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

Conflicts:
	.gitmodules

.gitmodules

@@ -13,3 +13,6 @@
 [submodule "Tools/gencpp"]
 	path = Tools/gencpp
 	url = https://github.com/ros/gencpp.git
+[submodule "unittests/gtest"]
+	path = unittests/gtest
+	url = https://github.com/sjwilks/gtest.git

Makefile

@@ -261,14 +261,16 @@ tests:
 #
 .PHONY:	clean
 clean:
-	$(Q) $(RMDIR) $(BUILD_DIR)*.build > /dev/null
-	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4 > /dev/null
+	@echo > /dev/null
+	$(Q) $(RMDIR) $(BUILD_DIR)*.build
+	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
 
 .PHONY:	distclean
 distclean: clean
-	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export > /dev/null
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean > /dev/null
-	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) > /dev/null
+	@echo > /dev/null
+	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
 
 #
 # Print some help text

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -56,7 +56,6 @@ fi
 
 if meas_airspeed start
 then
-	echo "[i] Using MEAS airspeed sensor"
 else
 	if ets_airspeed start
 	then
@@ -67,6 +66,7 @@ else
 	fi
 fi
 
+# Check for flow sensor
 if px4flow start
 then
 fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -25,6 +25,7 @@ mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
 usleep 100000
 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
 usleep 100000
+mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
 
 # Exit shell to make it available to MAVLink
 exit

ROMFS/px4fmu_common/init.d/rcS

@@ -430,6 +430,16 @@ then
 	unset MAVLINK_F
 
 	#
+	# MAVLink onboard / TELEM2
+	#
+	if ver hwcmp PX4FMU_V2
+	then
+		if param compare SYS_COMPANION 921600
+		then
+			mavlink start -d /dev/ttyS2 -b 921600 -m onboard
+		fi
+	fi
+
 	# UAVCAN
 	#
 	sh /etc/init.d/rc.uavcan

makefiles/config_px4fmu-v2_default.mk

@@ -32,6 +32,7 @@ MODULES		+= drivers/ll40ls
 # MODULES		+= drivers/trone
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
+MODULES		+= drivers/hott
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
 # MODULES		+= drivers/blinkm

makefiles/toolchain_gnu-arm-eabi.mk

@@ -127,6 +127,7 @@ ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
 #
 ARCHWARNINGS		 = -Wall \
 			   -Wextra \
+			   -Werror \
 			   -Wdouble-promotion \
 			   -Wshadow \
 			   -Wfloat-equal \

nuttx-configs/aerocore/nsh/Make.defs

@@ -119,6 +119,7 @@ endif
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
 ARCHWARNINGS		 = -Wall \
+			   -Wno-sign-compare \
 			   -Wextra \
 			   -Wdouble-promotion \
 			   -Wshadow \

nuttx-configs/px4fmu-v1/nsh/Make.defs

@@ -119,6 +119,7 @@ endif
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
 ARCHWARNINGS		 = -Wall \
+			   -Wno-sign-compare \
 			   -Wextra \
 			   -Wdouble-promotion \
 			   -Wshadow \

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -404,7 +404,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=38
+CONFIG_NFILE_DESCRIPTORS=42
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4

nuttx-configs/px4fmu-v2/nsh/Make.defs

@@ -119,6 +119,7 @@ endif
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++11
 ARCHWARNINGS		 = -Wall \
+			   -Wno-sign-compare \
 			   -Wextra \
 			   -Wdouble-promotion \
 			   -Wshadow \

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -438,7 +438,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=38
+CONFIG_NFILE_DESCRIPTORS=42
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4

nuttx-configs/px4io-v1/nsh/Make.defs

@@ -108,6 +108,7 @@ endif
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
 ARCHWARNINGS		 = -Wall \
+         -Wno-sign-compare \
 			   -Wextra \
 			   -Wdouble-promotion \
 			   -Wshadow \

nuttx-configs/px4io-v2/nsh/Make.defs

@@ -108,6 +108,7 @@ endif
 ARCHCFLAGS		 = -std=gnu99
 ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
 ARCHWARNINGS		 = -Wall \
+         -Wno-sign-compare \
 			   -Wextra \
 			   -Wdouble-promotion \
 			   -Wshadow \

src/drivers/ardrone_interface/ardrone_interface.c

@@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[])
 						    SCHED_PRIORITY_MAX - 15,
 						    1100,
 						    ardrone_interface_thread_main,
-						    (argv) ? (const char **)&argv[2] : (const char **)NULL);
+						    (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/drivers/boards/aerocore/aerocore_led.c

@@ -45,6 +45,7 @@
 #include "board_config.h"
 
 #include <arch/board/board.h>
+#include <systemlib/err.h>
 
 /*
  * Ideally we'd be able to get these from up_internal.h,
@@ -54,7 +55,7 @@
  * CONFIG_ARCH_LEDS configuration switch.
  */
 __BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);

src/drivers/boards/px4fmu-v2/board_config.h

@@ -105,6 +105,7 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_SPI_CS_HMC		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
 #define GPIO_SPI_CS_EXT0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_SPI_CS_EXT1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
@@ -119,6 +120,7 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_ACCEL_MAG	2
 #define PX4_SPIDEV_BARO		3
 #define PX4_SPIDEV_MPU		4
+#define PX4_SPIDEV_HMC		5
 
 /* External bus */
 #define PX4_SPIDEV_EXT0		1

src/drivers/boards/px4fmu-v2/px4fmu_spi.c

@@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_configgpio(GPIO_SPI_CS_GYRO);
 	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
 	stm32_configgpio(GPIO_SPI_CS_BARO);
+	stm32_configgpio(GPIO_SPI_CS_HMC);
 	stm32_configgpio(GPIO_SPI_CS_MPU);
 
 	/* De-activate all peripherals,
@@ -82,6 +83,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 
 	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
@@ -117,6 +119,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
@@ -125,6 +128,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
@@ -133,6 +137,16 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		break;
+
+	case PX4_SPIDEV_HMC:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
@@ -141,6 +155,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_HMC, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
 

src/drivers/frsky_telemetry/frsky_telemetry.c

@@ -221,7 +221,7 @@ int frsky_telemetry_main(int argc, char *argv[])
 					  SCHED_PRIORITY_DEFAULT,
 					  2000,
 					  frsky_telemetry_thread_main,
-					  (const char **)argv);
+					  (char * const *)argv);
 
 		while (!thread_running) {
 			usleep(200);

src/drivers/hott/comms.h

@@ -41,6 +41,6 @@
 #ifndef COMMS_H_
 #define COMMS_H
 
-int open_uart(const char *device);
+__EXPORT int open_uart(const char *device);
 
 #endif /* COMMS_H_ */

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -214,7 +214,7 @@ hott_sensors_main(int argc, char *argv[])
 					     SCHED_PRIORITY_DEFAULT,
 					     1024,
 					     hott_sensors_thread_main,
-					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/drivers/hott/hott_sensors/module.mk

@@ -37,8 +37,6 @@
 
 MODULE_COMMAND	= hott_sensors
 
-SRCS		= hott_sensors.cpp \
-		  ../messages.cpp \
-		  ../comms.cpp
+SRCS		= hott_sensors.cpp
 
 MAXOPTIMIZATION	 = -Os

src/drivers/hott/hott_telemetry/hott_telemetry.cpp

@@ -240,7 +240,7 @@ hott_telemetry_main(int argc, char *argv[])
 					 SCHED_PRIORITY_DEFAULT,
 					 2048,
 					 hott_telemetry_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/drivers/hott/hott_telemetry/module.mk

@@ -37,8 +37,6 @@
 
 MODULE_COMMAND	= hott_telemetry
 
-SRCS		= hott_telemetry.cpp \
-		  ../messages.cpp \
-		  ../comms.cpp
+SRCS		= hott_telemetry.cpp
 
 MAXOPTIMIZATION	 = -Os

src/drivers/hott/messages.h

@@ -235,15 +235,15 @@ struct gps_module_msg {
 // The maximum size of a message.
 #define MAX_MESSAGE_BUFFER_SIZE 45
 
-void init_sub_messages(void);
-void init_pub_messages(void);
-void build_gam_request(uint8_t *buffer, size_t *size);
-void publish_gam_message(const uint8_t *buffer);
-void build_eam_response(uint8_t *buffer, size_t *size);
-void build_gam_response(uint8_t *buffer, size_t *size);
-void build_gps_response(uint8_t *buffer, size_t *size);
-float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
-void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
+__EXPORT void init_sub_messages(void);
+__EXPORT void init_pub_messages(void);
+__EXPORT void build_gam_request(uint8_t *buffer, size_t *size);
+__EXPORT void publish_gam_message(const uint8_t *buffer);
+__EXPORT void build_eam_response(uint8_t *buffer, size_t *size);
+__EXPORT void build_gam_response(uint8_t *buffer, size_t *size);
+__EXPORT void build_gps_response(uint8_t *buffer, size_t *size);
+__EXPORT float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
+__EXPORT void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
 
 
 #endif /* MESSAGES_H_ */

src/drivers/hott/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Graupner HoTT Sensors messages.
+#
+
+SRCS		= messages.cpp \
+			  comms.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/px4flow/module.mk

@@ -40,3 +40,5 @@ MODULE_COMMAND	= px4flow
 SRCS		= px4flow.cpp
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wno-attributes

src/drivers/px4flow/px4flow.cpp

@@ -106,7 +106,7 @@ struct i2c_frame {
 };
 struct i2c_frame f;
 
-typedef struct i2c_integral_frame {
+struct i2c_integral_frame {
 	uint16_t frame_count_since_last_readout;
 	int16_t pixel_flow_x_integral;
 	int16_t pixel_flow_y_integral;

src/drivers/roboclaw/roboclaw_main.cpp

@@ -109,7 +109,7 @@ int roboclaw_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,
 					 roboclaw_thread_main,
-					 (const char **)argv);
+					 (char * const *)argv);
 		exit(0);
 
 	} else if (!strcmp(argv[1], "test")) {

src/drivers/sf0x/sf0x.cpp

@@ -90,7 +90,9 @@ static const int ERROR = -1;
 #define SF0X_TAKE_RANGE_REG		'd'
 #define SF02F_MIN_DISTANCE		0.0f
 #define SF02F_MAX_DISTANCE		40.0f
-#define SF0X_DEFAULT_PORT		"/dev/ttyS2"
+
+// designated SERIAL4/5 on Pixhawk
+#define SF0X_DEFAULT_PORT		"/dev/ttyS6"
 
 class SF0X : public device::CDev
 {

src/drivers/trone/trone.cpp

@@ -206,7 +206,7 @@ static const uint8_t crc_table[] = {
     0xfa, 0xfd, 0xf4, 0xf3
 };
 
-uint8_t crc8(uint8_t *p, uint8_t len){
+static uint8_t crc8(uint8_t *p, uint8_t len) {
         uint16_t i;
         uint16_t crc = 0x0;
 

src/examples/fixedwing_control/main.c

@@ -423,7 +423,7 @@ int ex_fixedwing_control_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 20,
 					 2048,
 					 fixedwing_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		thread_running = true;
 		exit(0);
 	}

src/examples/fixedwing_control/module.mk

@@ -41,3 +41,5 @@ SRCS		= main.c \
 		  params.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wframe-larger-than=1200

src/examples/flow_position_estimator/flow_position_estimator_main.c

@@ -115,7 +115,7 @@ int flow_position_estimator_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 5,
 					 4000,
 					 flow_position_estimator_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/examples/flow_position_estimator/module.mk

@@ -39,3 +39,5 @@ MODULE_COMMAND		= flow_position_estimator
 
 SRCS		= flow_position_estimator_main.c \
 		  flow_position_estimator_params.c
+		  
+EXTRACFLAGS = -Wno-float-equal

src/examples/hwtest/hwtest.c

@@ -39,13 +39,15 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
 #include <stdio.h>
-#include <systemlib/err.h>
+#include <string.h>
+
 #include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/actuator_controls.h>
+#include <nuttx/config.h>
+#include <systemlib/err.h>
 #include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/uORB.h>
 
 __EXPORT int ex_hwtest_main(int argc, char *argv[]);
 
@@ -53,7 +55,7 @@ int ex_hwtest_main(int argc, char *argv[])
 {
 	warnx("DO NOT FORGET TO STOP THE COMMANDER APP!");
 	warnx("(run <commander stop> to do so)");
-    warnx("usage: http://px4.io/dev/examples/write_output");
+	warnx("usage: http://px4.io/dev/examples/write_output");
 
 	struct actuator_controls_s actuators;
 	memset(&actuators, 0, sizeof(actuators));

src/examples/matlab_csv_serial/matlab_csv_serial.c

@@ -107,7 +107,7 @@ int matlab_csv_serial_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 5,
 					 2000,
 					 matlab_csv_serial_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/examples/px4_daemon_app/px4_daemon_app.c

@@ -38,10 +38,13 @@
  * @author Example User <mail@example.com>
  */
 
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
 #include <nuttx/config.h>
 #include <nuttx/sched.h>
-#include <unistd.h>
-#include <stdio.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
@@ -100,7 +103,7 @@ int px4_daemon_app_main(int argc, char *argv[])
 					 SCHED_PRIORITY_DEFAULT,
 					 2000,
 					 px4_daemon_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/lib/conversion/rotation.cpp

@@ -181,6 +181,11 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
         x = tmp;
         return;
     }
+    case ROTATION_ROLL_270_YAW_270: {
+        tmp = z; z = -y; y = tmp;
+        tmp = x; x = y; y = -tmp;
+        return;
+    }
     case ROTATION_PITCH_90: {
         tmp = z; z = -x; x = tmp;
         return;

src/lib/rc/st24.c

@@ -72,7 +72,7 @@ const char *decode_states[] = {"UNSYNCED",
 #define ST24_SCALE_OFFSET (int)(ST24_TARGET_MIN - (ST24_SCALE_FACTOR * ST24_RANGE_MIN + 0.5f))
 
 static enum ST24_DECODE_STATE _decode_state = ST24_DECODE_STATE_UNSYNCED;
-static unsigned _rxlen;
+static uint8_t _rxlen;
 
 static ReceiverFcPacket _rxpacket;
 

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -63,6 +63,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vision_position_estimate.h>
 #include <drivers/drv_hrt.h>
 
 #include <lib/mathlib/mathlib.h>
@@ -134,7 +135,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      7200,
 					      attitude_estimator_ekf_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
@@ -207,7 +208,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 			     };		/**< init: identity matrix */
 
 	float debugOutput[4] = { 0.0f };
-
 	int overloadcounter = 19;
 
 	/* Initialize filter */
@@ -220,6 +220,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	memset(&raw, 0, sizeof(raw));
 	struct vehicle_gps_position_s gps;
 	memset(&gps, 0, sizeof(gps));
+	gps.eph = 100000;
+	gps.epv = 100000;
 	struct vehicle_global_position_s global_pos;
 	memset(&global_pos, 0, sizeof(global_pos));
 	struct vehicle_attitude_s att;
@@ -258,9 +260,12 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* subscribe to param changes */
 	int sub_params = orb_subscribe(ORB_ID(parameter_update));
 
-	/* subscribe to control mode*/
+	/* subscribe to control mode */
 	int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
 
+	/* subscribe to vision estimate */
+	int vision_sub = orb_subscribe(ORB_ID(vision_position_estimate));
+
 	/* advertise attitude */
 	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
@@ -268,14 +273,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 	thread_running = true;
 
-	/* advertise debug value */
-	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
-	// orb_advert_t pub_dbg = -1;
-
 	/* keep track of sensor updates */
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
-	struct attitude_estimator_ekf_params ekf_params = { 0 };
+	struct attitude_estimator_ekf_params ekf_params;
+	memset(&ekf_params, 0, sizeof(ekf_params));
 
 	struct attitude_estimator_ekf_param_handles ekf_param_handles = { 0 };
 
@@ -293,6 +295,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	math::Matrix<3, 3> R_decl;
 	R_decl.identity();
 
+	struct vision_position_estimate vision {};
+
 	/* register the perf counter */
 	perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");
 
@@ -313,8 +317,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 			orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode);
 
 			if (!control_mode.flag_system_hil_enabled) {
-				fprintf(stderr,
-					"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
+				warnx("WARNING: Not getting sensors - sensor app running?");
 			}
 
 		} else {
@@ -449,9 +452,30 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 						sensor_last_timestamp[2] = raw.magnetometer_timestamp;
 					}
 
-					z_k[6] = raw.magnetometer_ga[0];
-					z_k[7] = raw.magnetometer_ga[1];
-					z_k[8] = raw.magnetometer_ga[2];
+					bool vision_updated = false;
+					orb_check(vision_sub, &vision_updated);
+
+					if (vision_updated) {
+						orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision);
+					}
+
+					if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) {
+
+						math::Quaternion q(vision.q);
+						math::Matrix<3, 3> Rvis = q.to_dcm();
+
+						math::Vector<3> v(1.0f, 0.0f, 0.4f);
+
+						math::Vector<3> vn = Rvis * v;
+
+						z_k[6] = vn(0);
+						z_k[7] = vn(1);
+						z_k[8] = vn(2);
+					} else {
+						z_k[6] = raw.magnetometer_ga[0];
+						z_k[7] = raw.magnetometer_ga[1];
+						z_k[8] = raw.magnetometer_ga[2];
+					}
 
 					uint64_t now = hrt_absolute_time();
 					unsigned int time_elapsed = now - last_run;

src/modules/attitude_estimator_ekf/module.mk

@@ -42,3 +42,7 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/AttitudeEKF.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3600
+
+EXTRACXXFLAGS = -Wframe-larger-than=2400

src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp

@@ -153,7 +153,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      14000,
 					      attitude_estimator_so3_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/modules/attitude_estimator_so3/module.mk

@@ -8,3 +8,5 @@ SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS = -Wno-float-equal

src/modules/bottle_drop/bottle_drop.cpp

@@ -524,6 +524,9 @@ BottleDrop::task_main()
 			}
 
 			switch (_drop_state) {
+				case DROP_STATE_INIT:
+					// do nothing
+					break;
 
 				case DROP_STATE_TARGET_VALID:
 				{
@@ -690,6 +693,10 @@ BottleDrop::task_main()
 						orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
 					}
 					break;
+
+				case DROP_STATE_BAY_CLOSED:
+					// do nothing
+					break;
 			}
 
 			counter++;

src/modules/commander/commander.cpp

@@ -268,7 +268,7 @@ int commander_main(int argc, char *argv[])
 					     SCHED_PRIORITY_MAX - 40,
 					     3200,
 					     commander_thread_main,
-					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
 		while (!thread_running) {
 			usleep(200);

src/modules/commander/module.mk

@@ -51,3 +51,6 @@ SRCS		 	= commander.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wframe-larger-than=2000
+

src/modules/ekf_att_pos_estimator/module.mk

@@ -42,4 +42,5 @@ SRCS		= ekf_att_pos_estimator_main.cpp \
 		  estimator_23states.cpp \
 		  estimator_utilities.cpp
 
-EXTRACXXFLAGS	= -Weffc++
+EXTRACXXFLAGS	= -Weffc++ -Wframe-larger-than=6100
+

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -115,7 +115,7 @@ int fixedwing_backside_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
 					 control_demo_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}