Merged beta_mavlink2 / master

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 9.0
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.0
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 9.0
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.0
 	param set MC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -23,13 +23,15 @@ then
     param set MC_PITCHRATE_I 0.0
     param set MC_PITCHRATE_D 0.0
     param set MC_YAW_P 1.0
-    param set MC_YAW_D 0.1
     param set MC_YAWRATE_P 0.15
     param set MC_YAWRATE_I 0.0
     param set MC_YAWRATE_D 0.0
     param set MC_YAW_FF 0.15
+    param set BAT_V_SCALING 0.00838095238
 fi
 
 set OUTPUT_MODE ardrone
 set USE_IO no
 set MIXER skip
+# set MAV_TYPE because no specific mixer is set
+set MAV_TYPE 2

ROMFS/px4fmu_common/init.d/rcS

@@ -120,6 +120,7 @@ then
 	set MAVLINK_FLAGS default
 	set EXIT_ON_END no
 	set MAV_TYPE none
+	set LOAD_DEFAULT_APPS yes
 	
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -473,7 +474,10 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
+		if [ LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.fw_apps
+		fi
 	fi
 
 	#
@@ -529,7 +533,10 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
+		if [ LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.mc_apps
+		fi
 	fi
 
 	#

Tools/fetch_log.py

@@ -0,0 +1,133 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Log fetcher
+#
+# Print list of logs:
+#     python fetch_log.py
+#
+# Fetch log:
+#     python fetch_log.py sess001/log001.bin
+#
+
+import serial, time, sys, os
+
+def wait_for_string(ser, s, timeout=1.0, debug=False):
+    t0 = time.time()
+    buf = []
+    res = []
+    n = 0
+    while (True):
+        c = ser.read()
+        if debug:
+            sys.stderr.write(c)
+        buf.append(c)
+        if len(buf) > len(s):
+            res.append(buf.pop(0))
+            n += 1
+            if n % 10000 == 0:
+                sys.stderr.write(str(n) + "\n")
+        if "".join(buf) == s:
+            break
+        if timeout > 0.0 and time.time() - t0 > timeout:
+            raise Exception("Timeout while waiting for: " + s)
+    return "".join(res)
+
+def exec_cmd(ser, cmd, timeout):
+    ser.write(cmd + "\n")
+    ser.flush()
+    wait_for_string(ser, cmd + "\r\n", timeout)
+    return wait_for_string(ser, "nsh> \x1b[K", timeout)
+
+def ls_dir(ser, dir, timeout=1.0):
+    res = []
+    for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
+        res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
+    return res
+
+def list_logs(ser):
+    logs_dir = "/fs/microsd/log"
+    res = []
+    for d in ls_dir(ser, logs_dir):
+        if d[2]:
+            sess_dir = d[0][:-1]
+            for f in ls_dir(ser, logs_dir + "/" + sess_dir):
+                log_file = f[0]
+                log_size = f[1]
+                res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
+    return "\n".join(res)
+
+def fetch_log(ser, fn, timeout):
+    cmd = "dumpfile " + fn
+    ser.write(cmd + "\n")
+    ser.flush()
+    wait_for_string(ser, cmd + "\r\n", timeout, True)
+    res = wait_for_string(ser, "\n", timeout, True)
+    data = []
+    if res.startswith("OK"):
+        size = int(res.split()[1])
+        n = 0
+        print "Reading data:"
+        while (n < size):
+            buf = ser.read(min(size - n, 8192))
+            data.append(buf)
+            n += len(buf)
+            sys.stdout.write(".")
+            sys.stdout.flush()
+        print
+    else:
+        raise Exception("Error reading log")
+    wait_for_string(ser, "nsh> \x1b[K", timeout)
+    return "".join(data)
+
+def main():
+    dev = "/dev/tty.usbmodem1"
+    ser = serial.Serial(dev, "115200", timeout=0.2)
+    if len(sys.argv) < 2:
+        print list_logs(ser)
+    else:
+        log_file = sys.argv[1]
+        data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
+        try:
+            os.mkdir(log_file.split("/")[0])
+        except:
+            pass
+        fout = open(log_file, "wb")
+        fout.write(data)
+        fout.close()
+    ser.close()
+
+if __name__ == "__main__":
+    main()

makefiles/config_px4fmu-v1_default.mk

@@ -56,6 +56,7 @@ MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/hw_ver
+MODULES		+= systemcmds/dumpfile
 
 #
 # General system control

makefiles/config_px4fmu-v2_default.mk

@@ -27,6 +27,7 @@ MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
+MODULES		+= drivers/sf0x
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
@@ -63,6 +64,7 @@ MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/hw_ver
+MODULES		+= systemcmds/dumpfile
 
 #
 # General system control
@@ -70,6 +72,7 @@ MODULES		+= systemcmds/hw_ver
 MODULES		+= modules/commander
 MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
+MODULES		+= modules/gpio_led
 
 #
 # Estimation modules (EKF/ SO3 / other filters)

src/drivers/drv_px4flow.h

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   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 Rangefinder driver interface.
+ */
+
+#ifndef _DRV_PX4FLOW_H
+#define _DRV_PX4FLOW_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
+
+/**
+ * Optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct px4flow_report {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
+	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float ground_distance_m;	/**< Altitude / distance to ground in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/*
+ * ObjDev tag for px4flow data.
+ */
+ORB_DECLARE(optical_flow);
+
+/*
+ * ioctl() definitions
+ *
+ * px4flow drivers also implement the generic sensor driver
+ * interfaces from drv_sensor.h
+ */
+
+#define _PX4FLOWIOCBASE			(0x7700)
+#define __PX4FLOWIOC(_n)		(_IOC(_PX4FLOWIOCBASE, _n))
+
+
+#endif /* _DRV_PX4FLOW_H */

src/drivers/px4flow/module.mk

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Makefile to build the PX4FLOW driver.
+#
+
+MODULE_COMMAND	= px4flow
+
+SRCS		= px4flow.cpp

src/drivers/px4io/px4io.cpp

@@ -1921,12 +1921,14 @@ PX4IO::print_status()
 	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE));
 #endif
 	printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
-	printf("controls");
+	for (unsigned group = 0; group < 4; group++) {
+		printf("controls %u:", group);
 
-	for (unsigned i = 0; i < _max_controls; i++)
-		printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
+		for (unsigned i = 0; i < _max_controls; i++)
+			printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));
 
-	printf("\n");
+		printf("\n");
+	}
 
 	for (unsigned i = 0; i < _max_rc_input; i++) {
 		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;

src/drivers/sf0x/module.mk

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2014 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.
+#
+############################################################################
+
+#
+# Makefile to build the Lightware laser range finder driver.
+#
+
+MODULE_COMMAND	= sf0x
+
+SRCS		= sf0x.cpp

src/modules/gpio_led/gpio_led.c

@@ -51,7 +51,6 @@
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_armed.h>
 #include <poll.h>
 #include <drivers/drv_gpio.h>
 #include <modules/px4iofirmware/protocol.h>
@@ -63,8 +62,6 @@ struct gpio_led_s {
 	int pin;
 	struct vehicle_status_s status;
 	int vehicle_status_sub;
-	struct actuator_armed_s armed;
-	int actuator_armed_sub;
 	bool led_state;
 	int counter;
 };
@@ -81,6 +78,7 @@ void gpio_led_cycle(FAR void *arg);
 int gpio_led_main(int argc, char *argv[])
 {
 	if (argc < 2) {
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 		errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n"
 		     "\t-p\tUse pin:\n"
 		     "\t\t1\tPX4FMU GPIO_EXT1 (default)\n"
@@ -88,7 +86,14 @@ int gpio_led_main(int argc, char *argv[])
 		     "\t\ta1\tPX4IO ACC1\n"
 		     "\t\ta2\tPX4IO ACC2\n"
 		     "\t\tr1\tPX4IO RELAY1\n"
-		     "\t\tr2\tPX4IO RELAY2");
+		     "\t\tr2\tPX4IO RELAY2"
+		    );
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+		errx(1, "usage: gpio_led {start|stop} [-p <n>]\n"
+		     "\t-p <n>\tUse specified AUX OUT pin number (default: 1)"
+		    );
+#endif
 
 	} else {
 
@@ -98,37 +103,70 @@ int gpio_led_main(int argc, char *argv[])
 			}
 
 			bool use_io = false;
-			int pin = GPIO_EXT_1;
+
+			/* by default use GPIO_EXT_1 on FMUv1 and GPIO_SERVO_1 on FMUv2 */
+			int pin = 1;
+
+			/* pin name to display */
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+			char *pin_name = "PX4FMU GPIO_EXT1";
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+			char pin_name[] = "AUX OUT 1";
+#endif
 
 			if (argc > 2) {
 				if (!strcmp(argv[2], "-p")) {
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+
 					if (!strcmp(argv[3], "1")) {
 						use_io = false;
 						pin = GPIO_EXT_1;
+						pin_name = "PX4FMU GPIO_EXT1";
 
 					} else if (!strcmp(argv[3], "2")) {
 						use_io = false;
 						pin = GPIO_EXT_2;
+						pin_name = "PX4FMU GPIO_EXT2";
 
 					} else if (!strcmp(argv[3], "a1")) {
 						use_io = true;
 						pin = PX4IO_P_SETUP_RELAYS_ACC1;
+						pin_name = "PX4IO ACC1";
 
 					} else if (!strcmp(argv[3], "a2")) {
 						use_io = true;
 						pin = PX4IO_P_SETUP_RELAYS_ACC2;
+						pin_name = "PX4IO ACC2";
 
 					} else if (!strcmp(argv[3], "r1")) {
 						use_io = true;
 						pin = PX4IO_P_SETUP_RELAYS_POWER1;
+						pin_name = "PX4IO RELAY1";
 
 					} else if (!strcmp(argv[3], "r2")) {
 						use_io = true;
 						pin = PX4IO_P_SETUP_RELAYS_POWER2;
+						pin_name = "PX4IO RELAY2";
 
 					} else {
 						errx(1, "unsupported pin: %s", argv[3]);
 					}
+
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+					unsigned int n = strtoul(argv[3], NULL, 10);
+
+					if (n >= 1 && n <= 6) {
+						use_io = false;
+						pin = 1 << (n - 1);
+						snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n);
+
+					} else {
+						errx(1, "unsupported pin: %s", argv[3]);
+					}
+
+#endif
 				}
 			}
 
@@ -142,21 +180,6 @@ int gpio_led_main(int argc, char *argv[])
 
 			} else {
 				gpio_led_started = true;
-				char pin_name[24];
-
-				if (use_io) {
-					if (pin & (PX4IO_P_SETUP_RELAYS_ACC1 | PX4IO_P_SETUP_RELAYS_ACC2)) {
-						sprintf(pin_name, "PX4IO ACC%i", (pin >> 3));
-
-					} else {
-						sprintf(pin_name, "PX4IO RELAY%i", pin);
-					}
-
-				} else {
-					sprintf(pin_name, "PX4FMU GPIO_EXT%i", pin);
-
-				}
-
 				warnx("start, using pin: %s", pin_name);
 			}
 
@@ -186,6 +209,7 @@ void gpio_led_start(FAR void *arg)
 
 	if (priv->use_io) {
 		gpio_dev = PX4IO_DEVICE_PATH;
+
 	} else {
 		gpio_dev = PX4FMU_DEVICE_PATH;
 	}
@@ -204,8 +228,10 @@ void gpio_led_start(FAR void *arg)
 	/* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */
 	ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
 
-	/* subscribe to vehicle status topic */
+	/* initialize vehicle status structure */
 	memset(&priv->status, 0, sizeof(priv->status));
+
+	/* subscribe to vehicle status topic */
 	priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 
 	/* add worker to queue */
@@ -224,38 +250,33 @@ void gpio_led_cycle(FAR void *arg)
 	FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
 
 	/* check for status updates*/
-	bool status_updated;
-	orb_check(priv->vehicle_status_sub, &status_updated);
+	bool updated;
+	orb_check(priv->vehicle_status_sub, &updated);
 
-	if (status_updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
-
-	orb_check(priv->vehicle_status_sub, &status_updated);
-
-	if (status_updated)
-		orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed);
+	}
 
 	/* select pattern for current status */
 	int pattern = 0;
 
-	if (priv->armed.armed) {
-		if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
+	if (priv->status.arming_state == ARMING_STATE_ARMED_ERROR) {
+		pattern = 0x2A;	// *_*_*_ fast blink (armed, error)
+
+	} else if (priv->status.arming_state == ARMING_STATE_ARMED) {
+		if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE && priv->status.failsafe_state == FAILSAFE_STATE_NORMAL) {
 			pattern = 0x3f;	// ****** solid (armed)
 
 		} else {
-			pattern = 0x2A;	// *_*_*_ fast blink (armed, battery warning)
+			pattern = 0x3e;	// *****_ slow blink (armed, battery low or failsafe)
 		}
 
-	} else {
-		if (priv->armed.ready_to_arm) {
-			pattern = 0x00;	// ______ off (disarmed, preflight check)
+	} else if (priv->status.arming_state == ARMING_STATE_STANDBY) {
+		pattern = 0x38;	// ***___ slow blink (disarmed, ready)
 
-		} else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
-			pattern = 0x38;	// ***___ slow blink (disarmed, ready)
+	} else if (priv->status.arming_state == ARMING_STATE_STANDBY_ERROR) {
+		pattern = 0x28;	// *_*___ slow double blink (disarmed, error)
 
-		} else {
-			pattern = 0x28;	// *_*___ slow double blink (disarmed, not good to arm)
-		}
 	}
 
 	/* blink pattern */
@@ -266,6 +287,7 @@ void gpio_led_cycle(FAR void *arg)
 
 		if (led_state_new) {
 			ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
+
 		} else {
 			ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
 		}
@@ -273,8 +295,9 @@ void gpio_led_cycle(FAR void *arg)
 
 	priv->counter++;
 
-	if (priv->counter > 5)
+	if (priv->counter > 5) {
 		priv->counter = 0;
+	}
 
 	/* repeat cycle at 5 Hz */
 	if (gpio_led_started) {

src/modules/mavlink/mavlink_main.cpp

@@ -1583,7 +1583,7 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
 		/* copy stream name */
 		unsigned n = strlen(stream_name) + 1;
 		char *s = new char[n];
-		memcpy(s, stream_name, n);
+		strcpy(s, stream_name);
 
 		/* set subscription task */
 		_subscribe_to_stream_rate = rate;
@@ -1945,36 +1945,33 @@ Mavlink::stream(int argc, char *argv[])
 	const char *stream_name = nullptr;
 	int ch;
 
-	argc -= 1;
-	argv += 1;
+	argc -= 2;
+	argv += 2;
 
 	/* don't exit from getopt loop to leave getopt global variables in consistent state,
 	 * set error flag instead */
 	bool err_flag = false;
 
-	while ((ch = getopt(argc, argv, "r:d:s:")) != EOF) {
-		switch (ch) {
-		case 'r':
-			rate = strtod(optarg, nullptr);
+	int i = 0;
+	while (i < argc) {
 
+		if (0 == strcmp(argv[i], "-r") && i < argc - 1 ) {
+			rate = strtod(argv[i+1], nullptr);
 			if (rate < 0.0f) {
 				err_flag = true;
 			}
-
-			break;
-
-		case 'd':
-			device_name = optarg;
-			break;
-
-		case 's':
-			stream_name = optarg;
-			break;
-
-		default:
+			i++;
+		} else if (0 == strcmp(argv[i], "-d") && i < argc - 1 ) {
+			device_name = argv[i+1];
+			i++;
+		} else if (0 == strcmp(argv[i], "-s") && i < argc - 1 ) {
+			stream_name = argv[i+1];
+			i++;
+		} else {
 			err_flag = true;
-			break;
 		}
+
+		i++;
 	}
 
 	if (!err_flag && rate >= 0.0 && stream_name != nullptr) {

src/modules/px4iofirmware/mixer.cpp

@@ -267,7 +267,7 @@ mixer_callback(uintptr_t handle,
 	       uint8_t control_index,
 	       float &control)
 {
-	if (control_group > 3)
+	if (control_group >= PX4IO_CONTROL_GROUPS)
 		return -1;
 
 	switch (source) {

src/modules/px4iofirmware/px4io.h

@@ -53,7 +53,7 @@
  */
 #define PX4IO_SERVO_COUNT		8
 #define PX4IO_CONTROL_CHANNELS		8
-#define PX4IO_CONTROL_GROUPS		2
+#define PX4IO_CONTROL_GROUPS		4
 #define PX4IO_RC_INPUT_CHANNELS		18
 #define PX4IO_RC_MAPPED_CONTROL_CHANNELS		8 /**< This is the maximum number of channels mapped/used */
 

src/modules/sdlog2/logbuffer.c

@@ -74,8 +74,9 @@ bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
 	// bytes available to write
 	int available = lb->read_ptr - lb->write_ptr - 1;
 
-	if (available < 0)
+	if (available < 0) {
 		available += lb->size;
+	}
 
 	if (size > available) {
 		// buffer overflow

src/modules/sdlog2/sdlog2_messages.h

@@ -267,13 +267,13 @@ struct log_DIST_s {
 /* --- TELE - TELEMETRY STATUS --- */
 #define LOG_TELE_MSG 22
 struct log_TELE_s {
-    uint8_t rssi;
-    uint8_t remote_rssi;
-    uint8_t noise;
-    uint8_t remote_noise;
-    uint16_t rxerrors;
-    uint16_t fixed;
-    uint8_t txbuf;
+	uint8_t rssi;
+	uint8_t remote_rssi;
+	uint8_t noise;
+	uint8_t remote_noise;
+	uint16_t rxerrors;
+	uint16_t fixed;
+	uint8_t txbuf;
 };
 
 /********** SYSTEM MESSAGES, ID > 0x80 **********/

src/systemcmds/dumpfile/dumpfile.c

@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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 dumpfile.c
+ *
+ * Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <termios.h>
+
+#include <systemlib/err.h>
+
+__EXPORT int dumpfile_main(int argc, char *argv[]);
+
+int
+dumpfile_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		errx(1, "usage: dumpfile <filename>");
+	}
+
+	/* open input file */
+	FILE *f;
+	f = fopen(argv[1], "r");
+
+	if (f == NULL) {
+		printf("ERROR\n");
+		exit(1);
+	}
+
+	/* get file size */
+	fseek(f, 0L, SEEK_END);
+	int size = ftell(f);
+	fseek(f, 0L, SEEK_SET);
+
+	printf("OK %d\n", size);
+
+	/* configure stdout */
+	int out = fileno(stdout);
+
+	struct termios tc;
+	struct termios tc_old;
+	tcgetattr(out, &tc);
+
+	/* save old terminal attributes to restore it later on exit */
+	memcpy(&tc_old, &tc, sizeof(tc));
+
+	/* don't add CR on each LF*/
+	tc.c_oflag &= ~ONLCR;
+
+	if (tcsetattr(out, TCSANOW, &tc) < 0) {
+		warnx("ERROR setting stdout attributes");
+		exit(1);
+	}
+
+	char buf[512];
+	int nread;
+
+	/* dump file */
+	while ((nread = fread(buf, 1, sizeof(buf), f)) > 0) {
+		if (write(out, buf, nread) <= 0) {
+			warnx("error dumping file");
+			break;
+		}
+	}
+
+	fsync(out);
+	fclose(f);
+
+	/* restore old terminal attributes */
+	if (tcsetattr(out, TCSANOW, &tc_old) < 0) {
+		warnx("ERROR restoring stdout attributes");
+		exit(1);
+	}
+
+	return OK;
+}

src/systemcmds/dumpfile/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2014 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.
+#
+############################################################################
+
+#
+# Dump file utility
+#
+
+MODULE_COMMAND	 = dumpfile
+SRCS		 = dumpfile.c
+
+MAXOPTIMIZATION	 = -Os