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

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -0,0 +1,110 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILS quadrotor + starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+        # Set all params here, then disable autoconfig
+        param set SYS_AUTOCONFIG 0
+
+        param set MC_ATTRATE_D 0.0
+        param set MC_ATTRATE_I 0.0
+        param set MC_ATTRATE_P 0.05
+        param set MC_ATT_D 0.0
+        param set MC_ATT_I 0.0
+        param set MC_ATT_P 3.0
+        param set MC_YAWPOS_D 0.0
+        param set MC_YAWPOS_I 0.0
+        param set MC_YAWPOS_P 2.1
+        param set MC_YAWRATE_D 0.0
+        param set MC_YAWRATE_I 0.0
+        param set MC_YAWRATE_P 0.05
+        param set NAV_TAKEOFF_ALT 3.0
+        param set MPC_TILT_MAX 0.5
+        param set MPC_THR_MAX 0.5
+        param set MPC_THR_MIN 0.1
+        param set MPC_XY_D 0
+        param set MPC_XY_P 0.5
+        param set MPC_XY_VEL_D 0
+        param set MPC_XY_VEL_I 0
+        param set MPC_XY_VEL_MAX 3
+        param set MPC_XY_VEL_P 0.2
+        param set MPC_Z_D 0
+        param set MPC_Z_P 1
+        param set MPC_Z_VEL_D 0
+        param set MPC_Z_VEL_I 0.1
+        param set MPC_Z_VEL_MAX 2
+        param set MPC_Z_VEL_P 0.20
+
+        param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+
+#
+# Start position estimator
+#
+position_estimator_inav start
+
+#
+# Start attitude control
+#
+multirotor_att_control start
+
+#
+# Start position control
+#
+multirotor_pos_control start
+
+echo "[HIL] setup done, running"
+

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -0,0 +1,103 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILStar starting.."
+
+#
+# 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
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+set MODE autostart
+mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+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_AERT.mix
+else
+	echo "Using /etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+fi
+
+
+fw_pos_control_l1 start
+fw_att_control start
+
+echo "[HIL] setup done, running"
+

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

@@ -0,0 +1,95 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Hex"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.004
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 7.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_D 0
+	param set MPC_XY_P 0.5
+	param set MPC_XY_VEL_D 0
+	param set MPC_XY_VEL_I 0
+	param set MPC_XY_VEL_MAX 3
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_Z_D 0
+	param set MPC_Z_P 1
+	param set MPC_Z_VEL_D 0
+	param set MPC_Z_VEL_I 0.1
+	param set MPC_Z_VEL_MAX 2
+	param set MPC_Z_VEL_P 0.20
+
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
+# 13 = hexarotor
+#
+param set MAV_TYPE 13
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900 900 900
+	px4io min 1200 1200 1200 1200 1200 1200
+	px4io max 1900 1900 1900 1900 1900 1900
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+mixer load /dev/pwm_output $MIXER
+
+#
+# Set PWM output frequency to 400 Hz
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/32_skywalker_x5

@@ -0,0 +1,86 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	# TODO
+	
+	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
+
+	commander 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
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+fi
+fw_att_control start
+fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/40_io_segway

@@ -52,5 +52,5 @@ attitude_estimator_ekf start
 #
 # Load mixer and start controllers (depends on px4io)
 #
-md25 start 3 0x58
+roboclaw start /dev/ttyS2 128 1200
 segway start

ROMFS/px4fmu_common/init.d/rc.custom_io_esc

@@ -58,7 +58,7 @@ usleep 10000
 if px4io detect
 then
 	# Start MAVLink (depends on orb)
-	mavlink start -d /dev/ttyS1 -b 115200
+	mavlink start -d /dev/ttyS1 -b 57600
 	usleep 5000
 
 	commander start
@@ -67,7 +67,7 @@ then
 else
 	fmu mode_pwm
 	# Start MAVLink (on UART1 / ttyS0)
-	mavlink start -d /dev/ttyS1 -b 115200
+	mavlink start -d /dev/ttyS1 -b 57600
 	usleep 5000
 	param set BAT_V_SCALING 0.004593
 	set EXIT_ON_END yes

ROMFS/px4fmu_common/init.d/rcS

@@ -108,24 +108,40 @@ then
 
 	if param compare SYS_AUTOSTART 1000
 	then
-		sh /etc/init.d/1000_rc_fw.hil		
+		sh /etc/init.d/1000_rc_fw_easystar.hil		
 		set MODE custom
-	else
+	fi
+	
 	if param compare SYS_AUTOSTART 1001
 	then
 		sh /etc/init.d/1001_rc_quad.hil
 		set MODE custom
-		else
+	fi
+	
 	if param compare SYS_AUTOSTART 1002
 	then
 		sh /etc/init.d/1002_rc_fw_state.hil
 		set MODE custom
-			else
+	fi
+	
+	if param compare SYS_AUTOSTART 1003
+	then
+		sh /etc/init.d/1003_rc_quad_+.hil
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 1004
+	then
+		sh /etc/init.d/1004_rc_fw_Rascal110.hil
+		set MODE custom
+	fi
+	
+	if [ $MODE != custom ]
+	then
 		# Try to get an USB console
 		nshterm /dev/ttyACM0 &
 	fi
-		fi
-	fi
+
 	
 	#
 	# Upgrade PX4IO firmware
@@ -178,6 +194,20 @@ then
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 12
+	then
+		set MIXER /etc/mixers/FMU_hex_x.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 13
+	then
+		set MIXER /etc/mixers/FMU_hex_+.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
+	
 	if param compare SYS_AUTOSTART 15
 	then
 		sh /etc/init.d/15_tbs_discovery
@@ -255,6 +285,18 @@ then
 		set MODE custom
 	fi
 	
+	if param compare SYS_AUTOSTART 32
+	then
+		sh /etc/init.d/32_skywalker_x5
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 40
+	then
+		sh /etc/init.d/40_io_segway
+		set MODE custom
+	fi
+	
 	if param compare SYS_AUTOSTART 100
 	then
 		sh /etc/init.d/100_mpx_easystar

ROMFS/px4fmu_common/mixers/FMU_AERT.mix

@@ -62,3 +62,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_AET.mix

@@ -58,3 +58,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_Q.mix

@@ -50,3 +50,21 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_RET.mix

@@ -51,3 +51,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_X5.mix

@@ -48,3 +48,22 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
+

ROMFS/px4fmu_common/mixers/FMU_delta.mix

@@ -48,3 +48,23 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
+

ROMFS/px4fmu_common/mixers/FMU_hex_+.mix

@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co
 are mixed 100%.
 
 R: 6+ 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_hex_x.mix

@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration.  All c
 are mixed 100%.
 
 R: 6x 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_+.mix

@@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con
 are mixed 100%.
 
 R: 4+ 10000 10000 10000 0
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_v.mix

@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration.  All co
 are mixed 100%.
 
 R: 4v 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_w.mix

@@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU
 This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
 
 R: 4w 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_quad_x.mix

@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration.  All co
 are mixed 100%.
 
 R: 4x 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

Tools/px4params/.gitignore

@@ -0,0 +1,2 @@
+parameters.wiki
+parameters.xml

Tools/sdlog2_dump.py

@@ -25,8 +25,12 @@ import struct, sys
 
 if sys.hexversion >= 0x030000F0:
     runningPython3 = True
+    def _parseCString(cstr):
+        return str(cstr, 'ascii').split('\0')[0]
 else:
     runningPython3 = False
+    def _parseCString(cstr):
+        return str(cstr).split('\0')[0]
 
 class SDLog2Parser:
     BLOCK_SIZE = 8192
@@ -202,14 +206,9 @@ class SDLog2Parser:
         msg_type = data[0]
         if msg_type != self.MSG_TYPE_FORMAT:
             msg_length = data[1]
-            if runningPython3:
-                msg_name = str(data[2], 'ascii').strip("\0")
-                msg_format = str(data[3], 'ascii').strip("\0")
-                msg_labels = str(data[4], 'ascii').strip("\0").split(",")
-            else:
-                msg_name = str(data[2]).strip("\0")
-                msg_format = str(data[3]).strip("\0")
-                msg_labels = str(data[4]).strip("\0").split(",")
+            msg_name = _parseCString(data[2])
+            msg_format = _parseCString(data[3])
+            msg_labels = _parseCString(data[4]).split(",")
             # Convert msg_format to struct.unpack format string
             msg_struct = ""
             msg_mults = []
@@ -243,7 +242,7 @@ class SDLog2Parser:
                 data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
             for i in range(len(data)):
                 if type(data[i]) is str:
-                    data[i] = data[i].strip("\0")
+                    data[i] = _parseCString(data[i])
                 m = msg_mults[i]
                 if m != None:
                     data[i] = data[i] * m

makefiles/config_px4fmu-v1_default.mk

@@ -33,7 +33,7 @@ MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/md25
+MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
@@ -79,7 +79,7 @@ MODULES		+= examples/flow_position_estimator
 #
 # Vehicle Control
 #
-#MODULES		+= modules/segway # XXX needs state machine update
+MODULES		+= modules/segway
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
 MODULES		+= modules/multirotor_att_control
@@ -115,6 +115,7 @@ MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/conversion
 
 #
 # Demo apps

makefiles/config_px4fmu-v2_default.mk

@@ -31,6 +31,7 @@ MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
+MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
@@ -77,7 +78,7 @@ MODULES		+= examples/flow_position_estimator
 #
 # Vehicle Control
 #
-#MODULES		+= modules/segway # XXX needs state machine update
+MODULES		+= modules/segway
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
 MODULES		+= modules/multirotor_att_control
@@ -111,6 +112,7 @@ MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/conversion
 
 #
 # Demo apps

src/drivers/drv_accel.h

@@ -32,7 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file Accelerometer driver interface.
+ * @file drv_accel.h
+ *
+ * Accelerometer driver interface.
  */
 
 #ifndef _DRV_ACCEL_H
@@ -66,7 +68,7 @@ struct accel_report {
 	int16_t temperature_raw;
 };
 
-/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */
+/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
 struct accel_scale {
 	float	x_offset;
 	float	x_scale;

src/drivers/drv_airspeed.h

@@ -32,7 +32,10 @@
  ****************************************************************************/
 
 /**
- * @file Airspeed driver interface.
+ * @file drv_airspeed.h
+ *
+ * Airspeed driver interface.
+ * 
  * @author Simon Wilks
  */
 

src/drivers/drv_baro.h

@@ -32,7 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file Barometric pressure sensor driver interface.
+ * @file drv_baro.h
+ *
+ * Barometric pressure sensor driver interface.
  */
 
 #ifndef _DRV_BARO_H

src/drivers/drv_gps.h

@@ -32,7 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file GPS driver interface.
+ * @file drv_gps.h
+ *
+ * GPS driver interface.
  */
 
 #ifndef _DRV_GPS_H

src/drivers/drv_gyro.h

@@ -32,7 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file Gyroscope driver interface.
+ * @file drv_gyro.h
+ *
+ * Gyroscope driver interface.
  */
 
 #ifndef _DRV_GYRO_H

src/drivers/drv_rc_input.h

@@ -32,8 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file R/C input interface.
+ * @file drv_rc_input.h
  *
+ * R/C input interface.
  */
 
 #ifndef _DRV_RC_INPUT_H

src/drivers/drv_sensor.h

@@ -32,7 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file Common sensor API and ioctl definitions.
+ * @file drv_sensor.h
+ *
+ * Common sensor API and ioctl definitions.
  */
 
 #ifndef _DRV_SENSOR_H

src/drivers/drv_tone_alarm.h

@@ -31,7 +31,9 @@
  *
  ****************************************************************************/
 
-/*
+/**
+ * @file drv_tone_alarm.h
+ *
  * Driver for the PX4 audio alarm port, /dev/tone_alarm.
  *
  * The tone_alarm driver supports a set of predefined "alarm"

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -132,11 +132,8 @@ ETSAirspeed::measure()
 	if (OK != ret) {
 		perf_count(_comms_errors);
 		log("i2c::transfer returned %d", ret);
-		return ret;
 	}
 
-	ret = OK;
-
 	return ret;
 }
 

src/drivers/lsm303d/lsm303d.cpp

@@ -241,11 +241,18 @@ private:
 
 	perf_counter_t		_accel_sample_perf;
 	perf_counter_t		_mag_sample_perf;
+	perf_counter_t		_reg7_resets;
+	perf_counter_t		_reg1_resets;
 
 	math::LowPassFilter2p	_accel_filter_x;
 	math::LowPassFilter2p	_accel_filter_y;
 	math::LowPassFilter2p	_accel_filter_z;
 
+	// expceted values of reg1 and reg7 to catch in-flight
+	// brownouts of the sensor
+	uint8_t			_reg7_expected;
+	uint8_t			_reg1_expected;
+
 	/**
 	 * Start automatic measurement.
 	 */
@@ -434,9 +441,13 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
 	_mag_read(0),
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_accel_read")),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d_mag_read")),
+	_reg1_resets(perf_alloc(PC_COUNT, "lsm303d_reg1_resets")),
+	_reg7_resets(perf_alloc(PC_COUNT, "lsm303d_reg7_resets")),
 	_accel_filter_x(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_y(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
-	_accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ)
+	_accel_filter_z(LSM303D_ACCEL_DEFAULT_RATE, LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
+	_reg1_expected(0),
+	_reg7_expected(0)
 {
 	// enable debug() calls
 	_debug_enabled = true;
@@ -526,10 +537,12 @@ void
 LSM303D::reset()
 {
 	/* enable accel*/
-	write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE);
+	_reg1_expected = REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A;
+	write_reg(ADDR_CTRL_REG1, _reg1_expected);
 
 	/* enable mag */
-	write_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
+	_reg7_expected = REG7_CONT_MODE_M;
+	write_reg(ADDR_CTRL_REG7, _reg7_expected);
 	write_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
 
 	accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
@@ -1133,6 +1146,7 @@ LSM303D::accel_set_samplerate(unsigned frequency)
 	}
 
 	modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
+	_reg1_expected = (_reg1_expected & ~clearbits) | setbits;
 
 	return OK;
 }
@@ -1210,6 +1224,12 @@ LSM303D::mag_measure_trampoline(void *arg)
 void
 LSM303D::measure()
 {
+	if (read_reg(ADDR_CTRL_REG1) != _reg1_expected) {
+		perf_count(_reg1_resets);
+		reset();
+		return;
+	}
+
 	/* status register and data as read back from the device */
 
 #pragma pack(push, 1)
@@ -1282,6 +1302,12 @@ LSM303D::measure()
 void
 LSM303D::mag_measure()
 {
+	if (read_reg(ADDR_CTRL_REG7) != _reg7_expected) {
+		perf_count(_reg7_resets);
+		reset();
+		return;
+	}
+
 	/* status register and data as read back from the device */
 #pragma pack(push, 1)
 	struct {

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -138,11 +138,8 @@ MEASAirspeed::measure()
 
 	if (OK != ret) {
 		perf_count(_comms_errors);
-		return ret;
 	}
 
-	ret = OK;
-
 	return ret;
 }
 

src/drivers/px4io/px4io_serial.cpp

@@ -48,6 +48,7 @@
 #include <time.h>
 #include <errno.h>
 #include <string.h>
+#include <stdio.h>
 
 #include <arch/board/board.h>
 
@@ -262,7 +263,8 @@ PX4IO_serial::init()
 	up_enable_irq(PX4IO_SERIAL_VECTOR);
 
 	/* enable UART in DMA mode, enable error and line idle interrupts */
-	/* rCR3 = USART_CR3_EIE;*/
+	rCR3 = USART_CR3_EIE;
+
 	rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
 
 	/* create semaphores */
@@ -497,22 +499,20 @@ PX4IO_serial::_wait_complete()
 		DMA_SCR_PBURST_SINGLE	|
 		DMA_SCR_MBURST_SINGLE);
 	stm32_dmastart(_tx_dma, nullptr, nullptr, false);
+	//rCR1 &= ~USART_CR1_TE;
+	//rCR1 |= USART_CR1_TE;
 	rCR3 |= USART_CR3_DMAT;
 
 	perf_end(_pc_dmasetup);
 
-	/* compute the deadline for a 5ms timeout */
+	/* compute the deadline for a 10ms timeout */
 	struct timespec abstime;
 	clock_gettime(CLOCK_REALTIME, &abstime);
-#if 0
-	abstime.tv_sec++;		/* long timeout for testing */
-#else
-	abstime.tv_nsec += 10000000;	/* 0ms timeout */
-	if (abstime.tv_nsec > 1000000000) {
+	abstime.tv_nsec += 10*1000*1000;
+	if (abstime.tv_nsec >= 1000*1000*1000) {
 		abstime.tv_sec++;
-		abstime.tv_nsec -= 1000000000;
+		abstime.tv_nsec -= 1000*1000*1000;
 	}
-#endif
 
 	/* wait for the transaction to complete - 64 bytes @ 1.5Mbps ~426µs */
 	int ret;
@@ -619,8 +619,8 @@ PX4IO_serial::_do_interrupt()
 		 */
 		if (_rx_dma_status == _dma_status_waiting) {
 			_abort_dma();
-			perf_count(_pc_uerrs);
 
+			perf_count(_pc_uerrs);
 			/* complete DMA as though in error */
 			_do_rx_dma_callback(DMA_STATUS_TEIF);
 
@@ -642,6 +642,12 @@ PX4IO_serial::_do_interrupt()
 			unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
 			if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
 				perf_count(_pc_badidle);
+
+				/* stop the receive DMA */
+				stm32_dmastop(_rx_dma);
+
+				/* complete the short reception */
+				_do_rx_dma_callback(DMA_STATUS_TEIF);
 				return;
 			}
 

src/drivers/rgbled/rgbled.cpp

@@ -172,7 +172,20 @@ RGBLED::probe()
 	bool on, powersave;
 	uint8_t r, g, b;
 
-	ret = get(on, powersave, r, g, b);
+	/**
+	   this may look strange, but is needed. There is a serial
+	   EEPROM (Microchip-24aa01) on the PX4FMU-v1 that responds to
+	   a bunch of I2C addresses, including the 0x55 used by this
+	   LED device. So we need to do enough operations to be sure
+	   we are talking to the right device. These 3 operations seem
+	   to be enough, as the 3rd one consistently fails if no
+	   RGBLED is on the bus.
+	 */
+	if ((ret=get(on, powersave, r, g, b)) != OK ||
+	    (ret=send_led_enable(false) != OK) ||
+	    (ret=send_led_enable(false) != OK)) {
+		return ret;
+	}
 
 	return ret;
 }
@@ -561,7 +574,7 @@ rgbled_main(int argc, char *argv[])
 	int ch;
 
 	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc - 1, &argv[1], "a:b:")) != EOF) {
+	while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
 		switch (ch) {
 		case 'a':
 			rgbledadr = strtol(optarg, NULL, 0);
@@ -577,7 +590,12 @@ rgbled_main(int argc, char *argv[])
 		}
 	}
 
-	const char *verb = argv[1];
+        if (optind >= argc) {
+            rgbled_usage();
+            exit(1);
+        }
+
+	const char *verb = argv[optind];
 
 	int fd;
 	int ret;
@@ -598,6 +616,9 @@ rgbled_main(int argc, char *argv[])
 
 			if (g_rgbled == nullptr) {
 				// fall back to default bus
+				if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
+					errx(1, "init failed");
+				}
 				i2cdevice = PX4_I2C_BUS_LED;
 			}
 		}

src/drivers/roboclaw/RoboClaw.cpp

@@ -0,0 +1,328 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 RoboClaw.cpp
+ *
+ * RoboClaw Motor Driver
+ *
+ * references:
+ * http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
+ *
+ */
+
+#include "RoboClaw.hpp"
+#include <poll.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+#include <fcntl.h>
+#include <termios.h>
+
+#include <systemlib/err.h>
+#include <arch/board/board.h>
+#include <mavlink/mavlink_log.h>
+
+#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/topics/debug_key_value.h>
+#include <drivers/drv_hrt.h>
+
+uint8_t RoboClaw::checksum_mask = 0x7f;
+
+RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
+		uint16_t pulsesPerRev):
+	_address(address),
+	_pulsesPerRev(pulsesPerRev),
+	_uart(0),
+	_controlPoll(),
+	_actuators(NULL, ORB_ID(actuator_controls_0), 20),
+	_motor1Position(0),
+	_motor1Speed(0),
+	_motor1Overflow(0),
+	_motor2Position(0),
+	_motor2Speed(0),
+	_motor2Overflow(0)
+{
+	// setup control polling
+	_controlPoll.fd = _actuators.getHandle();
+	_controlPoll.events = POLLIN;
+
+	// start serial port
+	_uart = open(deviceName, O_RDWR | O_NOCTTY);
+	if (_uart < 0) err(1, "could not open %s", deviceName);
+	int ret = 0;
+	struct termios uart_config;
+	ret = tcgetattr(_uart, &uart_config);
+	if (ret < 0) err (1, "failed to get attr");
+	uart_config.c_oflag &= ~ONLCR; // no CR for every LF
+	ret = cfsetispeed(&uart_config, B38400);
+	if (ret < 0) err (1, "failed to set input speed");
+	ret = cfsetospeed(&uart_config, B38400);
+	if (ret < 0) err (1, "failed to set output speed");
+	ret = tcsetattr(_uart, TCSANOW, &uart_config);
+	if (ret < 0) err (1, "failed to set attr");
+
+	// setup default settings, reset encoders
+	resetEncoders();
+}
+
+RoboClaw::~RoboClaw()
+{
+	setMotorDutyCycle(MOTOR_1, 0.0);
+	setMotorDutyCycle(MOTOR_2, 0.0);
+	close(_uart);
+}
+
+int RoboClaw::readEncoder(e_motor motor)
+{
+	uint16_t sum = 0;
+	if (motor == MOTOR_1) {
+		_sendCommand(CMD_READ_ENCODER_1, nullptr, 0, sum);
+	} else if (motor == MOTOR_2) {
+		_sendCommand(CMD_READ_ENCODER_2, nullptr, 0, sum);
+	}
+	uint8_t rbuf[50];
+	usleep(5000);
+	int nread = read(_uart, rbuf, 50);
+	if (nread < 6) { 
+		printf("failed to read\n");
+		return -1;
+	}
+	//printf("received: \n");
+	//for (int i=0;i<nread;i++) {
+		//printf("%d\t", rbuf[i]);
+	//}
+	//printf("\n");
+	uint32_t count = 0;
+	uint8_t * countBytes = (uint8_t *)(&count);
+	countBytes[3] = rbuf[0];
+	countBytes[2] = rbuf[1];
+	countBytes[1] = rbuf[2];
+	countBytes[0] = rbuf[3];
+	uint8_t status = rbuf[4];
+	uint8_t checksum = rbuf[5];
+	uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) & 
+		checksum_mask;
+	// check if checksum is valid
+	if (checksum != checksum_computed) {
+		printf("checksum failed: expected %d got %d\n",
+				checksum, checksum_computed);
+		return -1;
+	}
+	int overFlow = 0;
+
+	if (status & STATUS_REVERSE) {
+		//printf("roboclaw: reverse\n");
+	}
+
+	if (status & STATUS_UNDERFLOW) {
+		//printf("roboclaw: underflow\n");
+		overFlow = -1;
+	} else if (status & STATUS_OVERFLOW) {
+		//printf("roboclaw: overflow\n");
+		overFlow = +1;
+	}
+
+	static int64_t overflowAmount = 0x100000000LL;
+	if (motor == MOTOR_1) {
+		_motor1Overflow += overFlow;
+		_motor1Position = float(int64_t(count) + 
+			_motor1Overflow*overflowAmount)/_pulsesPerRev;
+	} else if (motor == MOTOR_2) {
+		_motor2Overflow += overFlow;
+		_motor2Position = float(int64_t(count) + 
+			_motor2Overflow*overflowAmount)/_pulsesPerRev;
+	}
+	return 0;
+}
+
+void RoboClaw::printStatus(char *string, size_t n)
+{
+	snprintf(string, n,
+		 "pos1,spd1,pos2,spd2: %10.2f %10.2f %10.2f %10.2f\n",
+		 double(getMotorPosition(MOTOR_1)),
+		 double(getMotorSpeed(MOTOR_1)),
+		 double(getMotorPosition(MOTOR_2)),
+		 double(getMotorSpeed(MOTOR_2)));
+}
+
+float RoboClaw::getMotorPosition(e_motor motor)
+{
+	if (motor == MOTOR_1) {
+		return _motor1Position;
+	} else if (motor == MOTOR_2) {
+		return _motor2Position;
+	}
+}
+
+float RoboClaw::getMotorSpeed(e_motor motor)
+{
+	if (motor == MOTOR_1) {
+		return _motor1Speed;
+	} else if (motor == MOTOR_2) {
+		return _motor2Speed;
+	}
+}
+
+int RoboClaw::setMotorSpeed(e_motor motor, float value)
+{
+	uint16_t sum = 0;
+	// bound
+	if (value > 1) value = 1;
+	if (value < -1) value = -1;
+	uint8_t speed = fabs(value)*127;
+	// send command
+	if (motor == MOTOR_1) {
+		if (value > 0) {
+			return _sendCommand(CMD_DRIVE_FWD_1, &speed, 1, sum);
+		} else {
+			return _sendCommand(CMD_DRIVE_REV_1, &speed, 1, sum);
+		}
+	} else if (motor == MOTOR_2) {
+		if (value > 0) {
+			return _sendCommand(CMD_DRIVE_FWD_2, &speed, 1, sum);
+		} else {
+			return _sendCommand(CMD_DRIVE_REV_2, &speed, 1, sum);
+		}
+	}
+	return -1;
+}
+
+int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
+{
+	uint16_t sum = 0;
+	// bound
+	if (value > 1) value = 1;
+	if (value < -1) value = -1;
+	int16_t duty = 1500*value;
+	// send command
+	if (motor == MOTOR_1) {
+		return _sendCommand(CMD_SIGNED_DUTYCYCLE_1,
+				(uint8_t *)(&duty), 2, sum);
+	} else if (motor == MOTOR_2) {
+		return _sendCommand(CMD_SIGNED_DUTYCYCLE_2,
+				(uint8_t *)(&duty), 2, sum);
+	}
+	return -1;
+}
+
+int RoboClaw::resetEncoders() 
+{
+	uint16_t sum = 0;
+	return _sendCommand(CMD_RESET_ENCODERS,
+			nullptr, 0, sum);
+}
+
+int RoboClaw::update()
+{
+	// wait for an actuator publication,
+	// check for exit condition every second
+	// note "::poll" is required to distinguish global
+	// poll from member function for driver
+	if (::poll(&_controlPoll, 1, 1000) < 0) return -1; // poll error
+
+	// if new data, send to motors
+	if (_actuators.updated()) {
+		_actuators.update();
+		setMotorDutyCycle(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]);
+		setMotorDutyCycle(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]);
+	}
+	return 0;
+}
+
+uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n)
+{
+	uint16_t sum = 0;
+	//printf("sum\n");
+	for (size_t i=0;i<n;i++) {
+		sum += buf[i];
+		//printf("%d\t", buf[i]);
+	}
+	//printf("total sum %d\n", sum);
+	return sum;
+}
+
+int RoboClaw::_sendCommand(e_command cmd, uint8_t * data, 
+		size_t n_data, uint16_t & prev_sum)
+{
+	tcflush(_uart, TCIOFLUSH); // flush  buffers
+	uint8_t buf[n_data + 3];
+	buf[0] = _address;
+	buf[1] = cmd;
+	for (size_t i=0;i<n_data;i++) {
+		buf[i+2] = data[n_data - i - 1]; // MSB
+	}
+	uint16_t sum = _sumBytes(buf, n_data + 2);
+	prev_sum += sum;
+	buf[n_data + 2] = sum & checksum_mask;
+	//printf("\nmessage:\n");
+	//for (size_t i=0;i<n_data+3;i++) {
+		//printf("%d\t", buf[i]);
+	//}
+	//printf("\n");
+	return write(_uart, buf, n_data + 3);
+}
+
+int roboclawTest(const char *deviceName, uint8_t address, 
+		uint16_t pulsesPerRev)
+{
+	printf("roboclaw test: starting\n");
+
+	// setup
+	RoboClaw roboclaw(deviceName, address, pulsesPerRev);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_1, 0.3);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_2, 0.3);
+	char buf[200];
+	for (int i=0; i<10; i++) {
+		usleep(100000);
+		roboclaw.readEncoder(RoboClaw::MOTOR_1);
+		roboclaw.readEncoder(RoboClaw::MOTOR_2);
+		roboclaw.printStatus(buf,200);
+		printf("%s", buf);
+	}
+
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_1, -0.3);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_2, -0.3);
+	for (int i=0; i<10; i++) {
+		usleep(100000);
+		roboclaw.readEncoder(RoboClaw::MOTOR_1);
+		roboclaw.readEncoder(RoboClaw::MOTOR_2);
+		roboclaw.printStatus(buf,200);
+		printf("%s", buf);
+	}
+
+	printf("Test complete\n");
+	return 0;
+}
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78

src/drivers/roboclaw/RoboClaw.hpp

@@ -0,0 +1,192 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 RoboClas.hpp
+ *
+ * RoboClaw Motor Driver
+ *
+ * references:
+ * http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
+ *
+ */
+
+#pragma once
+
+#include <poll.h>
+#include <stdio.h>
+#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/topics/actuator_controls.h>
+#include <drivers/device/i2c.h>
+
+/**
+ * This is a driver for the RoboClaw motor controller
+ */
+class RoboClaw
+{
+public:
+
+	/** control channels */
+	enum e_channel {
+		CH_VOLTAGE_LEFT = 0,
+		CH_VOLTAGE_RIGHT
+	};
+	
+	/**  motors */
+	enum e_motor {
+		MOTOR_1 = 0,
+		MOTOR_2
+	};
+
+	/**
+	 * constructor
+	 * @param deviceName the name of the 
+	 * 	serial port e.g. "/dev/ttyS2"
+	 * @param address the adddress  of the motor
+	 * 	(selectable on roboclaw)
+	 * @param pulsesPerRev # of encoder
+	 *  pulses per revolution of wheel
+	 */
+	RoboClaw(const char *deviceName, uint16_t address, 
+			uint16_t pulsesPerRev);
+
+	/**
+	 * deconstructor
+	 */
+	virtual ~RoboClaw();
+
+	/**
+	 * @return position of a motor, rev
+	 */
+	float getMotorPosition(e_motor motor);
+
+	/**
+	 * @return speed of a motor, rev/sec
+	 */
+	float getMotorSpeed(e_motor motor);
+
+	/**
+	 * set the speed of a motor, rev/sec
+	 */
+	int setMotorSpeed(e_motor motor, float value);
+
+	/**
+	 * set the duty cycle of a motor, rev/sec
+	 */
+	int setMotorDutyCycle(e_motor motor, float value);
+
+	/**
+	 * reset the encoders
+	 * @return status
+	 */
+	int resetEncoders();
+
+	/**
+	 * main update loop that updates RoboClaw motor
+	 * dutycycle based on actuator publication
+	 */
+	int update();
+
+	/**
+	 * read data from serial
+	 */
+	int readEncoder(e_motor motor);
+
+	/**
+	 * print status
+	 */
+	void printStatus(char *string, size_t n);
+
+private:
+
+	// Quadrature status flags
+	enum e_quadrature_status_flags {
+		STATUS_UNDERFLOW = 1 << 0, /**< encoder went below 0 **/
+		STATUS_REVERSE = 1 << 1, /**< motor doing in reverse dir **/
+		STATUS_OVERFLOW = 1 << 2, /**< encoder went above 2^32 **/
+	};
+
+	// commands
+	// We just list the commands we want from the manual here.
+	enum e_command {
+
+		// simple
+		CMD_DRIVE_FWD_1 = 0,
+		CMD_DRIVE_REV_1 = 1,
+		CMD_DRIVE_FWD_2 = 4,
+		CMD_DRIVE_REV_2 = 5,
+
+		// encoder commands
+		CMD_READ_ENCODER_1 = 16,
+		CMD_READ_ENCODER_2 = 17,
+		CMD_RESET_ENCODERS = 20,
+
+		// advanced motor control
+		CMD_READ_SPEED_HIRES_1 = 30,
+		CMD_READ_SPEED_HIRES_2 = 31, 
+		CMD_SIGNED_DUTYCYCLE_1 = 32,
+		CMD_SIGNED_DUTYCYCLE_2 = 33,
+	};
+
+	static uint8_t checksum_mask;
+
+	uint16_t _address;
+	uint16_t _pulsesPerRev;
+
+	int _uart;
+
+	/** poll structure for control packets */
+	struct pollfd _controlPoll;
+
+	/** actuator controls subscription */
+	control::UOrbSubscription<actuator_controls_s> _actuators;
+
+	// private data
+	float _motor1Position;
+	float _motor1Speed;
+	int16_t _motor1Overflow;
+
+	float _motor2Position;
+	float _motor2Speed;
+	int16_t _motor2Overflow;
+
+	// private methods
+	uint16_t _sumBytes(uint8_t * buf, size_t n);
+	int _sendCommand(e_command cmd, uint8_t * data, size_t n_data, uint16_t & prev_sum);
+};
+
+// unit testing
+int roboclawTest(const char *deviceName, uint8_t address,
+		uint16_t pulsesPerRev);
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78

src/drivers/roboclaw/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+#
+# RoboClaw Motor Controller
+#
+
+MODULE_COMMAND		= roboclaw
+
+SRCS			= roboclaw_main.cpp \
+			  RoboClaw.cpp

src/drivers/roboclaw/roboclaw_main.cpp

@@ -0,0 +1,195 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 roboclaw_main.cpp
+ *
+ * RoboClaw Motor Driver
+ *
+ * references:
+ * http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
+ *
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+
+#include <arch/board/board.h>
+#include "RoboClaw.hpp"
+
+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 */
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int roboclaw_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int roboclaw_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage();
+
+static void usage()
+{
+	fprintf(stderr, "usage: roboclaw "
+			"{start|stop|status|test}\n\n");
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int roboclaw_main(int argc, char *argv[])
+{
+
+	if (argc < 1)
+		usage();
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("roboclaw already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn_cmd("roboclaw",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 10,
+					 2048,
+					 roboclaw_thread_main,
+					 (const char **)argv);
+		exit(0);
+
+	} else if (!strcmp(argv[1], "test")) {
+
+		const char * deviceName = "/dev/ttyS2";
+		uint8_t address = 128;
+		uint16_t pulsesPerRev = 1200;
+
+		if (argc == 2) {
+			printf("testing with default settings\n");
+		} else if (argc != 4) {
+			printf("usage: roboclaw test device address pulses_per_rev\n");
+			exit(-1);
+		} else {
+			deviceName = argv[2];
+			address = strtoul(argv[3], nullptr, 0);
+			pulsesPerRev = strtoul(argv[4], nullptr, 0);
+		}
+
+		printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
+			deviceName, address, pulsesPerRev);
+
+		roboclawTest(deviceName, address, pulsesPerRev);
+		thread_should_exit = true;
+		exit(0);
+
+	} else if (!strcmp(argv[1], "stop")) {
+
+		thread_should_exit = true;
+		exit(0);
+
+	} else if (!strcmp(argv[1], "status")) {
+
+		if (thread_running) {
+			printf("\troboclaw app is running\n");
+
+		} else {
+			printf("\troboclaw app not started\n");
+		}
+		exit(0);
+	}
+
+	usage();
+	exit(1);
+}
+
+int roboclaw_thread_main(int argc, char *argv[])
+{
+	printf("[roboclaw] starting\n");
+
+	// skip parent process args
+	argc -=2;
+	argv +=2;
+
+	if (argc < 3) {
+		printf("usage: roboclaw start device address\n");
+		return -1;
+	}
+
+	const char *deviceName = argv[1];
+	uint8_t address = strtoul(argv[2], nullptr, 0);
+	uint16_t pulsesPerRev = strtoul(argv[3], nullptr, 0);
+
+	printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
+			deviceName, address, pulsesPerRev);
+
+	// start
+	RoboClaw roboclaw(deviceName, address, pulsesPerRev);
+
+	thread_running = true;
+
+	// loop
+	while (!thread_should_exit) {
+		roboclaw.update();
+	}
+
+	// exit
+	printf("[roboclaw] exiting.\n");
+	thread_running = false;
+	return 0;
+}
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78

src/lib/conversion/module.mk

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (C) 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.
+#
+############################################################################
+
+#
+# Conversion library
+#
+
+SRCS		 = rotation.cpp

src/lib/conversion/rotation.cpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 rotation.cpp
+ *
+ * Vector rotation library
+ */
+
+#include "math.h"
+#include "rotation.h"
+
+__EXPORT void
+get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
+{
+	/* first set to zero */
+	rot_matrix->Matrix::zero(3, 3);
+
+	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
+	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
+	float yaw   = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;
+
+	math::EulerAngles euler(roll, pitch, yaw);
+
+	math::Dcm R(euler);
+
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 3; j++) {
+			(*rot_matrix)(i, j) = R(i, j);
+		}
+	}
+}

src/lib/conversion/rotation.h

@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 rotation.h
+ *
+ * Vector rotation library
+ */
+
+#ifndef ROTATION_H_
+#define ROTATION_H_
+
+#include <unistd.h>
+#include <mathlib/mathlib.h>
+
+/**
+ * Enum for board and external compass rotations.
+ * This enum maps from board attitude to airframe attitude.
+ */
+enum Rotation {
+	ROTATION_NONE                = 0,
+	ROTATION_YAW_45              = 1,
+	ROTATION_YAW_90              = 2,
+	ROTATION_YAW_135             = 3,
+	ROTATION_YAW_180             = 4,
+	ROTATION_YAW_225             = 5,
+	ROTATION_YAW_270             = 6,
+	ROTATION_YAW_315             = 7,
+	ROTATION_ROLL_180            = 8,
+	ROTATION_ROLL_180_YAW_45     = 9,
+	ROTATION_ROLL_180_YAW_90     = 10,
+	ROTATION_ROLL_180_YAW_135    = 11,
+	ROTATION_PITCH_180           = 12,
+	ROTATION_ROLL_180_YAW_225    = 13,
+	ROTATION_ROLL_180_YAW_270    = 14,
+	ROTATION_ROLL_180_YAW_315    = 15,
+	ROTATION_ROLL_90             = 16,
+	ROTATION_ROLL_90_YAW_45      = 17,
+	ROTATION_ROLL_90_YAW_90      = 18,
+	ROTATION_ROLL_90_YAW_135     = 19,
+	ROTATION_ROLL_270            = 20,
+	ROTATION_ROLL_270_YAW_45     = 21,
+	ROTATION_ROLL_270_YAW_90     = 22,
+	ROTATION_ROLL_270_YAW_135    = 23,
+	ROTATION_PITCH_90            = 24,
+	ROTATION_PITCH_270           = 25,
+	ROTATION_MAX
+};
+
+typedef struct {
+	uint16_t roll;
+	uint16_t pitch;
+	uint16_t yaw;
+} rot_lookup_t;
+
+const rot_lookup_t rot_lookup[] = {
+	{  0,   0,   0 },
+	{  0,   0,  45 },
+	{  0,   0,  90 },
+	{  0,   0, 135 },
+	{  0,   0, 180 },
+	{  0,   0, 225 },
+	{  0,   0, 270 },
+	{  0,   0, 315 },
+	{180,   0,   0 },
+	{180,   0,  45 },
+	{180,   0,  90 },
+	{180,   0, 135 },
+	{  0, 180,   0 },
+	{180,   0, 225 },
+	{180,   0, 270 },
+	{180,   0, 315 },
+	{ 90,   0,   0 },
+	{ 90,   0,  45 },
+	{ 90,   0,  90 },
+	{ 90,   0, 135 },
+	{270,   0,   0 },
+	{270,   0,  45 },
+	{270,   0,  90 },
+	{270,   0, 135 },
+	{  0,  90,   0 },
+	{  0, 270,   0 }
+};
+
+/**
+ * Get the rotation matrix
+ */
+__EXPORT void
+get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix);
+
+#endif /* ROTATION_H_ */

src/lib/ecl/l1/ecl_l1_pos_controller.cpp

@@ -43,7 +43,7 @@
 float ECL_L1_Pos_Controller::nav_roll()
 {
 	float ret = atanf(_lateral_accel * 1.0f / CONSTANTS_ONE_G);
-	ret = math::constrain(ret, (-M_PI_F) / 2.0f, M_PI_F / 2.0f);
+	ret = math::constrain(ret, -_roll_lim_rad, _roll_lim_rad);
 	return ret;
 }
 
@@ -190,7 +190,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c
 		float xtrackErr = vector_A_to_airplane % vector_AB;
 		float sine_eta1 = xtrackErr / math::max(_L1_distance , 0.1f);
 		/* limit output to 45 degrees */
-		sine_eta1 = math::constrain(sine_eta1, -M_PI_F / 4.0f, +M_PI_F / 4.0f);
+		sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071
 		float eta1 = asinf(sine_eta1);
 		eta = eta1 + eta2;
 		/* bearing from current position to L1 point */

src/lib/ecl/l1/ecl_l1_pos_controller.h

@@ -222,6 +222,15 @@ public:
 		_K_L1 = 4.0f * _L1_damping * _L1_damping;
 	}
 
+
+	/**
+	 * Set the maximum roll angle output in radians
+	 *
+	 */
+	void set_l1_roll_limit(float roll_lim_rad) {
+		_roll_lim_rad = roll_lim_rad;
+	}
+
 private:
 
 	float _lateral_accel;		///< Lateral acceleration setpoint in m/s^2
@@ -238,6 +247,8 @@ private:
 	float _K_L1;			///< L1 control gain for _L1_damping
 	float _heading_omega;		///< Normalized frequency
 
+	float _roll_lim_rad;  ///<maximum roll angle
+
 	/**
 	 * Convert a 2D vector from WGS84 to planar coordinates.
 	 *

src/lib/external_lgpl/tecs/tecs.h

@@ -94,6 +94,11 @@ public:
 	// Rate of change of velocity along X body axis in m/s^2
 	float get_VXdot(void) { return _vel_dot; }
 
+
+	float get_speed_weight() {
+		return _spdWeight;
+	}
+
 	// log data on internal state of the controller. Called at 10Hz
 	// void log_data(DataFlash_Class &dataflash, uint8_t msgid);
 

src/modules/commander/accelerometer_calibration.cpp

@@ -100,10 +100,29 @@
  * accel_T = A^-1 * g
  * g = 9.80665
  *
+ * ===== Rotation =====
+ *
+ * Calibrating using model:
+ * accel_corr = accel_T_r * (rot * accel_raw - accel_offs_r)
+ *
+ * Actual correction:
+ * accel_corr = rot * accel_T * (accel_raw - accel_offs)
+ *
+ * Known: accel_T_r, accel_offs_r, rot
+ * Unknown: accel_T, accel_offs
+ *
+ * Solution:
+ * accel_T_r * (rot * accel_raw - accel_offs_r) = rot * accel_T * (accel_raw - accel_offs)
+ * rot^-1 * accel_T_r * (rot * accel_raw - accel_offs_r) = accel_T * (accel_raw - accel_offs)
+ * rot^-1 * accel_T_r * rot * accel_raw - rot^-1 * accel_T_r * accel_offs_r = accel_T * accel_raw - accel_T * accel_offs)
+ * => accel_T = rot^-1 * accel_T_r * rot
+ * => accel_offs = rot^-1 * accel_offs_r
+ *
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include "accelerometer_calibration.h"
+#include "calibration_messages.h"
 #include "commander_helper.h"
 
 #include <unistd.h>
@@ -112,11 +131,13 @@
 #include <fcntl.h>
 #include <sys/prctl.h>
 #include <math.h>
+#include <mathlib/mathlib.h>
 #include <string.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/sensor_combined.h>
 #include <drivers/drv_accel.h>
 #include <geo/geo.h>
+#include <conversion/rotation.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <mavlink/mavlink_log.h>
@@ -127,93 +148,122 @@
 #endif
 static const int ERROR = -1;
 
-int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]);
+static const char *sensor_name = "accel";
+
+int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3]);
 int detect_orientation(int mavlink_fd, int sub_sensor_combined);
 int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
 int mat_invert3(float src[3][3], float dst[3][3]);
 int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g);
 
-int do_accel_calibration(int mavlink_fd) {
-	/* announce change */
-	mavlink_log_info(mavlink_fd, "accel calibration started");
-	mavlink_log_info(mavlink_fd, "accel cal progress <0> percent");
+int do_accel_calibration(int mavlink_fd)
+{
+	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
 
-	/* measure and calculate offsets & scales */
-	float accel_offs[3];
-	float accel_scale[3];
-	int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_scale);
-
-	if (res == OK) {
-		/* measurements complete successfully, set parameters */
-		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0]))
-			|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1]))
-			|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2]))
-			|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0]))
-			|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1]))
-			|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) {
-			mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
-		}
-
-		int fd = open(ACCEL_DEVICE_PATH, 0);
-		struct accel_scale ascale = {
-			accel_offs[0],
-			accel_scale[0],
-			accel_offs[1],
-			accel_scale[1],
-			accel_offs[2],
-			accel_scale[2],
+	struct accel_scale accel_scale = {
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
 	};
 
-		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
-			warn("WARNING: failed to set scale / offsets for accel");
+	int res = OK;
 
+	/* reset all offsets to zero and all scales to one */
+	int fd = open(ACCEL_DEVICE_PATH, 0);
+	res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
 	close(fd);
 
+	if (res != OK) {
+		mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
+	}
+
+	float accel_offs[3];
+	float accel_T[3][3];
+
+	if (res == OK) {
+		/* measure and calculate offsets & scales */
+		res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T);
+	}
+
+	if (res == OK) {
+		/* measurements completed successfully, rotate calibration values */
+		param_t board_rotation_h = param_find("SENS_BOARD_ROT");
+		int32_t board_rotation_int;
+		param_get(board_rotation_h, &(board_rotation_int));
+		enum Rotation board_rotation_id = (enum Rotation)board_rotation_int;
+		math::Matrix board_rotation(3, 3);
+		get_rot_matrix(board_rotation_id, &board_rotation);
+		math::Matrix board_rotation_t = board_rotation.transpose();
+		math::Vector3 accel_offs_vec;
+		accel_offs_vec.set(&accel_offs[0]);
+		math::Vector3 accel_offs_rotated = board_rotation_t * accel_offs_vec;
+		math::Matrix accel_T_mat(3, 3);
+		accel_T_mat.set(&accel_T[0][0]);
+		math::Matrix accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation;
+
+		accel_scale.x_offset = accel_offs_rotated(0);
+		accel_scale.x_scale = accel_T_rotated(0, 0);
+		accel_scale.y_offset = accel_offs_rotated(1);
+		accel_scale.y_scale = accel_T_rotated(1, 1);
+		accel_scale.z_offset = accel_offs_rotated(2);
+		accel_scale.z_scale = accel_T_rotated(2, 2);
+
+		/* set parameters */
+		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_scale.x_offset))
+		    || param_set(param_find("SENS_ACC_YOFF"), &(accel_scale.y_offset))
+		    || param_set(param_find("SENS_ACC_ZOFF"), &(accel_scale.z_offset))
+		    || param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale.x_scale))
+		    || param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale.y_scale))
+		    || param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale.z_scale))) {
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
+			res = ERROR;
+		}
+	}
+
+	if (res == OK) {
+		/* apply new scaling and offsets */
+		int fd = open(ACCEL_DEVICE_PATH, 0);
+		res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
+		close(fd);
+
+		if (res != OK) {
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
+		}
+	}
+
+	if (res == OK) {
 		/* auto-save to EEPROM */
-		int save_ret = param_save_default();
+		res = param_save_default();
 
-		if (save_ret != 0) {
-			warn("WARNING: auto-save of params to storage failed");
+		if (res != OK) {
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
+		}
 	}
 
-		mavlink_log_info(mavlink_fd, "accel calibration done");
-		return OK;
+	if (res == OK) {
+		mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
+
 	} else {
-		/* measurements error */
-		mavlink_log_info(mavlink_fd, "accel calibration aborted");
-		return ERROR;
+		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 	}
 
-	/* exit accel calibration mode */
+	return res;
 }
 
-int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) {
+int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3])
+{
 	const int samples_num = 2500;
 	float accel_ref[6][3];
 	bool data_collected[6] = { false, false, false, false, false, false };
 	const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
 
-	/* reset existing calibration */
-	int fd = open(ACCEL_DEVICE_PATH, 0);
-	struct accel_scale ascale_null = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
-	int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null);
-	close(fd);
-
-	if (OK != ioctl_res) {
-		warn("ERROR: failed to set scale / offsets for accel");
-		return ERROR;
-	}
-
 	int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
 
 	unsigned done_count = 0;
+	int res = OK;
 
 	while (true) {
 		bool done = true;
@@ -221,11 +271,20 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 		done_count = 0;
 
 		for (int i = 0; i < 6; i++) {
-			if (!data_collected[i]) {
+			if (data_collected[i]) {
+				done_count++;
+
+			} else {
 				done = false;
 			}
 		}
 
+		if (old_done_count != done_count)
+			mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count);
+
+		if (done)
+			break;
+
 		mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
 				 (!data_collected[0]) ? "x+ " : "",
 				 (!data_collected[1]) ? "x- " : "",
@@ -234,20 +293,15 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 				 (!data_collected[4]) ? "z+ " : "",
 				 (!data_collected[5]) ? "z- " : "");
 
-		if (old_done_count != done_count)
-			mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count);
-
-		if (done)
-			break;
-
 		int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
+
 		if (orient < 0) {
-			close(sensor_combined_sub);
-			return ERROR;
+			res = ERROR;
+			break;
 		}
 
 		if (data_collected[orient]) {
-			mavlink_log_info(mavlink_fd, "%s done, please rotate to a different axis", orientation_strs[orient]);
+			mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]);
 			continue;
 		}
 
@@ -261,24 +315,19 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 		data_collected[orient] = true;
 		tune_neutral();
 	}
+
 	close(sensor_combined_sub);
 
-	/* calculate offsets and rotation+scale matrix */
-	float accel_T[3][3];
-	int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
-	if (res != 0) {
+	if (res == OK) {
+		/* calculate offsets and transform matrix */
+		res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
+
+		if (res != OK) {
 			mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error");
-		return ERROR;
+		}
 	}
 
-	/* convert accel transform matrix to scales,
-	 * rotation part of transform matrix is not used by now
-	 */
-	for (int i = 0; i < 3; i++) {
-		accel_scale[i] = accel_T[i][i];
-	}
-
-	return OK;
+	return res;
 }
 
 /*
@@ -287,14 +336,15 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
  * @return 0..5 according to orientation when vehicle is still and ready for measurements,
  * ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2
  */
-int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
+int detect_orientation(int mavlink_fd, int sub_sensor_combined)
+{
 	struct sensor_combined_s sensor;
 	/* exponential moving average of accel */
 	float accel_ema[3] = { 0.0f, 0.0f, 0.0f };
 	/* max-hold dispersion of accel */
 	float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
 	/* EMA time constant in seconds*/
-	float ema_len = 0.2f;
+	float ema_len = 0.5f;
 	/* set "still" threshold to 0.25 m/s^2 */
 	float still_thr2 = pow(0.25f, 2);
 	/* set accel error threshold to 5m/s^2 */
@@ -318,20 +368,27 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	while (true) {
 		/* wait blocking for new data */
 		int poll_ret = poll(fds, 1, 1000);
+
 		if (poll_ret) {
 			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor);
 			t = hrt_absolute_time();
 			float dt = (t - t_prev) / 1000000.0f;
 			t_prev = t;
 			float w = dt / ema_len;
+
 			for (int i = 0; i < 3; i++) {
-				accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w;
-				float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i];
+				float d = sensor.accelerometer_m_s2[i] - accel_ema[i];
+				accel_ema[i] += d * w;
 				d = d * d;
 				accel_disp[i] = accel_disp[i] * (1.0f - w);
+
+				if (d > still_thr2 * 8.0f)
+					d = still_thr2 * 8.0f;
+
 				if (d > accel_disp[i])
 					accel_disp[i] = d;
 			}
+
 			/* still detector with hysteresis */
 			if (accel_disp[0] < still_thr2 &&
 			    accel_disp[1] < still_thr2 &&
@@ -342,6 +399,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 					mavlink_log_info(mavlink_fd, "detected rest position, waiting...");
 					t_still = t;
 					t_timeout = t + timeout;
+
 				} else {
 					/* still since t_still */
 					if (t > t_still + still_time) {
@@ -349,25 +407,28 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 						break;
 					}
 				}
-			} else if ( accel_disp[0] > still_thr2 * 2.0f ||
-					    accel_disp[1] > still_thr2 * 2.0f ||
-					    accel_disp[2] > still_thr2 * 2.0f) {
+
+			} else if (accel_disp[0] > still_thr2 * 4.0f ||
+				   accel_disp[1] > still_thr2 * 4.0f ||
+				   accel_disp[2] > still_thr2 * 4.0f) {
 				/* not still, reset still start time */
 				if (t_still != 0) {
-					mavlink_log_info(mavlink_fd, "detected motion, please hold still...");
+					mavlink_log_info(mavlink_fd, "detected motion, hold still...");
 					t_still = 0;
 				}
 			}
+
 		} else if (poll_ret == 0) {
 			poll_errcount++;
 		}
+
 		if (t > t_timeout) {
 			poll_errcount++;
 		}
 
 		if (poll_errcount > 1000) {
-			mavlink_log_info(mavlink_fd, "ERROR: Failed reading sensor");
-			return -1;
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG);
+			return ERROR;
 		}
 	}
 
@@ -375,36 +436,42 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	    fabsf(accel_ema[1]) < accel_err_thr &&
 	    fabsf(accel_ema[2]) < accel_err_thr)
 		return 0;	// [ g, 0, 0 ]
+
 	if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
 	    fabsf(accel_ema[2]) < accel_err_thr)
 		return 1;	// [ -g, 0, 0 ]
+
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
 	    fabsf(accel_ema[2]) < accel_err_thr)
 		return 2;	// [ 0, g, 0 ]
+
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
 	    fabsf(accel_ema[2]) < accel_err_thr)
 		return 3;	// [ 0, -g, 0 ]
+
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
 	    fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr)
 		return 4;	// [ 0, 0, g ]
+
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
 	    fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr)
 		return 5;	// [ 0, 0, -g ]
 
-	mavlink_log_info(mavlink_fd, "ERROR: invalid orientation");
+	mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation");
 
-	return -2;	// Can't detect orientation
+	return ERROR;	// Can't detect orientation
 }
 
 /*
  * Read specified number of accelerometer samples, calculate average and dispersion.
  */
-int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) {
+int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num)
+{
 	struct pollfd fds[1];
 	fds[0].fd = sensor_combined_sub;
 	fds[0].events = POLLIN;
@@ -415,12 +482,16 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
 
 	while (count < samples_num) {
 		int poll_ret = poll(fds, 1, 1000);
+
 		if (poll_ret == 1) {
 			struct sensor_combined_s sensor;
 			orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
+
 			for (int i = 0; i < 3; i++)
 				accel_sum[i] += sensor.accelerometer_m_s2[i];
+
 			count++;
+
 		} else {
 			errcount++;
 			continue;
@@ -437,10 +508,12 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
 	return OK;
 }
 
-int mat_invert3(float src[3][3], float dst[3][3]) {
+int mat_invert3(float src[3][3], float dst[3][3])
+{
 	float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
 		    src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
 		    src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
+
 	if (det == 0.0f)
 		return ERROR;	// Singular matrix
 
@@ -457,7 +530,8 @@ int mat_invert3(float src[3][3], float dst[3][3]) {
 	return OK;
 }
 
-int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) {
+int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g)
+{
 	/* calculate offsets */
 	for (int i = 0; i < 3; i++) {
 		accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2;
@@ -466,6 +540,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
 	/* fill matrix A for linear equations system*/
 	float mat_A[3][3];
 	memset(mat_A, 0, sizeof(mat_A));
+
 	for (int i = 0; i < 3; i++) {
 		for (int j = 0; j < 3; j++) {
 			float a = accel_ref[i * 2][j] - accel_offs[j];
@@ -475,6 +550,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
 
 	/* calculate inverse matrix for A */
 	float mat_A_inv[3][3];
+
 	if (mat_invert3(mat_A, mat_A_inv) != OK)
 		return ERROR;