimator_ekf", SCHED_PRIORITY_DEFAULT, 20000, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
+							 SCHED_RR,
+							 SCHED_PRIORITY_DEFAULT,
+							 20000,
+							 attitude_estimator_ekf_thread_main,
+							 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
 
@@ -222,6 +236,14 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
 	orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
 
+
+	/* process noise covariance */
+	float q[12];
+	/* measurement noise covariance */
+	float r[9];
+	/* output euler angles */
+	float euler[3] = {0.0f, 0.0f, 0.0f};
+
 	/* Main loop*/
 	while (!thread_should_exit) {
 
@@ -271,10 +293,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 				overloadcounter++;
 			}
 
-			int8_t update_vect[9] = {1, 1, 1, 1, 1, 1, 1, 1, 1};
+			uint8_t update_vect[3] = {1, 1, 1};
-			float euler[3];
 			int32_t z_k_sizes = 9;
-			float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
+			// float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
 
 			static bool const_initialized = false;
 
@@ -282,21 +303,42 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 			if (!const_initialized /*&& dt < 0.05 && dt > 0.005*/) 
 			{
 				dt = 0.005f;
-				knownConst[0] = 0.6f*0.6f*dt;
+				q[0] =  1e1f;
-				knownConst[1] = 0.6f*0.6f*dt;
+				q[1] =  1e1f;
-				knownConst[2] = 0.2f*0.2f*dt;
+				q[2] =  1e1f;
-				knownConst[3] = 0.2f*0.2f*dt;
+				/* process noise gyro offset covariance */
-				knownConst[4] = 0.000001f*0.000001f*dt; // -9.81,1,1,-1};
+				q[3] =  1e-4f;
+				q[4] =  1e-4f;
+				q[5] =  1e-4f;
+				q[6] =  1e-1f;
+				q[7] =  1e-1f;
+				q[8] =  1e-1f;
+				q[9] =  1e-1f;
+				q[10] = 1e-1f;
+				q[11] = 1e-1f;
+
+				r[0]= 1e-2f;
+				r[1]= 1e-2f;
+				r[2]= 1e-2f;
+				r[3]= 1e-1f;
+				r[4]= 1e-1f;
+				r[5]= 1e-1f;
+				r[6]= 1e-1f;
+				r[7]= 1e-1f;
+				r[8]= 1e-1f;
 
 				x_aposteriori_k[0] = z_k[0];
 				x_aposteriori_k[1] = z_k[1];
 				x_aposteriori_k[2] = z_k[2];
-				x_aposteriori_k[3] = z_k[3];
+				x_aposteriori_k[3] = 0.0f;
-				x_aposteriori_k[4] = z_k[4];
+				x_aposteriori_k[4] = 0.0f;
-				x_aposteriori_k[5] = z_k[5];
+				x_aposteriori_k[5] = 0.0f;
-				x_aposteriori_k[6] = z_k[6];
+				x_aposteriori_k[6] = z_k[3];
-				x_aposteriori_k[7] = z_k[7];
+				x_aposteriori_k[7] = z_k[4];
-				x_aposteriori_k[8] = z_k[8];
+				x_aposteriori_k[8] = z_k[5];
+				x_aposteriori_k[9] = z_k[6];
+				x_aposteriori_k[10] = z_k[7];
+				x_aposteriori_k[11] = z_k[8];
 
 				const_initialized = true;
 			}
@@ -306,39 +348,43 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 				continue;
 			}
 
+			dt = 0.004f;
+
 			uint64_t timing_start = hrt_absolute_time();
-			attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
+			// attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
-				Rot_matrix, x_aposteriori, P_aposteriori);
+			// 	Rot_matrix, x_aposteriori, P_aposteriori);
+			attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, q, r,
+				euler, Rot_matrix, x_aposteriori, P_aposteriori);
 			/* swap values for next iteration */
 			memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
 			memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
 			uint64_t timing_diff = hrt_absolute_time() - timing_start;
 
-			/* print rotation matrix every 200th time */
+			// /* print rotation matrix every 200th time */
-			if (printcounter % 2 == 0) {
+			// if (printcounter % 200 == 0) {
-				// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
+			// 	// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
-				// 	x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
+			// 	// 	x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
-				// 	x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
+			// 	// 	x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
-				// 	x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
+			// 	// 	x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
 
 
-				// }
+			// 	// }
 
 			// 	printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
-			// 	printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f", (double)euler[0], (double)euler[1], (double)euler[2]);
+			// 	printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
-			// 	printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
+			// // 	printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
-			// 	       (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
+			// // 	       (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
-			// 	       (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
+			// // 	       (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
-			}
+			// }
 
-							int i = printcounter % 9;
+			// 				int i = printcounter % 9;
 
-				// for (int i = 0; i < 9; i++) {
+			// 	// for (int i = 0; i < 9; i++) {
-					char name[10];
+			// 		char name[10];
-					sprintf(name, "xapo #%d", i);
+			// 		sprintf(name, "xapo #%d", i);
-					memcpy(dbg.key, name, sizeof(dbg.key));
+			// 		memcpy(dbg.key, name, sizeof(dbg.key));
-					dbg.value = x_aposteriori[i];
+			// 		dbg.value = x_aposteriori[i];
-					orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
+			// 		orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
 
 			printcounter++;
 

apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:43 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 
@@ -29,6 +29,6 @@
 /* Variable Definitions */
 
 /* Function Declarations */
-extern void attitudeKalmanfilter(real32_T dt, const int8_T updVect[9], const real32_T z_k_data[9], const int32_T z_k_sizes[1], const real32_T u[4], const real32_T x_aposteriori_k[9], const real32_T P_aposteriori_k[81], const real32_T knownConst[20], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[9], real32_T P_aposteriori[81]);
+extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], const real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
 #endif
 /* End of code generation (attitudeKalmanfilter.h) */

apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter_initialize'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter_initialize'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter_terminate'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter_terminate'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:42 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/cross.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'cross'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/cross.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'cross'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/diag.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'diag'
  *
- * C source code generated on: Fri Sep 21 13:56:43 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 
@@ -27,7 +27,19 @@
 /*
  *
  */
-void diag(const real32_T v[3], real32_T d[9])
+void b_diag(const real32_T v[9], real32_T d[81])
+{
+  int32_T j;
+  memset((void *)&d[0], 0, 81U * sizeof(real32_T));
+  for (j = 0; j < 9; j++) {
+    d[j + 9 * j] = v[j];
+  }
+}
+
+/*
+ *
+ */
+void c_diag(const real32_T v[3], real32_T d[9])
 {
   int32_T j;
   for (j = 0; j < 9; j++) {
@@ -39,4 +51,28 @@ void diag(const real32_T v[3], real32_T d[9])
   }
 }
 
+/*
+ *
+ */
+void d_diag(const real32_T v[6], real32_T d[36])
+{
+  int32_T j;
+  memset((void *)&d[0], 0, 36U * sizeof(real32_T));
+  for (j = 0; j < 6; j++) {
+    d[j + 6 * j] = v[j];
+  }
+}
+
+/*
+ *
+ */
+void diag(const real32_T v[12], real32_T d[144])
+{
+  int32_T j;
+  memset((void *)&d[0], 0, 144U * sizeof(real32_T));
+  for (j = 0; j < 12; j++) {
+    d[j + 12 * j] = v[j];
+  }
+}
+
 /* End of code generation (diag.c) */

apps/attitude_estimator_ekf/codegen/diag.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'diag'
  *
- * C source code generated on: Fri Sep 21 13:56:43 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 
@@ -29,6 +29,9 @@
 /* Variable Definitions */
 
 /* Function Declarations */
-extern void diag(const real32_T v[3], real32_T d[9]);
+extern void b_diag(const real32_T v[9], real32_T d[81]);
+extern void c_diag(const real32_T v[3], real32_T d[9]);
+extern void d_diag(const real32_T v[6], real32_T d[36]);
+extern void diag(const real32_T v[12], real32_T d[144]);
 #endif
 /* End of code generation (diag.h) */

apps/attitude_estimator_ekf/codegen/eye.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'eye'
  *
- * C source code generated on: Fri Sep 21 13:56:43 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 
@@ -27,12 +27,12 @@
 /*
  *
  */
-void b_eye(real_T I[81])
+void b_eye(real_T I[144])
 {
   int32_T i;
-  memset((void *)&I[0], 0, 81U * sizeof(real_T));
+  memset((void *)&I[0], 0, 144U * sizeof(real_T));
-  for (i = 0; i < 9; i++) {
+  for (i = 0; i < 12; i++) {
-    I[i + 9 * i] = 1.0;
+    I[i + 12 * i] = 1.0;
   }
 }
 

apps/attitude_estimator_ekf/codegen/eye.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'eye'
  *
- * C source code generated on: Fri Sep 21 13:56:43 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 
@@ -29,7 +29,7 @@
 /* Variable Definitions */
 
 /* Function Declarations */
-extern void b_eye(real_T I[81]);
+extern void b_eye(real_T I[144]);
 extern void eye(real_T I[9]);
 #endif
 /* End of code generation (eye.h) */

apps/attitude_estimator_ekf/codegen/find.c

@@ -1,77 +0,0 @@
-/*
- * find.c
- *
- * Code generation for function 'find'
- *
- * C source code generated on: Fri Sep 21 13:56:43 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "attitudeKalmanfilter.h"
-#include "find.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-
-/*
- *
- */
-void find(const int8_T x[9], real_T i_data[9], int32_T i_sizes[1])
-{
-  int32_T idx;
-  int32_T ii;
-  boolean_T exitg1;
-  boolean_T guard1 = FALSE;
-  int32_T i2;
-  int8_T b_i_data[9];
-  idx = 0;
-  i_sizes[0] = 9;
-  ii = 1;
-  exitg1 = 0U;
-  while ((exitg1 == 0U) && (ii <= 9)) {
-    guard1 = FALSE;
-    if (x[ii - 1] != 0) {
-      idx++;
-      i_data[idx - 1] = (real_T)ii;
-      if (idx >= 9) {
-        exitg1 = 1U;
-      } else {
-        guard1 = TRUE;
-      }
-    } else {
-      guard1 = TRUE;
-    }
-
-    if (guard1 == TRUE) {
-      ii++;
-    }
-  }
-
-  if (1 > idx) {
-    idx = 0;
-  }
-
-  ii = idx - 1;
-  for (i2 = 0; i2 <= ii; i2++) {
-    b_i_data[i2] = (int8_T)i_data[i2];
-  }
-
-  i_sizes[0] = idx;
-  ii = idx - 1;
-  for (i2 = 0; i2 <= ii; i2++) {
-    i_data[i2] = (real_T)b_i_data[i2];
-  }
-}
-
-/* End of code generation (find.c) */

apps/attitude_estimator_ekf/codegen/mrdivide.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'mrdivide'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 
@@ -29,6 +29,8 @@
 /* Variable Definitions */
 
 /* Function Declarations */
-extern void mrdivide(const real32_T A_data[81], const int32_T A_sizes[2], const real32_T B_data[81], const int32_T B_sizes[2], real32_T y_data[81], int32_T y_sizes[2]);
+extern void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]);
+extern void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]);
+extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]);
 #endif
 /* End of code generation (mrdivide.h) */

apps/attitude_estimator_ekf/codegen/norm.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'norm'
  *
- * C source code generated on: Fri Sep 21 13:56:43 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/norm.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'norm'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/power.c

@@ -0,0 +1,84 @@
+/*
+ * power.c
+ *
+ * Code generation for function 'power'
+ *
+ * C source code generated on: Mon Oct 01 19:38:49 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "power.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1);
+
+/* Function Definitions */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1)
+{
+  real32_T y;
+  real32_T f0;
+  real32_T f1;
+  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
+    y = ((real32_T)rtNaN);
+  } else {
+    f0 = (real32_T)fabsf(u0);
+    f1 = (real32_T)fabsf(u1);
+    if (rtIsInfF(u1)) {
+      if (f0 == 1.0F) {
+        y = ((real32_T)rtNaN);
+      } else if (f0 > 1.0F) {
+        if (u1 > 0.0F) {
+          y = ((real32_T)rtInf);
+        } else {
+          y = 0.0F;
+        }
+      } else if (u1 > 0.0F) {
+        y = 0.0F;
+      } else {
+        y = ((real32_T)rtInf);
+      }
+    } else if (f1 == 0.0F) {
+      y = 1.0F;
+    } else if (f1 == 1.0F) {
+      if (u1 > 0.0F) {
+        y = u0;
+      } else {
+        y = 1.0F / u0;
+      }
+    } else if (u1 == 2.0F) {
+      y = u0 * u0;
+    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
+      y = (real32_T)sqrtf(u0);
+    } else if ((u0 < 0.0F) && (u1 > (real32_T)floorf(u1))) {
+      y = ((real32_T)rtNaN);
+    } else {
+      y = (real32_T)powf(u0, u1);
+    }
+  }
+
+  return y;
+}
+
+/*
+ *
+ */
+void power(const real32_T a[12], real_T b, real32_T y[12])
+{
+  int32_T k;
+  for (k = 0; k < 12; k++) {
+    y[k] = rt_powf_snf(a[k], (real32_T)b);
+  }
+}
+
+/* End of code generation (power.c) */

apps/attitude_estimator_ekf/codegen/power.h

@@ -1,14 +1,14 @@
 /*
- * find.h
+ * power.h
  *
- * Code generation for function 'find'
+ * Code generation for function 'power'
  *
- * C source code generated on: Fri Sep 21 13:56:43 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 
-#ifndef __FIND_H__
+#ifndef __POWER_H__
-#define __FIND_H__
+#define __POWER_H__
 /* Include files */
 #include <math.h>
 #include <stdio.h>
@@ -29,6 +29,6 @@
 /* Variable Definitions */
 
 /* Function Declarations */
-extern void find(const int8_T x[9], real_T i_data[9], int32_T i_sizes[1]);
+extern void power(const real32_T a[12], real_T b, real32_T y[12]);
 #endif
-/* End of code generation (find.h) */
+/* End of code generation (power.h) */

apps/attitude_estimator_ekf/codegen/rtGetInf.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:45 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/rtGetInf.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:45 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/rtGetNaN.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:45 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/rtGetNaN.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/rt_defines.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/rt_nonfinite.c

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/rt_nonfinite.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/attitude_estimator_ekf/codegen/rtwtypes.h

@@ -3,7 +3,7 @@
  *
  * Code generation for function 'attitudeKalmanfilter'
  *
- * C source code generated on: Fri Sep 21 13:56:44 2012
+ * C source code generated on: Mon Oct 01 19:38:49 2012
  *
  */
 

apps/commander/commander.c

@@ -949,7 +949,12 @@ int commander_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_create("commander", SCHED_PRIORITY_MAX - 50, 4096, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		deamon_task = task_spawn("commander",
+					 SCHED_RR,
+					 SCHED_PRIORITY_MAX - 50,
+					 4096,
+					 commander_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}
@@ -1007,8 +1012,12 @@ int commander_thread_main(int argc, char *argv[])
 	memset(&current_status, 0, sizeof(current_status));
 	current_status.state_machine = SYSTEM_STATE_PREFLIGHT;
 	current_status.flag_system_armed = false;
+	/* neither manual nor offboard control commands have been received */
 	current_status.offboard_control_signal_found_once = false;
 	current_status.rc_signal_found_once = false;
+	/* mark all signals lost as long as they haven't been found */
+	current_status.rc_signal_lost = true;
+	current_status.offboard_control_signal_lost = true;
 
 	/* advertise to ORB */
 	stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);

apps/examples/px4_deamon_app/px4_deamon_app.c

@@ -91,7 +91,12 @@ int px4_deamon_app_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_create("deamon", SCHED_PRIORITY_DEFAULT, 4096, px4_deamon_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		deamon_task = task_spawn("deamon",
+					 SCHED_RR,
+					 SCHED_PRIORITY_DEFAULT,
+					 4096,
+					 px4_deamon_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}

apps/fixedwing_control/fixedwing_control.c

@@ -60,6 +60,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
 #include <uORB/topics/debug_key_value.h>
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
@@ -414,7 +415,12 @@ int fixedwing_control_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_create("fixedwing_control", SCHED_PRIORITY_MAX - 20, 4096, fixedwing_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		deamon_task = task_spawn("fixedwing_control",
+					 SCHED_RR,
+					 SCHED_PRIORITY_MAX - 20,
+					 4096,
+					 fixedwing_control_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}

apps/gps/gps.c

@@ -57,6 +57,8 @@
 #include <v1.0/common/mavlink.h>
 #include <mavlink/mavlink_log.h>
 
+#include <systemlib/systemlib.h>
+
 static bool thread_should_exit;				/**< Deamon status flag */
 static bool thread_running = false;				/**< Deamon status flag */
 static int deamon_task;							/**< Handle of deamon task / thread */
@@ -140,7 +142,12 @@ int gps_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_create("gps", SCHED_PRIORITY_DEFAULT, 4096, gps_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		deamon_task = task_spawn("gps",
+					 SCHED_RR,
+					 SCHED_PRIORITY_DEFAULT,
+					 4096,
+					 gps_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}

apps/mavlink/mavlink.c

@@ -75,7 +75,9 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/debug_key_value.h>
+
 #include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
 
 #include "waypoints.h"
 #include "mavlink_log.h"
@@ -203,7 +205,7 @@ int mavlink_missionlib_send_gcs_string(const char *string);
 uint64_t mavlink_missionlib_get_system_timestamp(void);
 
 void handleMessage(mavlink_message_t *msg);
-static void mavlink_update_system();
+static void mavlink_update_system(void);
 
 /**
  * Enable / disable Hardware in the Loop simulation mode.
@@ -1549,9 +1551,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	return uart;
 }
 
-void mavlink_update_system()
+void mavlink_update_system(void)
 {
-	static initialized = false;
+	static bool initialized = false;
 	param_t param_system_id;
 	param_t param_component_id;
 	param_t param_system_type;
@@ -1706,9 +1708,9 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
 		/* 50 Hz / 20 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30);
 		/* 20 Hz / 50 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
 		/* 2 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
@@ -1866,7 +1868,12 @@ int mavlink_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 6000, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		mavlink_task = task_spawn("mavlink",
+					  SCHED_RR,
+					  SCHED_PRIORITY_DEFAULT,
+					  6000,
+					  mavlink_thread_main,
+					  (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
 

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -67,6 +67,7 @@
 #include <uORB/topics/actuator_controls.h>
 
 #include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
 
 #include "multirotor_attitude_control.h"
 #include "multirotor_rate_control.h"
@@ -350,7 +351,12 @@ int multirotor_att_control_main(int argc, char *argv[])
 	if (!strcmp(argv[1+optioncount], "start")) {
 
 		thread_should_exit = false;
-		mc_task = task_create("multirotor_att_control", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL);
+		mc_task = task_spawn("multirotor_att_control",
+				     SCHED_RR,
+				     SCHED_PRIORITY_MAX - 15,
+				     2048,
+				     mc_thread_main,
+				     NULL);
 		exit(0);
 	}
 

apps/px4/fmu/fmu.cpp

@@ -66,6 +66,8 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 
+#include <systemlib/systemlib.h>
+
 class FMUServo : public device::CDev
 {
 public:
@@ -169,7 +171,12 @@ FMUServo::init()
 		return ret;
 
 	/* start the IO interface task */
-	_task = task_create("fmuservo", SCHED_PRIORITY_DEFAULT, 1024, (main_t)&FMUServo::task_main_trampoline, nullptr);
+	_task = task_spawn("fmuservo",
+			   SCHED_RR,
+			   SCHED_PRIORITY_DEFAULT,
+			   1024,
+			   (main_t)&FMUServo::task_main_trampoline,
+			   nullptr);
 
 	if (_task < 0) {
 		debug("task start failed: %d", errno);

apps/sdlog/sdlog.c

@@ -61,6 +61,8 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_command.h>
 
+#include <systemlib/systemlib.h>
+
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
@@ -120,7 +122,12 @@ int sdlog_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_create("sdlog", SCHED_PRIORITY_DEFAULT - 30, 4096, sdlog_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		deamon_task = task_spawn("sdlog",
+					 SCHED_RR,
+					 SCHED_PRIORITY_DEFAULT - 30,
+					 4096,
+					 sdlog_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}

apps/sensors/sensors.cpp

@@ -1175,11 +1175,12 @@ Sensors::start()
 	ASSERT(_sensors_task == -1);
 
 	/* start the task */
-	_sensors_task = task_create("sensors_task",
+	_sensors_task = task_spawn("sensors_task",
-				    SCHED_PRIORITY_MAX - 5,
+				   SCHED_RR,
-				    6000,	/* XXX may be excesssive */
+				   SCHED_PRIORITY_MAX - 5,
-				    (main_t)&Sensors::task_main_trampoline,
+				   6000,	/* XXX may be excesssive */
-				    nullptr);
+				   (main_t)&Sensors::task_main_trampoline,
+				   nullptr);
 
 	if (_sensors_task < 0) {
 		warn("task start failed");

apps/systemcmds/led/led.c

@@ -53,6 +53,9 @@
 #include <arch/board/up_hrt.h>
 #include <arch/board/drv_led.h>
 
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
 __EXPORT int led_main(int argc, char *argv[]);
 
 
@@ -61,7 +64,7 @@ static bool thread_running = false;	/**< Deamon status flag */
 static int led_task;			/**< Handle of deamon task / thread */
 static int leds;
 
-static int led_init()
+static int led_init(void)
 {
 	leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
 
@@ -76,7 +79,7 @@ static int led_init()
 	return 0;
 }
 
-static void led_deinit()
+static void led_deinit(void)
 {
 	close(leds);
 }
@@ -144,7 +147,12 @@ int led_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		led_task = task_create("led", SCHED_PRIORITY_MAX - 15, 4096, led_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		led_task = task_spawn("led",
+				      SCHED_RR,
+				      SCHED_PRIORITY_MAX - 15,
+				      4096,
+				      led_thread_main,
+				      (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}

apps/systemlib/systemlib.c

@@ -68,10 +68,10 @@ const struct __multiport_info multiport_info = {
  ****************************************************************************/
 
 /****************************************************************************
- * Public Functions
+ * Private Functions
  ****************************************************************************/
 
-void kill_task(FAR _TCB *tcb, FAR void *arg);
+static void kill_task(FAR _TCB *tcb, FAR void *arg);
 
 /****************************************************************************
  * user_start
@@ -116,11 +116,36 @@ void killall()
 	sched_foreach(kill_task, NULL);
 }
 
-void kill_task(FAR _TCB *tcb, FAR void *arg)
+static void kill_task(FAR _TCB *tcb, FAR void *arg)
 {
 	kill(tcb->pid, SIGUSR1);
 }
 
+int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+{
+	int pid;
+
+	sched_lock();
+
+	/* create the task */
+	pid = task_create(name, priority, stack_size, entry, argv);
+
+	if (pid > 0) {
+		
+		/* configure the scheduler */
+		struct sched_param param;
+
+		param.sched_priority = priority;
+		sched_setscheduler(pid, scheduler, &param);
+
+		/* XXX do any other private task accounting here */
+	}
+
+	sched_unlock();
+
+	return pid;
+}
+
 #define PX4_BOARD_ID_FMU (5)
 
 int fmu_get_board_info(struct fmu_board_info_s *info)

apps/systemlib/systemlib.h

@@ -50,6 +50,14 @@ __EXPORT int reboot(void);
 /** Sends SIGUSR1 to all processes */
 __EXPORT void killall(void);
 
+/** Starts a task and performs any specific accounting, scheduler setup, etc. */
+__EXPORT int task_spawn(const char *name,
+			int priority,
+			int scheduler,
+			int stack_size,
+			main_t entry,
+			const char *argv[]);
+
 enum MULT_PORTS {
 	MULT_0_US2_RXTX = 0,
 	MULT_1_US2_FLOW,