Merge branch 'master' of https://github.com/paparazzi/paparazzi into ardrone_mag_freeze

conf/Makefile.ardrone2

@@ -33,9 +33,9 @@ upload_extra:
 
 # Program the device and start it.
 load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
-	$(Q)$(DRONE) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
+	$(Q)$(DRONE) --host=$(HOST) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
-	$(Q)$(DRONE) upload_paparazzi $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
+	$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
-	$(Q)$(DRONE) status
+	$(Q)$(DRONE) --host=$(HOST) status
 
 
 # Program the device and start it.

conf/airframes/airframe.dtd

@@ -121,4 +121,5 @@ target CDATA #IMPLIED>
 
 <!ATTLIST load
 name CDATA #REQUIRED
-target CDATA #IMPLIED>
+target CDATA #IMPLIED
+dir CDATA #IMPLIED>

conf/airframes/examples/quadrotor_lisa_mx.xml

@@ -41,6 +41,7 @@
 
   <firmware name="test_progs">
     <target name="test_sys_time_timer" board="lisa_mx_2.0"/>
+    <target name="test_adc" board="lisa_mx_2.0"/>
     <target name="test_telemetry" board="lisa_mx_2.0"/>
     <target name="test_radio_control" board="lisa_mx_2.0">
       <subsystem name="radio_control" type="spektrum">
@@ -50,6 +51,8 @@
     </target>
   </firmware>
 
+  <autopilot name="rotorcraft_autopilot.xml" freq="512"/>
+
   <modules>
     <load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>

conf/airframes/examples/quadrotor_navstik.xml

@@ -0,0 +1,212 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- this is a quadrotor frame in X-configuration equiped with
+     * Autopilot:   Navstik                http://wiki.paparazziuav.org/wiki/Navstik
+     * IMU:         Navstik                http://wiki.paparazziuav.org/wiki/Navstik
+     * Actuators:   Asctec V2              http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
+     * GPS:         Ublox                  http://wiki.paparazziuav.org/wiki/Subsystem/gps
+     * RC:          one Spektrum sat       http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
+-->
+
+<airframe name="Quadrotor Navstik">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="navstik_1.0">
+      <subsystem name="radio_control" type="spektrum"/>
+      <configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="i2c3"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+      <define name="RADIO_MODE" value="RADIO_AUX1"/>
+      <define name="ACTUATORS_START_DELAY" value="1"/>
+    </target>
+
+    <target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+      <subsystem name="radio_control" type="ppm"/>
+    </target>
+
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators"     type="asctec_v2"/>
+    <subsystem name="telemetry"     type="xbee_api"/>
+    <subsystem name="imu"           type="navstik"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"           type="hff"/>
+  </firmware>
+
+  <firmware name="test_progs">
+    <configure name="MODEM_PORT" value="UART1"/>
+
+    <target name="test_sys_time_timer" board="navstik_1.0"/>
+    <target name="test_telemetry" board="navstik_1.0"/>
+    <target name="test_actuators_pwm_sin" board="navstik_1.0"/>
+  </firmware>
+
+  <modules>
+    <load name="gps_ubx_ucenter.xml"/>
+    <!-- load name="airspeed_ms45xx.xml"/ -->
+  </modules>
+
+  <servos driver="Asctec_v2">
+    <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
+    <servo name="BACK"    no="1" min="0" neutral="3" max="200"/>
+    <servo name="LEFT"    no="2" min="0" neutral="3" max="200"/>
+    <servo name="RIGHT"   no="3" min="0" neutral="3" max="200"/>
+  </servos>
+
+  <commands>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <!-- order (and rotation direction) : NE (CW), SE (CCW), SW (CW), NW (CCW) -->
+    <define name="ROLL_COEF"   value="{ -256, -256,  256,  256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256, -256,  256 }"/>
+    <define name="YAW_COEF"    value="{ -256,  256, -256,  256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[2]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[3]"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_X_NEUTRAL" value="11"/>
+    <define name="ACCEL_Y_NEUTRAL" value="11"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
+
+    <!-- replace this with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="-179"/>
+    <define name="MAG_Y_NEUTRAL" value="-21"/>
+    <define name="MAG_Z_NEUTRAL" value="79"/>
+    <define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.3770441"/>
+    <define name="H_Y" value="0.0193986"/>
+    <define name="H_Z" value="0.9259921"/>
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
+    <define name="DEADBAND_R" value="200"/>
+    <define name="REF_TAU" value="4"/>
+
+    <!-- feedback -->
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
+
+    <!-- feedforward -->
+    <define name="DDGAIN_P" value="300"/>
+    <define name="DDGAIN_Q" value="300"/>
+    <define name="DDGAIN_R" value="300"/>
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI" value="45." unit="deg"/>
+    <define name="SP_MAX_THETA" value="45." unit="deg"/>
+    <define name="SP_MAX_R" value="90." unit="deg/s"/>
+    <define name="DEADBAND_R" value="250"/>
+    <!-- reference -->
+    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.85"/>
+    <define name="REF_MAX_P" value="300." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.85"/>
+    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.85"/>
+    <define name="REF_MAX_R" value="180." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="900"/>
+    <define name="PHI_DGAIN" value="200"/>
+    <define name="PHI_IGAIN" value="200"/>
+    <define name="THETA_PGAIN" value="900"/>
+    <define name="THETA_DGAIN" value="200"/>
+    <define name="THETA_IGAIN" value="200"/>
+    <define name="PSI_PGAIN" value="900"/>
+    <define name="PSI_DGAIN" value="200"/>
+    <define name="PSI_IGAIN" value="10"/>
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value="75"/>
+    <define name="THETA_DDGAIN" value="75"/>
+    <define name="PSI_DDGAIN" value="75"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP"    value="150"/>
+    <define name="HOVER_KD"    value="80"/>
+    <define name="HOVER_KI"    value="20"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="USE_SPEED_REF" value="TRUE"/>
+    <define name="PGAIN" value="50"/>
+    <define name="DGAIN" value="100"/>
+    <define name="AGAIN" value="100"/>
+    <define name="IGAIN" value="20"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
+    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_DIRECT"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+
+</airframe>

conf/autopilot/rotorcraft_autopilot.xml

@@ -1,17 +1,22 @@
 <!DOCTYPE autopilot SYSTEM "autopilot.dtd">
 
-<autopilot name="Booz Quadrotor Autopilot (Basic version)">
+<autopilot name="Quadrotor Autopilot (Basic version)">
+
+  <control_block name="set_actuators">
+    <call fun="SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on)"/>
+    <call fun="SetActuatorsFromCommands(commands, autopilot_mode)"/>
+  </control_block>
 
   <control_block name="attitude_loop">
     <call fun="SetAttitudeFromRC(rc_values)"/>
     <call fun="AddAttitudeFromFMS()" cond="fms.enabled"/>
-    <call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
+    <call fun="stabilization_attitude_run(autopilot_in_flight)"/>
   </control_block>
 
   <control_block name="altitude_loop">
     <call fun="SetAltitudeFromFMS()" cond="fms.enabled"/>
-    <call fun="b2_gv_update_ref_from_z_sp(booz2_guidance_v_z_sp)"/>
+    <call fun="gv_update_ref_from_z_sp(guidance_v_z_sp)"/>
-    <call fun="run_hover_loop(booz2_autopilot_in_flight)"/>
+    <call fun="run_hover_loop(autopilot_in_flight)"/>
     <call fun="SaturateThrottle(rc_values)"/>
   </control_block>
 
@@ -19,28 +24,28 @@
     <exception cond="too_far_from_home" deroute="HOME"/>
   </exceptions>
 
-  <mode name="ATTITUDE" start="booz_stabilization_attitude_enter()">
+  <mode name="ATTITUDE" start="stabilization_attitude_enter()">
     <select cond="$DEFAULT_MODE"/>
     <select cond="RCMode0()"/>
     <control freq="512">
       <call_block name="attitude_loop"/>
       <call fun="SetThrottleFromRC(rc_values)"/>
-      <call fun="actuators_set(booz2_autopilot_motors_on)"/>
+      <call_block name="set_actuators"/>
     </control>
     <exception cond="RCLost()" deroute="FAILSAFE"/>
   </mode>
 
-  <mode name="VERTICAL" start="booz_stabilization_attitude_enter()|booz_guidance_v_enter()">
+  <mode name="VERTICAL" start="stabilization_attitude_enter()|guidance_v_enter()">
     <select cond="RCMode1()"/>
     <control freq="512">
       <call_block name="attitude_loop"/>
       <call_block name="altitude_loop"/>
-      <call fun="actuators_set(booz2_autopilot_motors_on)"/>
+      <call_block name="set_actuators"/>
     </control>
     <exception cond="RCLost()" deroute="FAILSAFE"/>
   </mode>
 
-  <mode name="NAV" start="booz_guidance_h_nav_enter()|booz_guidance_v_enter()">
+  <mode name="NAV" start="guidance_h_nav_enter()|guidance_v_enter()">
     <select cond="RCMode2()" exception="HOME"/>
     <select cond="RCMode2() && DLModeNav()"/>
     <control freq="32">
@@ -51,15 +56,14 @@
       <call fun="GuidanceNavHorizontal()"/>
       <call fun="GuidanceNavVertical()"/>
       <call fun="AddAttitudeFromRC(rc_values)" cond="!RCLost()"/>
-      <call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
+      <call fun="stabilization_attitude_run(autopilot_in_flight)"/>
       <call fun="SaturateThrottle(rc_values)" cond="!RCLost()"/>
-      <call fun="actuators_set(booz2_autopilot_motors_on)"/>
+      <call_block name="set_actuators"/>
-      <call_block name="actuators_ap"/>
     </control>
     <exception cond="GPSLost()" deroute="FAILSAFE"/>
   </mode>
 
-  <mode name="HOME" start="booz_guidance_h_nav_enter()|booz_guidance_v_enter()">
+  <mode name="HOME" start="guidance_h_nav_enter()|guidance_v_enter()">
     <control freq="32">
       <call fun="nav_home()"/>
     </control>
@@ -67,20 +71,20 @@
       <call fun="SetCommandFromAP()"/>
       <call fun="GuidanceNavHorizontal()"/>
       <call fun="GuidanceNavVertical()"/>
-      <call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
+      <call fun="stabilization_attitude_run(autopilot_in_flight)"/>
-      <call fun="actuators_set(booz2_autopilot_motors_on)"/>
+      <call_block name="set_actuators"/>
     </control>
     <exception cond="GPSLost()" deroute="FAILSAFE"/>
   </mode>
 
   <!-- Safe landing -->
-  <mode name="FAILSAFE" start="failsafe_enter()|booz_stabilization_attitude_enter()|booz_guidance_v_enter()" stop="failsafe_exit()">
+  <mode name="FAILSAFE" start="stabilization_attitude_set_failsafe_setpoint()|guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB)|guidance_v_zd_sp = SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED)">
     <control freq="512">
       <call fun="SetFailsafeCommand()"/>
-      <call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
+      <call fun="stabilization_attitude_run(autopilot_in_flight)"/>
-      <call fun="b2_gv_update_ref_from_zd_sp(booz2_guidance_v_zd_sp)"/>
+      <call fun="gv_update_ref_from_zd_sp(guidance_v_zd_sp)"/>
-      <call fun="run_hover_loop(booz2_autopilot_in_flight)"/>
+      <call fun="run_hover_loop(autopilot_in_flight)"/>
-      <call fun="actuators_set(booz2_autopilot_motors_on)"/>
+      <call fun="actuators_set(autopilot_motors_on)"/>
     </control>
     <exception cond="!GPSLost()" deroute="$LAST_MODE"/>
   </mode>

conf/boards/navstik_1.0.makefile

@@ -0,0 +1,54 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# navstik_1.0.makefile
+#
+# http://paparazzi.enac.fr/wiki/Navstik
+#
+
+BOARD=navstik
+BOARD_VERSION=1.0
+BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+ARCH=stm32
+ARCH_L=f4
+HARD_FLOAT=yes
+$(TARGET).ARCHDIR = $(ARCH)
+$(TARGET).OOCD_INTERFACE=ftdi/ivygs
+$(TARGET).OOCD_BOARD=navstik
+$(TARGET).LDSCRIPT=$(SRC_ARCH)/navstik.ld
+
+# -----------------------------------------------------------------------
+
+# default flash mode is via usb dfu bootloader
+# other possibilities: DFU-UTIL, JTAG
+FLASH_MODE ?= JTAG
+
+#
+# default LED configuration
+#
+RADIO_CONTROL_LED  ?= none
+BARO_LED           ?= none
+AHRS_ALIGNER_LED   ?= 2
+GPS_LED            ?= none
+SYS_TIME_LED       ?= 1
+
+#
+# default uart configuration
+#
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   ?= UART6
+
+MODEM_PORT ?= UART5
+MODEM_BAUD ?= B57600
+
+GPS_PORT ?= UART2
+GPS_BAUD ?= B57600
+
+#
+# default actuator configuration
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+# and by setting the correct "driver" attribute in servo section
+# e.g. <servo driver="Ppm">
+#
+ACTUATORS ?= actuators_pwm

conf/conf_example.xml

@@ -56,7 +56,7 @@
    radio="radios/cockpitMM.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
-   settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/infrared.xml"
+   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/infrared.xml"
    gui_color="#6293ba"
   />
   <aircraft
@@ -96,7 +96,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
    gui_color="white"
   />
   <aircraft
@@ -106,9 +106,19 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/modules/rotorcraft_cam.xml settings/modules/servo_switch.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/modules/rotorcraft_cam.xml settings/modules/servo_switch.xml"
    gui_color="white"
   />
+  <aircraft
+   name="Quad_Navstik"
+   ac_id="180"
+   airframe="airframes/examples/quadrotor_navstik.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   gui_color="#710080"
+  />
   <aircraft
    name="Twinjet"
    ac_id="6"

conf/conf_tests.xml

@@ -189,6 +189,16 @@
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
    gui_color="white"
   />
+  <aircraft
+   name="Quad_Navstik"
+   ac_id="180"
+   airframe="airframes/examples/quadrotor_navstik.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   gui_color="#710080"
+  />
   <aircraft
    name="Quad_NavGo"
    ac_id="151"

conf/firmwares/subsystems/shared/baro_board.makefile

@@ -18,6 +18,13 @@ else ifeq ($(BOARD), lisa_l)
   BARO_BOARD_CFLAGS += -DUSE_I2C2
   BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
 
+# Navstik baro
+else ifeq ($(BOARD), navstik)
+  BARO_BOARD_CFLAGS += -DUSE_I2C3
+  BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
+  BARO_BOARD_SRCS += peripherals/bmp085.c
+  BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
+
 # Ardrone baro
 else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
   BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c

conf/firmwares/subsystems/shared/imu_navstik.makefile

@@ -0,0 +1,49 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Navstik onboard IMU
+#
+#
+# if ACCEL and GYRO SENS/NEUTRAL are not defined,
+# the defaults from the datasheet will be used
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+#
+#  </section>
+#
+
+IMU_CFLAGS  = -DUSE_IMU -DIMU_NAVSTIK -DIMU_TYPE_H=\"imu/imu_navstik.h\"
+IMU_SRCS    = $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_navstik.c
+IMU_SRCS    += peripherals/hmc58xx.c
+IMU_SRCS    += peripherals/mpu60x0.c peripherals/mpu60x0_i2c.c
+
+
+NAVSTIK_MAG_I2C_DEV ?= i2c3
+NAVSTIK_MPU_I2C_DEV ?= i2c1
+
+NAVSTIK_MAG_I2C_DEV_UPPER=$(shell echo $(NAVSTIK_MAG_I2C_DEV) | tr a-z A-Z)
+NAVSTIK_MAG_I2C_DEV_LOWER=$(shell echo $(NAVSTIK_MAG_I2C_DEV) | tr A-Z a-z)
+NAVSTIK_MPU_I2C_DEV_UPPER=$(shell echo $(NAVSTIK_MPU_I2C_DEV) | tr a-z A-Z)
+NAVSTIK_MPU_I2C_DEV_LOWER=$(shell echo $(NAVSTIK_MPU_I2C_DEV) | tr A-Z a-z)
+
+IMU_CFLAGS  += -DNAVSTIK_MAG_I2C_DEV=$(NAVSTIK_MAG_I2C_DEV_LOWER) -DNAVSTIK_MPU_I2C_DEV=$(NAVSTIK_MPU_I2C_DEV_LOWER)
+IMU_CFLAGS  += -DUSE_$(NAVSTIK_MAG_I2C_DEV_UPPER)=1 -DUSE_$(NAVSTIK_MPU_I2C_DEV_UPPER)=1
+
+ap.CFLAGS += $(IMU_CFLAGS)
+ap.srcs   += $(IMU_SRCS)
+
+test_imu.CFLAGS += $(IMU_CFLAGS)
+test_imu.srcs   += $(IMU_SRCS)
+
+#
+# NPS simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile

conf/firmwares/test_progs.makefile

@@ -86,6 +86,9 @@ ifeq ($(BOARD_VERSION), 2.0)
 LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
 endif
 endif
+ifeq ($(BOARD), navstik)
+LED_DEFINES = -DLED_RED=1 -DLED_GREEN=2
+endif
 LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
 
 test_sys_time_timer.ARCHDIR = $(ARCH)

conf/flash_modes.xml

@@ -53,6 +53,7 @@
       <board name="apogee_.*"/>
       <board name="stm32f4_discovery"/>
       <board name="li[s]?a_mx_.*"/>
+      <board name="navstik_.*"/>
     </boards>
   </mode>
   <mode name="STLink (SWD)">
@@ -88,6 +89,7 @@
     <boards>
       <board name="krooz_sd"/>
       <board name="li[s]?a_[lm]?_.*"/>
+      <board name="navstik_.*"/>
     </boards>
   </mode>
 </flash_modes>

conf/flight_plans/cube.xml

@@ -33,26 +33,26 @@
     </block>
 
     <block name="Preset cubical lines" strip_button="CubeInit">
-      <set var="cube_sect"    value="1"/>
+      <set var="nav_cube.sect"    value="1"/>
-      <set var="cube_nsect_x" value="3"/>
+      <set var="nav_cube.nsect_x" value="3"/>
-      <set var="cube_nsect_z" value="2"/>
+      <set var="nav_cube.nsect_z" value="2"/>
-      <set var="cube_alpha"   value="60"/>
+      <set var="nav_cube.alpha"   value="60"/>
-      <set var="cube_size_x"  value="70"/>
+      <set var="nav_cube.size.x"  value="70"/>
-      <set var="cube_size_y"  value="50"/>
+      <set var="nav_cube.size.y"  value="50"/>
-      <set var="cube_size_z"  value="40"/>
+      <set var="nav_cube.size.z"  value="40"/>
-      <set var="cube_grid_x"  value="10"/>
+      <set var="nav_cube.grid_x"  value="10"/>
-      <set var="cube_grid_z"  value="10"/>
+      <set var="nav_cube.grid_z"  value="10"/>
-      <set var="cube_offs_x"  value="0"/>
+      <set var="nav_cube.offset.x"  value="0"/>
-      <set var="cube_offs_y"  value="30"/>
+      <set var="nav_cube.offset.y"  value="30"/>
-      <set var="cube_offs_z"  value="10"/>
+      <set var="nav_cube.offset.z"  value="10"/>
       <deroute block="Fly lines in cubical"/>
     </block>
 
     <block name="Fly lines in cubical" strip_button="Cube">
-      <call fun="nav_cube_init(WP_CENTER, WP_B0, WP_E0)"/>
+      <call fun="nav_cube_setup(WP_CENTER, WP_B0, WP_E0)"/>
-      <for from="0" to="cube_nline_z" var="j">
+      <for from="0" to="nav_cube.nline_z" var="j">
-        <for from="0" to="cube_nline_x" var="i">
+        <for from="0" to="nav_cube.nline_x" var="i">
-          <call fun="nav_cube(_var_j, _var_i, WP__B, WP__E, WP_B0, WP_E0)"/>
+          <call fun="nav_cube_run(_var_j, _var_i, WP__B, WP__E, WP_B0, WP_E0)"/>
           <oval p1="_B" p2="_E" radius="-nav_radius" until="(oval_status == OC1)"/>
           <go approaching_time="0" from="_B" hmode="route" wp="_E"/>
         </for>

conf/messages.xml

@@ -215,7 +215,7 @@
     <field name="msg" type="uint8[]"/>
   </message>
 
-  <message name="SURVEY" ID="27">
+  <message name="SURVEY" id="27">
     <field name="east" type="float" unit="m"/>
     <field name="north" type="float" unit="m"/>
     <field name="west" type="float" unit="m"/>
@@ -916,7 +916,7 @@
     <field name="itow"  type="uint32" unit="ms"/>
   </message>
 
-  <message name="TEST_BOARD_RESULTS" ID="111">
+  <message name="TEST_BOARD_RESULTS" id="111">
     <field name="uart" type="uint8"/>
     <field name="ppm" type="uint8"/>
     <field name="servo" type="uint16[]"/>
@@ -996,7 +996,7 @@
     <field name="dn_t9" type="uint16"/>
   </message>
 
-  <message name="TCAS_TA" ID="120">
+  <message name="TCAS_TA" id="120">
     <field name="ac_id" type="uint8"/>
   </message>
 
@@ -1005,7 +1005,7 @@
     <field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
   </message>
 
-  <message name="TCAS_RESOLVED" ID="122">
+  <message name="TCAS_RESOLVED" id="122">
     <field name="ac_id" type="uint8"/>
   </message>
 
@@ -1973,7 +1973,7 @@
     <field name="rc_status"    type="uint8" values="OK|LOST|REALLY_LOST"/>
     <field name="frame_rate"   type="uint8" unit="Hz"/>
     <field name="gps_status"   type="uint8" values="NO_FIX|NA|NA|3Dfix"/>
-    <field name="ap_mode"      type="uint8" values="KILL|FAILSAFE|HOME|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE"/>
+    <field name="ap_mode"      type="uint8" values="KILL|FAILSAFE|HOME|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE|FORWARD"/>
     <field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
     <field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
     <field name="ap_h_mode"    type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV|CF"/>

conf/modules/mf_ptu.xml

@@ -0,0 +1,50 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="mf_ptu" dir="meteo">
+  <doc>
+    <description>
+      PTU board from Meteo France (pressure, temperature, humidity).
+
+      Raw meteo data:
+      - Pressure in ADC
+      - Temperature in ADC
+      - Humidity in micro-seconds (period of the input signal)
+
+      When using SEND_PTU flag, scaled pressure, temperature and humidity data are sent over telemetry with the PAYLOAD_FLOAT message (array of float).
+      If scale factors and offset are not specified, raw values are sent (scale=1.0, offset=0).
+
+      When using LOG_PTU flag, raw pressure, temperature and humidity data are stored with raw gps data (position, speed, time, status).
+      Field names and units are in the first line of the log file.
+    </description>
+    <configure name="ADC_PRESSURE" value="ADC_X" description="Select ADC channel for pressure sensor"/>
+    <configure name="ADC_TEMPERATURE" value="ADC_X" description="Select ADC channel for temperature sensor"/>
+    <configure name="PWM_INPUT_HUMIDITY" value="PWM_INPUTX" description="Select PWM input channel for humidity sensor"/>
+    <section name="MF_PTU">
+      <define name="PTU_POWER_GPIO" value="GPIOX,GPIOYY" description="If defined, enable power by setting the specified GPIO to 1 at starup"/>
+      <define name="PTU_PRESSURE_OFFSET" value="0" description="Offset in ADC of the pressure sensor"/>
+      <define name="PTU_PRESSURE_SCALE" value="1." description="Scale factor of the pressure sensor"/>
+      <define name="PTU_TEMPERATURE_OFFSET" value="0" description="Offset in ADC of the  temperature sensor"/>
+      <define name="PTU_TEMPERATURE_SCALE" value="1." description="Scale factor of the temperature sensor"/>
+      <define name="PTU_HUMIDITY_OFFSET" value="0" description="Offset in micro seconds of the humidity sensor"/>
+      <define name="PTU_HUMIDITY_SCALE" value="1." description="Scale factor of the pressure sensor"/>
+      <define name="LOG_PTU" value="TRUE|FALSE" description="Log data on SD card (ascii format, raw PTU data + GPS data)"/>
+      <define name="SEND_PTU" value="TRU|FALSE" description="Send data over telemetry (PAYLOAD_FLOAT message, scaled PTU data)"/>
+    </section>
+  </doc>
+  <depend require="pwm_meas"/>
+  <header>
+    <file name="mf_ptu.h"/>
+  </header>
+  <init fun="mf_ptu_init()"/>
+  <periodic fun="mf_ptu_periodic()" freq="10" autorun="TRUE"/>
+  <makefile target="ap">
+    <file name="mf_ptu.c"/>
+    <define name="ADC_CHANNEL_PRESSURE" value="$(ADC_PRESSURE)"/>
+    <define name="USE_$(ADC_PRESSURE)"/>
+    <define name="ADC_CHANNEL_TEMPERATURE" value="$(ADC_TEMPERATURE)"/>
+    <define name="USE_$(ADC_TEMPERATURE)"/>
+    <define name="PWM_INPUT_CHANNEL_HUMIDITY" value="$(PWM_INPUT_HUMIDITY)"/>
+    <define name="USE_$(PWM_INPUT_HUMIDITY)" value="PWM_PULSE_TYPE_ACTIVE_LOW"/>
+  </makefile>
+</module>
+

conf/modules/module.dtd

@@ -9,11 +9,12 @@
 <!ELEMENT event (handler*)>
 <!ELEMENT handler EMPTY>
 <!ELEMENT datalink EMPTY>
-<!ELEMENT makefile (configure|define|file|file_arch|raw)*>
+<!ELEMENT makefile (configure|define|flag|file|file_arch|raw)*>
 <!ELEMENT section (define|configure)*>
 <!ELEMENT description (#PCDATA)>
 <!ELEMENT configure EMPTY>
 <!ELEMENT define EMPTY>
+<!ELEMENT flag EMPTY>
 <!ELEMENT file EMPTY>
 <!ELEMENT file_arch EMPTY>
 <!ELEMENT raw (#PCDATA)>
@@ -69,6 +70,10 @@ unit CDATA #IMPLIED
 type CDATA #IMPLIED
 description CDATA #IMPLIED>
 
+<!ATTLIST flag
+name CDATA #REQUIRED
+value CDATA #REQUIRED>
+
 <!ATTLIST file
 name CDATA #REQUIRED
 dir CDATA #IMPLIED>

conf/modules/pwm_meas.xml

@@ -11,8 +11,12 @@
       - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V to 3.3V voltage divider)
       - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
 
-      Currently only available on LPC21xx arch
+      For STM32:
+      - each board (or airframe file) has to define the PWM input pin and parameters
+      - example can be found in sw/airborne/boards/apogee_1.0.h board file
     </description>
+    <define name="USE_PWM_INPUT1" value="PWM_PULSE_TYPE_ACTIVE_LOW|PWM_PULSE_TYPE_ACTIVE_HIGH" description="Activate PWM input 1 and select polarity"/>
+    <define name="USE_PWM_INPUT2" value="PWM_PULSE_TYPE_ACTIVE_LOW|PWM_PULSE_TYPE_ACTIVE_HIGH" description="Activate PWM input 2 and select polarity"/>
   </doc>
   <header>
     <file name="pwm_meas.h"/>

conf/settings/estimation/ins_float_invariant.xml

@@ -3,6 +3,7 @@
 <settings>
   <dl_settings>
     <dl_settings NAME="invariant">
+      <dl_setting MAX="1" MIN="1" STEP="1" VAR="ins_impl.reset" shortname="reset"/>
       <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_impl.gains.lv" shortname="lv" module="subsystems/ins/ins_float_invariant"/>
       <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_impl.gains.lb" shortname="lb"/>
       <dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_impl.gains.mv" shortname="mv"/>

conf/system/udev/rules/50-paparazzi.rules

@@ -9,6 +9,10 @@ SUBSYSTEM=="tty", ATTRS{product}=="FT232R USB UART", SYMLINK+="paparazzi/serial"
 # MaxStream xbee pro box
 SUBSYSTEM=="tty", ATTRS{product}=="MaxStream PKG-U", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
 
+# Navstik Xbee port
+SUBSYSTEMS=="usb", ENV{.LOCAL_ifNum}="$attr{bInterfaceNumber}"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{product}=="Quad RS232-HS", ENV{.LOCAL_ifNum}=="02", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
+
 # Recent Digi XBee pro modems (XBP24-PKC-001-UA)
 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="USB <-> Serial", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
 
@@ -27,6 +31,9 @@ ATTRS{idVendor}=="0403", ATTRS{idProduct}=="cff8", GROUP="plugdev"
 # FTDI 2232 based jtag for Lisa/L and usb upload
 ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", MODE="0666", GROUP="plugdev"
 
+# FTDI 2232 based jtag for Navstik
+ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", MODE="0666", GROUP="plugdev"
+
 # dfu devices
 ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666", GROUP="plugdev"
 

sw/airborne/Makefile

@@ -33,6 +33,7 @@ VARINCLUDE = $(PAPARAZZI_HOME)/var/include
 
 INCLUDES = -I$(PAPARAZZI_SRC)/sw/include -I$(PAPARAZZI_SRC)/sw/airborne -I$(PAPARAZZI_SRC)/conf/autopilot -I$(PAPARAZZI_SRC)/sw/airborne/arch/$($(TARGET).ARCHDIR) -I$(VARINCLUDE) -I$(ACINCLUDE)
 
+VPATH = .
 
 ifneq ($(MAKECMDGOALS),clean)
   include $(AIRCRAFT_BUILD_DIR)/Makefile.ac

sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.h

@@ -34,7 +34,11 @@
 #include "LPC21xx.h"
 #include "interrupt_hw.h"
 
-#define PWM_INPUT_NB 2 //this is architecture dependent
+enum pwm_input_channels {
+  PWM_INPUT1,
+  PWM_INPUT2,
+  PWM_INPUT_NB
+};
 
 #include "mcu_periph/pwm_input.h"
 

sw/airborne/arch/stm32/mcu_arch.c

@@ -39,6 +39,23 @@
 
 #include "std.h"
 
+#if defined(STM32F4)
+/** 25MHz external clock to PLL it to 168MHz */
+const clock_scale_t hse_25mhz_3v3_168mhz = { /* 168MHz */
+  .pllm = 25,
+  .plln = 336,
+  .pllp = 2,
+  .pllq = 7,
+  .hpre = RCC_CFGR_HPRE_DIV_NONE,
+  .ppre1 = RCC_CFGR_PPRE_DIV_4,
+  .ppre2 = RCC_CFGR_PPRE_DIV_2,
+  .flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE |
+                 FLASH_ACR_LATENCY_5WS,
+  .apb1_frequency = 42000000,
+  .apb2_frequency = 84000000,
+};
+#endif
+
 void mcu_arch_init(void) {
 #if LUFTBOOT
 PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
@@ -65,6 +82,11 @@ PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 168MHz.")
 PRINT_CONFIG_MSG("Using 16MHz external clock to PLL it to 168MHz.")
   rcc_clock_setup_hse_3v3(&hse_16mhz_3v3[CLOCK_3V3_168MHZ]);
 #endif
+#elif EXT_CLK == 25000000
+#if defined(STM32F4)
+PRINT_CONFIG_MSG("Using 25MHz external clock to PLL it to 168MHz.")
+  rcc_clock_setup_hse_3v3(&hse_25mhz_3v3_168mhz);
+#endif
 #else
 #error EXT_CLK is either set to an unsupported frequency or not defined at all. Please check!
 #endif
@@ -118,10 +140,8 @@ uint32_t timer_get_frequency(uint32_t timer_peripheral)
 {
   switch (timer_peripheral) {
     // Timers on APB1
-#if ADVANCED_TIMERS
     case TIM1:
     case TIM8:
-#endif
 #ifdef TIM9
     case TIM9:
 #endif

sw/airborne/arch/stm32/mcu_periph/adc_arch.c

@@ -97,7 +97,6 @@
 #include "mcu_periph/gpio.h"
 #include "mcu_arch.h"
 #include "std.h"
-#include "led.h"
 #include BOARD_CONFIG
 
 
@@ -190,8 +189,6 @@ static inline void adc_init_irq( void );
  * for the particular adc converter.
  */
 
-volatile uint8_t adc_new_data_trigger;
-
 static uint8_t nb_adc1_channels = 0;
 static uint8_t nb_adc2_channels = 0;
 static uint8_t nb_adc3_channels = 0;
@@ -350,8 +347,6 @@ void adc_init( void ) {
   adc_init_single(ADC3, nb_adc3_channels, adc_channel_map);
 #endif // USE_AD3
 
-  adc_new_data_trigger = FALSE;
-
 #if USE_ADC_WATCHDOG
   adc_watchdog.cb = NULL;
   adc_watchdog.timeStamp=0;
@@ -571,7 +566,7 @@ static inline void adc_push_sample(struct adc_buf * buf, uint16_t value) {
 #if defined(STM32F1)
 void adc1_2_isr(void)
 #elif defined(STM32F4)
-  void adc_isr(void)
+void adc_isr(void)
 #endif
 {
   uint8_t channel = 0;
@@ -614,12 +609,9 @@ void adc1_2_isr(void)
 #if USE_ADC_WATCHDOG
   }
 #endif
-
-#if !USE_AD2 && !USE_AD3
-    adc_new_data_trigger = TRUE;
-#endif
   }
-#endif
+#endif // USE_AD1
+
 #if USE_AD2
   if (adc_eoc_injected(ADC2)){
     ADC_SR(ADC2) &= ~ADC_SR_JEOC;
@@ -635,12 +627,10 @@ void adc1_2_isr(void)
     }
 #if USE_ADC_WATCHDOG
   }
-#endif
-#if !USE_AD3
-    adc_new_data_trigger = TRUE;
 #endif
   }
-#endif
+#endif // USE_AD2
+
 #if USE_AD3
   if (adc_eoc_injected(ADC3)){
     ADC_SR(ADC3) &= ~ADC_SR_JEOC;
@@ -657,10 +647,8 @@ void adc1_2_isr(void)
 #if USE_ADC_WATCHDOG
   }
 #endif
-    adc_new_data_trigger = TRUE;
   }
-#endif
+#endif // USE_AD3
-
 
   return;
 }

sw/airborne/arch/stm32/mcu_periph/gpio_arch.c

@@ -86,7 +86,7 @@ void gpio_setup_input(uint32_t port, uint16_t gpios) {
   gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, gpios);
 }
 
-void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output) {
+void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output) {
   gpio_enable_clock(port);
   /* remap alternate function if needed */
   if (af) {

sw/airborne/arch/stm32/mcu_periph/gpio_arch.h

@@ -51,7 +51,11 @@ extern void gpio_setup_input(uint32_t port, uint16_t gpios);
  * Setup a gpio for input or output with alternate function.
  * This is an STM32 specific helper funtion and should only be used in stm32 arch code.
  */
+#if defined(STM32F1)
+extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output);
+#else
 extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output);
+#endif
 
 /**
  * Setup a gpio for analog use.

sw/airborne/arch/stm32/mcu_periph/i2c_arch.c

@@ -982,7 +982,7 @@ void i2c1_hw_init(void) {
 #else
 
   /* reset peripheral to default state ( sometimes not achieved on reset :(  ) */
-  //i2c_reset(I2C1);
+  //rcc_periph_reset_pulse(RST_I2C1);
 
   /* Configure and enable I2C1 event interrupt --------------------------------*/
   nvic_set_priority(NVIC_I2C1_EV_IRQ, NVIC_I2C1_IRQ_PRIO);
@@ -998,7 +998,7 @@ void i2c1_hw_init(void) {
   /* setup gpio clock and pins */
   i2c_setup_gpio(I2C1);
 
-  i2c_reset(I2C1);
+  rcc_periph_reset_pulse(RST_I2C1);
 
   // enable peripheral
   i2c_peripheral_enable(I2C1);
@@ -1056,7 +1056,7 @@ void i2c2_hw_init(void) {
   ZEROS_ERR_COUNTER(i2c2_errors);
 
   /* reset peripheral to default state ( sometimes not achieved on reset :(  ) */
-  //i2c_reset(I2C2);
+  //rcc_periph_reset_pulse(RST_I2C2);
 
   /* Configure and enable I2C2 event interrupt --------------------------------*/
   nvic_set_priority(NVIC_I2C2_EV_IRQ, NVIC_I2C2_IRQ_PRIO);
@@ -1073,7 +1073,7 @@ void i2c2_hw_init(void) {
   /* setup gpio clock and pins */
   i2c_setup_gpio(I2C2);
 
-  i2c_reset(I2C2);
+  rcc_periph_reset_pulse(RST_I2C2);
 
   // enable peripheral
   i2c_peripheral_enable(I2C2);
@@ -1131,7 +1131,7 @@ void i2c3_hw_init(void) {
   ZEROS_ERR_COUNTER(i2c3_errors);
 
   /* reset peripheral to default state ( sometimes not achieved on reset :(  ) */
-  //i2c_reset(I2C3);
+  //rcc_periph_reset_pulse(RST_I2C3);
 
   /* Configure and enable I2C3 event interrupt --------------------------------*/
   nvic_set_priority(NVIC_I2C3_EV_IRQ, NVIC_I2C3_IRQ_PRIO);
@@ -1148,7 +1148,7 @@ void i2c3_hw_init(void) {
   /* setup gpio clock and pins */
   i2c_setup_gpio(I2C3);
 
-  i2c_reset(I2C3);
+  rcc_periph_reset_pulse(RST_I2C3);
 
   // enable peripheral
   i2c_peripheral_enable(I2C3);

sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c

@@ -0,0 +1,235 @@
+/*
+ * Copyright (C) 2014 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file arch/stm32/mcu_periph/pwm_input_arch.c
+ * @ingroup stm32_arch
+ *
+ * handling of smt32 PWM input using a timer with capture.
+ */
+#include "mcu_periph/pwm_input_arch.h"
+
+#include BOARD_CONFIG
+#include "generated/airframe.h"
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/timer.h>
+#include <libopencm3/cm3/nvic.h>
+
+#include "mcu_periph/sys_time.h"
+#include "mcu_periph/gpio.h"
+
+// for timer_get_frequency
+#include "mcu_arch.h"
+
+#define ONE_MHZ_CLK 1000000
+#ifdef NVIC_TIM_IRQ_PRIO
+#define PWM_INPUT_IRQ_PRIO  NVIC_TIM_IRQ_PRIO
+#else
+#define PWM_INPUT_IRQ_PRIO 2
+#endif
+
+static inline void pwm_input_set_timer(uint32_t tim) {
+  timer_reset(tim);
+  timer_set_mode(tim, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+  timer_set_period(tim, 0xFFFF);
+  uint32_t timer_clk = timer_get_frequency(tim);
+  timer_set_prescaler(tim, (timer_clk / (PWM_INPUT_TICKS_PER_USEC*ONE_MHZ_CLK)) - 1);
+  timer_enable_counter(tim);
+}
+
+void pwm_input_init ( void )
+{
+  int i;
+  // initialize the arrays to 0
+  for (i = 0; i < PWM_INPUT_NB; i++) {
+    pwm_input_duty_tics[i] = 0;
+    pwm_input_duty_valid[i] = 0;
+    pwm_input_period_tics[i] = 0;
+    pwm_input_period_valid[i] = 0;
+  }
+
+  /** Configure timers
+   *  - timer clock enable
+   *  - base configuration
+   *  - enable counter
+   */
+#if USE_PWM_INPUT_TIM1
+  rcc_periph_clock_enable(RCC_TIM1);
+  pwm_input_set_timer(TIM1);
+#endif
+#if USE_PWM_INPUT_TIM2
+  rcc_periph_clock_enable(RCC_TIM2);
+  pwm_input_set_timer(TIM2);
+#endif
+#if USE_PWM_INPUT_TIM3
+  rcc_periph_clock_enable(RCC_TIM3);
+  pwm_input_set_timer(TIM3);
+#endif
+
+#ifdef USE_PWM_INPUT1
+  /* GPIO configuration as input capture for timer */
+  gpio_setup_pin_af(PWM_INPUT1_GPIO_PORT, PWM_INPUT1_GPIO_PIN, PWM_INPUT1_GPIO_AF, FALSE);
+
+  /** TIM configuration: Input Capture mode
+   *  Two IC signals are mapped to the same TI input
+   */
+  timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, PWM_INPUT1_TIMER_INPUT);
+  timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, PWM_INPUT1_TIMER_INPUT);
+#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
+  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_RISING);
+  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_FALLING);
+#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
+  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_FALLING);
+  timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_RISING);
+#endif
+
+  /* Select the valid trigger input */
+  timer_slave_set_trigger(PWM_INPUT1_TIMER, PWM_INPUT1_SLAVE_TRIG);
+  /* Configure the slave mode controller in reset mode */
+  timer_slave_set_mode(PWM_INPUT1_TIMER, TIM_SMCR_SMS_RM);
+
+  /* Enable timer Interrupt(s). */
+  nvic_set_priority(PWM_INPUT1_IRQ, PWM_INPUT_IRQ_PRIO);
+  nvic_enable_irq(PWM_INPUT1_IRQ);
+#ifdef PWM_INPUT1_IRQ2
+  nvic_set_priority(PWM_INPUT1_IRQ2, PWM_INPUT_IRQ_PRIO);
+  nvic_enable_irq(PWM_INPUT1_IRQ2);
+#endif
+
+  /* Enable the Capture/Compare and Update interrupt requests. */
+  timer_enable_irq(PWM_INPUT1_TIMER, (PWM_INPUT1_CC_IE | TIM_DIER_UIE));
+
+  /* Enable capture channel. */
+  timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD);
+  timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY);
+#endif
+
+#ifdef USE_PWM_INPUT2
+  /* GPIO configuration as input capture for timer */
+  gpio_setup_pin_af(PWM_INPUT2_GPIO_PORT, PWM_INPUT2_GPIO_PIN, PWM_INPUT2_GPIO_AF, FALSE);
+
+  /** TIM configuration: Input Capture mode
+   *  Two IC signals are mapped to the same TI input
+   */
+  timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, PWM_INPUT2_TIMER_INPUT);
+  timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, PWM_INPUT2_TIMER_INPUT);
+#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
+  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_RISING);
+  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_FALLING);
+#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
+  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_FALLING);
+  timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_RISING);
+#endif
+
+  /* Select the valid trigger input */
+  timer_slave_set_trigger(PWM_INPUT2_TIMER, PWM_INPUT2_SLAVE_TRIG);
+  /* Configure the slave mode controller in reset mode */
+  timer_slave_set_mode(PWM_INPUT2_TIMER, TIM_SMCR_SMS_RM);
+
+  /* Enable timer Interrupt(s). */
+  nvic_set_priority(PWM_INPUT2_IRQ, PWM_INPUT_IRQ_PRIO);
+  nvic_enable_irq(PWM_INPUT2_IRQ);
+#ifdef PWM_INPUT2_IRQ2
+  nvic_set_priority(PWM_INPUT2_IRQ2, PWM_INPUT_IRQ_PRIO);
+  nvic_enable_irq(PWM_INPUT2_IRQ2);
+#endif
+
+  /* Enable the Capture/Compare and Update interrupt requests. */
+  timer_enable_irq(PWM_INPUT2_TIMER, (PWM_INPUT2_CC_IE | TIM_DIER_UIE));
+
+  /* Enable capture channel. */
+  timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD);
+  timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY);
+#endif
+
+}
+
+#if USE_PWM_INPUT_TIM1
+
+#if defined(STM32F1)
+void tim1_up_isr(void) {
+#elif defined(STM32F4)
+void tim1_up_tim10_isr(void) {
+#endif
+  if((TIM1_SR & TIM_SR_UIF) != 0) {
+    timer_clear_flag(TIM1, TIM_SR_UIF);
+    // FIXME clear overflow interrupt but what else ?
+  }
+}
+
+void tim1_cc_isr(void) {
+  if((TIM1_SR & TIM1_CC_IF_PERIOD) != 0) {
+    timer_clear_flag(TIM1, TIM1_CC_IF_PERIOD);
+    pwm_input_period_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_PERIOD;
+    pwm_input_period_valid[TIM1_PWM_INPUT_IDX] = TRUE;
+  }
+  if((TIM1_SR & TIM1_CC_IF_DUTY) != 0) {
+    timer_clear_flag(TIM1, TIM1_CC_IF_DUTY);
+    pwm_input_duty_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_DUTY;
+    pwm_input_duty_valid[TIM1_PWM_INPUT_IDX] = TRUE;
+  }
+}
+
+#endif
+
+#if USE_PWM_INPUT_TIM2
+
+void tim2_isr(void) {
+  if((TIM2_SR & TIM2_CC_IF_PERIOD) != 0) {
+    timer_clear_flag(TIM2, TIM2_CC_IF_PERIOD);
+    pwm_input_period_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_PERIOD;
+    pwm_input_period_valid[TIM2_PWM_INPUT_IDX] = TRUE;
+  }
+  if((TIM2_SR & TIM2_CC_IF_DUTY) != 0) {
+    timer_clear_flag(TIM2, TIM2_CC_IF_DUTY);
+    pwm_input_duty_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_DUTY;
+    pwm_input_duty_valid[TIM2_PWM_INPUT_IDX] = TRUE;
+  }
+  if((TIM2_SR & TIM_SR_UIF) != 0) {
+    timer_clear_flag(TIM2, TIM_SR_UIF);
+    // FIXME clear overflow interrupt but what else ?
+  }
+}
+
+#endif
+
+#if USE_PWM_INPUT_TIM3
+
+void tim3_isr(void) {
+  if((TIM3_SR & TIM3_CC_IF_PERIOD) != 0) {
+    timer_clear_flag(TIM3, TIM3_CC_IF_PERIOD);
+    pwm_input_period_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_PERIOD;
+    pwm_input_period_valid[TIM3_PWM_INPUT_IDX] = TRUE;
+  }
+  if((TIM3_SR & TIM3_CC_IF_DUTY) != 0) {
+    timer_clear_flag(TIM3, TIM3_CC_IF_DUTY);
+    pwm_input_duty_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_DUTY;
+    pwm_input_duty_valid[TIM3_PWM_INPUT_IDX] = TRUE;
+  }
+  if((TIM3_SR & TIM_SR_UIF) != 0) {
+    timer_clear_flag(TIM3, TIM_SR_UIF);
+    // FIXME clear overflow interrupt but what else ?
+  }
+}
+
+#endif

sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h

@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2014 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/**
+ * @file arch/stm32/mcu_periph/pwm_input_arch.h
+ * @ingroup stm32_arch
+ *
+ * handling of smt32 PWM input using a timer with capture.
+ */
+
+#ifndef PWM_INPUT_ARCH_H
+#define PWM_INPUT_ARCH_H
+
+#include "std.h"
+
+enum pwm_input_channels {
+  PWM_INPUT1,
+  PWM_INPUT2,
+  PWM_INPUT_NB
+};
+
+/**
+ * The pwm counter is set-up to have 1/6 us resolution.
+ *
+ * The timer clock frequency (before prescaling):
+ * STM32F1:
+ *   TIM1 -> APB2 = HCLK = 72MHz
+ *   TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz
+ * STM32F4:
+ *   TIM1 -> 2 * APB2 = 2 * 84MHz = 168MHz
+ *   TIM2 -> 2 * APB1 = 2 * 42MHz = 84MHz
+ */
+#define PWM_INPUT_TICKS_PER_USEC 6
+
+#define PWM_INPUT_TICKS_OF_USEC(_v)        ((_v)*PWM_INPUT_TICKS_PER_USEC)
+#define PWM_INPUT_SIGNED_TICKS_OF_USEC(_v) (int32_t)((_v)*PWM_INPUT_TICKS_PER_USEC)
+#define USEC_OF_PWM_INPUT_TICKS(_v)        ((_v)/PWM_INPUT_TICKS_PER_USEC)
+
+#include "mcu_periph/pwm_input.h"
+
+#endif /* PWM_INPUT_ARCH_H */
+

sw/airborne/arch/stm32/navstik.ld

@@ -0,0 +1,35 @@
+/*
+ * Hey Emacs, this is a -*- makefile -*-
+ *
+ * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/* Linker script for Navstik (STM32F415, 1024K flash, 192K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+    ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+    /* TODO: Pages on stm32f4 are not just 2k in size, stored settings have to deal with that correctly. */
+    rom (rx) : ORIGIN = 0x08000000, LENGTH = 1022K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f4.ld

sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c

@@ -34,6 +34,7 @@
 #include <libopencm3/stm32/timer.h>
 #include <libopencm3/cm3/nvic.h>
 
+#include "mcu_periph/gpio_arch.h"
 
 uint32_t ratio_4ms, ratio_16ms;
 
@@ -75,16 +76,11 @@ void actuators_dualpwm_arch_init(void) {
   /*----------------
    * Configure GPIO
    *----------------*/
-#if defined(STM32F1)
-  /* TIM3 GPIO for PWM1..4 */
-  AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP;
-#endif
-
 #ifdef DUAL_PWM_SERVO_5
-  set_servo_gpio(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, DUAL_PWM_SERVO_5_RCC);
+  gpio_setup_pin_af(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, TRUE);
 #endif
 #ifdef DUAL_PWM_SERVO_6
-  set_servo_gpio(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, DUAL_PWM_SERVO_6_RCC);
+  gpio_setup_pin_af(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, TRUE);
 #endif
 
 #if DUAL_PWM_USE_TIM5

sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c

@@ -33,6 +33,8 @@
 #include <libopencm3/stm32/rcc.h>
 #include <libopencm3/stm32/timer.h>
 
+#include "mcu_periph/gpio_arch.h"
+
 
 int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
 
@@ -72,49 +74,43 @@ void actuators_pwm_arch_init(void) {
   /*----------------
    * Configure GPIO
    *----------------*/
-#if defined(STM32F1)
-  /* TIM3 GPIO for PWM1..4 */
-  AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP;
-#endif
-
 #ifdef PWM_SERVO_0
-  set_servo_gpio(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, PWM_SERVO_0_RCC);
+  gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_1
-  set_servo_gpio(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, PWM_SERVO_1_RCC);
+  gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_2
-  set_servo_gpio(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, PWM_SERVO_2_RCC);
+  gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_3
-  set_servo_gpio(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, PWM_SERVO_3_RCC);
+  gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_4
-  set_servo_gpio(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, PWM_SERVO_4_RCC);
+  gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_5
-  set_servo_gpio(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, PWM_SERVO_5_RCC);
+  gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_6
-  set_servo_gpio(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, PWM_SERVO_6_RCC);
+  gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_7
-  set_servo_gpio(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, PWM_SERVO_7_RCC);
+  gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_8
-  set_servo_gpio(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, PWM_SERVO_8_RCC);
+  gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_9
-  set_servo_gpio(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, PWM_SERVO_9_RCC);
+  gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_10
-  set_servo_gpio(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, PWM_SERVO_10_RCC);
+  gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, TRUE);
 #endif
 #ifdef PWM_SERVO_11
-  set_servo_gpio(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, PWM_SERVO_11_RCC);
+  gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, TRUE);
 #endif
 
-
 #if PWM_USE_TIM1
   set_servo_timer(TIM1, TIM1_SERVO_HZ, PWM_TIM1_CHAN_MASK);
 #endif

sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c

@@ -28,24 +28,6 @@
 // for timer_get_frequency
 #include "mcu_arch.h"
 
-/** Set GPIO configuration
- */
-#if defined(STM32F4)
-void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t af_num, enum rcc_periph_clken clken) {
-  rcc_periph_clock_enable(clken);
-  gpio_mode_setup(gpioport, GPIO_MODE_AF, GPIO_PUPD_NONE, pin);
-  gpio_set_af(gpioport, af_num, pin);
-}
-#elif defined(STM32F1)
-void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t none __attribute__((unused)), enum rcc_periph_clken clken) {
-  rcc_periph_clock_enable(clken);
-  rcc_periph_clock_enable(RCC_AFIO);
-  gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ,
-                GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, pin);
-}
-#endif
-
-
 
 /** Set PWM channel configuration
  */

sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h

@@ -36,15 +36,6 @@
 #include <libopencm3/cm3/nvic.h>
 #include "mcu_arch.h"
 
-
-#if defined(STM32F1)
-//#define PCLK 72000000
-#define PCLK AHB_CLK
-#elif defined(STM32F4)
-//#define PCLK 84000000
-#define PCLK AHB_CLK/2
-#endif
-
 #define ONE_MHZ_CLK 1000000
 
 /* Default timer base frequency is 1MHz */
@@ -74,6 +65,9 @@
 #ifndef TIM5_SERVO_HZ
 #define TIM5_SERVO_HZ SERVO_HZ
 #endif
+#ifndef TIM8_SERVO_HZ
+#define TIM8_SERVO_HZ SERVO_HZ
+#endif
 #ifndef TIM9_SERVO_HZ
 #define TIM9_SERVO_HZ SERVO_HZ
 #endif
@@ -81,15 +75,7 @@
 #define TIM12_SERVO_HZ SERVO_HZ
 #endif
 
-
-#if defined(STM32F4)
-extern void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t af_num, enum rcc_periph_clken clken);
-#elif defined(STM32F1)
-extern void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t none __attribute__((unused)), enum rcc_periph_clken clken);
-#endif
-
 extern void actuators_pwm_arch_channel_init(uint32_t timer_peripheral, enum tim_oc_id oc_id);
-
 extern void set_servo_timer(uint32_t timer, uint32_t period, uint8_t channels_mask);
 
 #endif /* ACTUATORS_PWM_SHARED_ARCH_H */

sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c

@@ -691,8 +691,13 @@ void radio_control_spektrum_try_bind(void) {
 
   /* exit if the BIND_PIN is high, it needs to
      be pulled low at startup to initiate bind */
+#ifdef SPEKTRUM_BIND_PIN_HIGH
+  if (gpio_get(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN) == 0)
+    return;
+#else
   if (gpio_get(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN) != 0)
     return;
+#endif
 
   /* Master receiver Rx push-pull */
   gpio_setup_output(SPEKTRUM_PRIMARY_BIND_CONF_PORT, SPEKTRUM_PRIMARY_BIND_CONF_PIN);

sw/airborne/boards/apogee_0.99.h

@@ -165,7 +165,6 @@
 #if USE_PWM0
 #define PWM_SERVO_0 0
 #define PWM_SERVO_0_TIMER TIM2
-#define PWM_SERVO_0_RCC RCC_GPIOA
 #define PWM_SERVO_0_GPIO GPIOA
 #define PWM_SERVO_0_PIN GPIO3
 #define PWM_SERVO_0_AF GPIO_AF1
@@ -178,7 +177,6 @@
 #if USE_PWM1
 #define PWM_SERVO_1 1
 #define PWM_SERVO_1_TIMER TIM2
-#define PWM_SERVO_1_RCC RCC_GPIOA
 #define PWM_SERVO_1_GPIO GPIOA
 #define PWM_SERVO_1_PIN GPIO2
 #define PWM_SERVO_1_AF GPIO_AF1
@@ -191,7 +189,6 @@
 #if USE_PWM2
 #define PWM_SERVO_2 2
 #define PWM_SERVO_2_TIMER TIM3
-#define PWM_SERVO_2_RCC RCC_GPIOB
 #define PWM_SERVO_2_GPIO GPIOB
 #define PWM_SERVO_2_PIN GPIO5
 #define PWM_SERVO_2_AF GPIO_AF2
@@ -204,7 +201,6 @@
 #if USE_PWM3
 #define PWM_SERVO_3_IDX 3
 #define PWM_SERVO_3_TIMER TIM3
-#define PWM_SERVO_3_RCC RCC_GPIOB
 #define PWM_SERVO_3_GPIO GPIOB
 #define PWM_SERVO_3_PIN GPIO4
 #define PWM_SERVO_3_AF GPIO_AF2
@@ -217,7 +213,6 @@
 #if USE_PWM4
 #define PWM_SERVO_4 4
 #define PWM_SERVO_4_TIMER TIM2
-#define PWM_SERVO_4_RCC RCC_GPIOB
 #define PWM_SERVO_4_GPIO GPIOB
 #define PWM_SERVO_4_PIN GPIO3
 #define PWM_SERVO_4_AF GPIO_AF1
@@ -230,7 +225,6 @@
 #if USE_PWM5
 #define PWM_SERVO_5 5
 #define PWM_SERVO_5_TIMER TIM2
-#define PWM_SERVO_5_RCC RCC_GPIOA
 #define PWM_SERVO_5_GPIO GPIOA
 #define PWM_SERVO_5_PIN GPIO15
 #define PWM_SERVO_5_AF GPIO_AF1

sw/airborne/boards/apogee_1.0.h

@@ -222,7 +222,6 @@
 #if USE_PWM0
 #define PWM_SERVO_0 0
 #define PWM_SERVO_0_TIMER TIM3
-#define PWM_SERVO_0_RCC RCC_GPIOB
 #define PWM_SERVO_0_GPIO GPIOB
 #define PWM_SERVO_0_PIN GPIO0
 #define PWM_SERVO_0_AF GPIO_AF2
@@ -238,7 +237,6 @@
 #if USE_PWM1
 #define PWM_SERVO_1 1
 #define PWM_SERVO_1_TIMER TIM2
-#define PWM_SERVO_1_RCC RCC_GPIOA
 #define PWM_SERVO_1_GPIO GPIOA
 #define PWM_SERVO_1_PIN GPIO2
 #define PWM_SERVO_1_AF GPIO_AF1
@@ -254,7 +252,6 @@
 #if USE_PWM2
 #define PWM_SERVO_2 2
 #define PWM_SERVO_2_TIMER TIM3
-#define PWM_SERVO_2_RCC RCC_GPIOB
 #define PWM_SERVO_2_GPIO GPIOB
 #define PWM_SERVO_2_PIN GPIO5
 #define PWM_SERVO_2_AF GPIO_AF2
@@ -270,7 +267,6 @@
 #if USE_PWM3
 #define PWM_SERVO_3 3
 #define PWM_SERVO_3_TIMER TIM3
-#define PWM_SERVO_3_RCC RCC_GPIOB
 #define PWM_SERVO_3_GPIO GPIOB
 #define PWM_SERVO_3_PIN GPIO4
 #define PWM_SERVO_3_AF GPIO_AF2
@@ -286,7 +282,6 @@
 #if USE_PWM4
 #define PWM_SERVO_4 4
 #define PWM_SERVO_4_TIMER TIM2
-#define PWM_SERVO_4_RCC RCC_GPIOB
 #define PWM_SERVO_4_GPIO GPIOB
 #define PWM_SERVO_4_PIN GPIO3
 #define PWM_SERVO_4_AF GPIO_AF1
@@ -302,7 +297,6 @@
 #if USE_PWM5
 #define PWM_SERVO_5 5
 #define PWM_SERVO_5_TIMER TIM2
-#define PWM_SERVO_5_RCC RCC_GPIOA
 #define PWM_SERVO_5_GPIO GPIOA
 #define PWM_SERVO_5_PIN GPIO15
 #define PWM_SERVO_5_AF GPIO_AF1
@@ -316,7 +310,6 @@
 #if USE_PWM6
 #define PWM_SERVO_6 6
 #define PWM_SERVO_6_TIMER TIM3
-#define PWM_SERVO_6_RCC RCC_GPIOB
 #define PWM_SERVO_6_GPIO GPIOB
 #define PWM_SERVO_6_PIN GPIO1
 #define PWM_SERVO_6_AF GPIO_AF2
@@ -346,6 +339,28 @@
 #define PPM_GPIO_PIN        GPIO8
 #define PPM_GPIO_AF         GPIO_AF1
 
+/*
+ * PWM input
+ */
+#define PWM_INPUT1_TIMER          TIM1
+#define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1
+#define PWM_INPUT1_CHANNEL_DUTY   TIM_IC2
+#define PWM_INPUT1_TIMER_INPUT    TIM_IC_IN_TI1
+#define PWM_INPUT1_SLAVE_TRIG     TIM_SMCR_TS_IT1FP1
+#define PWM_INPUT1_IRQ            NVIC_TIM1_CC_IRQ
+#define PWM_INPUT1_IRQ2           NVIC_TIM1_UP_TIM10_IRQ
+#define PWM_INPUT1_CC_IE          (TIM_DIER_CC1IE | TIM_DIER_CC2IE)
+#define USE_PWM_INPUT_TIM1        TRUE
+#define TIM1_PWM_INPUT_IDX        0
+#define TIM1_CC_IF_PERIOD         TIM_SR_CC1IF
+#define TIM1_CC_IF_DUTY           TIM_SR_CC2IF
+#define TIM1_CCR_PERIOD           TIM1_CCR1
+#define TIM1_CCR_DUTY             TIM1_CCR2
+// PPM in (aka PA8) is used: not compatible with PPM RC receiver
+#define PWM_INPUT1_GPIO_PORT      GPIOA
+#define PWM_INPUT1_GPIO_PIN       GPIO8
+#define PWM_INPUT1_GPIO_AF        GPIO_AF1
+
 /*
  * Spektrum
  */

sw/airborne/boards/krooz_sd.h

@@ -219,7 +219,6 @@
 #if USE_PWM0
 #define PWM_SERVO_0 0
 #define PWM_SERVO_0_TIMER TIM3
-#define PWM_SERVO_0_RCC RCC_GPIOB
 #define PWM_SERVO_0_GPIO GPIOB
 #define PWM_SERVO_0_PIN GPIO1
 #define PWM_SERVO_0_AF GPIO_AF2
@@ -232,7 +231,6 @@
 #if USE_PWM1
 #define PWM_SERVO_1 1
 #define PWM_SERVO_1_TIMER TIM3
-#define PWM_SERVO_1_RCC RCC_GPIOC
 #define PWM_SERVO_1_GPIO GPIOC
 #define PWM_SERVO_1_PIN GPIO8
 #define PWM_SERVO_1_AF GPIO_AF2
@@ -245,7 +243,6 @@
 #if USE_PWM2
 #define PWM_SERVO_2 2
 #define PWM_SERVO_2_TIMER TIM3
-#define PWM_SERVO_2_RCC RCC_GPIOC
 #define PWM_SERVO_2_GPIO GPIOC
 #define PWM_SERVO_2_PIN GPIO7
 #define PWM_SERVO_2_AF GPIO_AF2
@@ -258,7 +255,6 @@
 #if USE_PWM3
 #define PWM_SERVO_3 3
 #define PWM_SERVO_3_TIMER TIM3
-#define PWM_SERVO_3_RCC RCC_GPIOB
 #define PWM_SERVO_3_GPIO GPIOB
 #define PWM_SERVO_3_PIN GPIO4
 #define PWM_SERVO_3_AF GPIO_AF2
@@ -271,7 +267,6 @@
 #if USE_PWM4
 #define PWM_SERVO_4 4
 #define PWM_SERVO_4_TIMER TIM4
-#define PWM_SERVO_4_RCC RCC_GPIOB
 #define PWM_SERVO_4_GPIO GPIOB
 #define PWM_SERVO_4_PIN GPIO7
 #define PWM_SERVO_4_AF GPIO_AF2
@@ -284,7 +279,6 @@
 #if USE_PWM5
 #define PWM_SERVO_5 5
 #define PWM_SERVO_5_TIMER TIM4
-#define PWM_SERVO_5_RCC RCC_GPIOB
 #define PWM_SERVO_5_GPIO GPIOB
 #define PWM_SERVO_5_PIN GPIO6
 #define PWM_SERVO_5_AF GPIO_AF2
@@ -297,7 +291,6 @@
 #if USE_PWM6
 #define PWM_SERVO_6 6
 #define PWM_SERVO_6_TIMER TIM5
-#define PWM_SERVO_6_RCC RCC_GPIOA
 #define PWM_SERVO_6_GPIO GPIOA
 #define PWM_SERVO_6_PIN GPIO3
 #define PWM_SERVO_6_AF GPIO_AF2
@@ -310,7 +303,6 @@
 #if USE_PWM7
 #define PWM_SERVO_7 7
 #define PWM_SERVO_7_TIMER TIM5
-#define PWM_SERVO_7_RCC RCC_GPIOA
 #define PWM_SERVO_7_GPIO GPIOA
 #define PWM_SERVO_7_PIN GPIO2
 #define PWM_SERVO_7_AF GPIO_AF2
@@ -323,7 +315,6 @@
 #if USE_PWM8
 #define PWM_SERVO_8 8
 #define PWM_SERVO_8_TIMER TIM5
-#define PWM_SERVO_8_RCC RCC_GPIOA
 #define PWM_SERVO_8_GPIO GPIOA
 #define PWM_SERVO_8_PIN GPIO1
 #define PWM_SERVO_8_AF GPIO_AF2
@@ -336,7 +327,6 @@
 #if USE_PWM9
 #define PWM_SERVO_9 9
 #define PWM_SERVO_9_TIMER TIM5
-#define PWM_SERVO_9_RCC RCC_GPIOA
 #define PWM_SERVO_9_GPIO GPIOA
 #define PWM_SERVO_9_PIN GPIO0
 #define PWM_SERVO_9_AF GPIO_AF2
@@ -349,7 +339,6 @@
 #if USE_PWM10
 #define PWM_SERVO_10 10
 #define PWM_SERVO_10_TIMER TIM2
-#define PWM_SERVO_10_RCC RCC_GPIOB
 #define PWM_SERVO_10_GPIO GPIOB
 #define PWM_SERVO_10_PIN GPIO3
 #define PWM_SERVO_10_AF GPIO_AF1

sw/airborne/boards/lisa_l_1.0.h

@@ -203,10 +203,9 @@
 #if USE_PWM1
 #define PWM_SERVO_1 0
 #define PWM_SERVO_1_TIMER TIM3
-#define PWM_SERVO_1_RCC RCC_GPIOC
 #define PWM_SERVO_1_GPIO GPIOC
 #define PWM_SERVO_1_PIN GPIO6
-#define PWM_SERVO_1_AF 0
+#define PWM_SERVO_1_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_1_OC TIM_OC1
 #define PWM_SERVO_1_OC_BIT (1<<0)
 #else
@@ -216,10 +215,9 @@
 #if USE_PWM2
 #define PWM_SERVO_2 1
 #define PWM_SERVO_2_TIMER TIM3
-#define PWM_SERVO_2_RCC RCC_GPIOC
 #define PWM_SERVO_2_GPIO GPIOC
 #define PWM_SERVO_2_PIN GPIO7
-#define PWM_SERVO_2_AF 0
+#define PWM_SERVO_2_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_2_OC TIM_OC2
 #define PWM_SERVO_2_OC_BIT (1<<1)
 #else
@@ -229,10 +227,9 @@
 #if USE_PWM3
 #define PWM_SERVO_3 2
 #define PWM_SERVO_3_TIMER TIM3
-#define PWM_SERVO_3_RCC RCC_GPIOC
 #define PWM_SERVO_3_GPIO GPIOC
 #define PWM_SERVO_3_PIN GPIO8
-#define PWM_SERVO_3_AF 0
+#define PWM_SERVO_3_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_3_OC TIM_OC3
 #define PWM_SERVO_3_OC_BIT (1<<2)
 #else
@@ -242,10 +239,9 @@
 #if USE_PWM4
 #define PWM_SERVO_4 3
 #define PWM_SERVO_4_TIMER TIM3
-#define PWM_SERVO_4_RCC RCC_GPIOC
 #define PWM_SERVO_4_GPIO GPIOC
 #define PWM_SERVO_4_PIN GPIO9
-#define PWM_SERVO_4_AF 0
+#define PWM_SERVO_4_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_4_OC TIM_OC4
 #define PWM_SERVO_4_OC_BIT (1<<3)
 #else
@@ -255,7 +251,6 @@
 #if USE_PWM5
 #define PWM_SERVO_5 4
 #define PWM_SERVO_5_TIMER TIM4
-#define PWM_SERVO_5_RCC RCC_GPIOB
 #define PWM_SERVO_5_GPIO GPIOB
 #define PWM_SERVO_5_PIN GPIO8
 #define PWM_SERVO_5_AF 0
@@ -268,12 +263,11 @@
 #if USE_PWM6
 #define PWM_SERVO_6 5
 #define PWM_SERVO_6_TIMER TIM4
-#define PWM_SERVO_6_RCC RCC_GPIOB
 #define PWM_SERVO_6_GPIO GPIOB
 #define PWM_SERVO_6_PIN GPIO9
 #define PWM_SERVO_6_AF 0
 #define PWM_SERVO_6_OC TIM_OC4
-#define PWM_SERVO_6_OC_BIT (1<<4)
+#define PWM_SERVO_6_OC_BIT (1<<3)
 #else
 #define PWM_SERVO_6_OC_BIT 0
 #endif

sw/airborne/boards/lisa_m_common.h

@@ -256,10 +256,9 @@
 #if USE_PWM1
 #define PWM_SERVO_1 0
 #define PWM_SERVO_1_TIMER TIM3
-#define PWM_SERVO_1_RCC RCC_GPIOC
 #define PWM_SERVO_1_GPIO GPIOC
 #define PWM_SERVO_1_PIN GPIO6
-#define PWM_SERVO_1_AF 0
+#define PWM_SERVO_1_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_1_OC TIM_OC1
 #define PWM_SERVO_1_OC_BIT (1<<0)
 #else
@@ -269,10 +268,9 @@
 #if USE_PWM2
 #define PWM_SERVO_2 1
 #define PWM_SERVO_2_TIMER TIM3
-#define PWM_SERVO_2_RCC RCC_GPIOC
 #define PWM_SERVO_2_GPIO GPIOC
 #define PWM_SERVO_2_PIN GPIO7
-#define PWM_SERVO_2_AF 0
+#define PWM_SERVO_2_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_2_OC TIM_OC2
 #define PWM_SERVO_2_OC_BIT (1<<1)
 #else
@@ -282,10 +280,9 @@
 #if USE_PWM3
 #define PWM_SERVO_3 2
 #define PWM_SERVO_3_TIMER TIM3
-#define PWM_SERVO_3_RCC RCC_GPIOC
 #define PWM_SERVO_3_GPIO GPIOC
 #define PWM_SERVO_3_PIN GPIO8
-#define PWM_SERVO_3_AF 0
+#define PWM_SERVO_3_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_3_OC TIM_OC3
 #define PWM_SERVO_3_OC_BIT (1<<2)
 #else
@@ -295,10 +292,9 @@
 #if USE_PWM4
 #define PWM_SERVO_4 3
 #define PWM_SERVO_4_TIMER TIM3
-#define PWM_SERVO_4_RCC RCC_GPIOC
 #define PWM_SERVO_4_GPIO GPIOC
 #define PWM_SERVO_4_PIN GPIO9
-#define PWM_SERVO_4_AF 0
+#define PWM_SERVO_4_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 #define PWM_SERVO_4_OC TIM_OC4
 #define PWM_SERVO_4_OC_BIT (1<<3)
 #else
@@ -308,7 +304,6 @@
 #if USE_PWM5
   #define PWM_SERVO_5 4
   #define PWM_SERVO_5_TIMER TIM5
-  #define PWM_SERVO_5_RCC RCC_GPIOA
   #define PWM_SERVO_5_GPIO GPIOA
   #define PWM_SERVO_5_PIN GPIO0
   #define PWM_SERVO_5_AF 0
@@ -333,7 +328,6 @@
 #if USE_PWM6
   #define PWM_SERVO_6 5
   #define PWM_SERVO_6_TIMER TIM5
-  #define PWM_SERVO_6_RCC RCC_GPIOA
   #define PWM_SERVO_6_GPIO GPIOA
   #define PWM_SERVO_6_PIN GPIO1
   #define PWM_SERVO_6_AF 0
@@ -363,7 +357,6 @@
 #if USE_PWM7
 #define PWM_SERVO_7 6
 #define PWM_SERVO_7_TIMER TIM4
-#define PWM_SERVO_7_RCC RCC_GPIOB
 #define PWM_SERVO_7_GPIO GPIOB
 #define PWM_SERVO_7_PIN GPIO6
 #define PWM_SERVO_7_AF 0
@@ -376,7 +369,6 @@
 #if USE_PWM8
 #define PWM_SERVO_8 7
 #define PWM_SERVO_8_TIMER TIM4
-#define PWM_SERVO_8_RCC RCC_GPIOB
 #define PWM_SERVO_8_GPIO GPIOB
 #define PWM_SERVO_8_PIN GPIO7
 #define PWM_SERVO_8_AF 0

sw/airborne/boards/lisa_mx_2.0.h

@@ -382,7 +382,6 @@
 #if USE_PWM1
 #define PWM_SERVO_1 0
 #define PWM_SERVO_1_TIMER TIM3
-#define PWM_SERVO_1_RCC RCC_GPIOC
 #define PWM_SERVO_1_GPIO GPIOC
 #define PWM_SERVO_1_PIN GPIO6
 #define PWM_SERVO_1_AF GPIO_AF2
@@ -395,7 +394,6 @@
 #if USE_PWM2
 #define PWM_SERVO_2 1
 #define PWM_SERVO_2_TIMER TIM3
-#define PWM_SERVO_2_RCC RCC_GPIOC
 #define PWM_SERVO_2_GPIO GPIOC
 #define PWM_SERVO_2_PIN GPIO7
 #define PWM_SERVO_2_AF GPIO_AF2
@@ -408,7 +406,6 @@
 #if USE_PWM3
 #define PWM_SERVO_3 2
 #define PWM_SERVO_3_TIMER TIM3
-#define PWM_SERVO_3_RCC RCC_GPIOC
 #define PWM_SERVO_3_GPIO GPIOC
 #define PWM_SERVO_3_PIN GPIO8
 #define PWM_SERVO_3_AF GPIO_AF2
@@ -421,7 +418,6 @@
 #if USE_PWM4
 #define PWM_SERVO_4 3
 #define PWM_SERVO_4_TIMER TIM3
-#define PWM_SERVO_4_RCC RCC_GPIOC
 #define PWM_SERVO_4_GPIO GPIOC
 #define PWM_SERVO_4_PIN GPIO9
 #define PWM_SERVO_4_AF GPIO_AF2
@@ -434,7 +430,6 @@
 #if USE_PWM5
 #define PWM_SERVO_5 4
 #define PWM_SERVO_5_TIMER TIM5
-#define PWM_SERVO_5_RCC RCC_GPIOA
 #define PWM_SERVO_5_GPIO GPIOA
 #define PWM_SERVO_5_PIN GPIO0
 #define PWM_SERVO_5_AF GPIO_AF2
@@ -447,7 +442,6 @@
 #if USE_PWM6
 #define PWM_SERVO_6 5
 #define PWM_SERVO_6_TIMER TIM5
-#define PWM_SERVO_6_RCC RCC_GPIOA
 #define PWM_SERVO_6_GPIO GPIOA
 #define PWM_SERVO_6_PIN GPIO1
 #define PWM_SERVO_6_AF GPIO_AF2
@@ -460,7 +454,6 @@
 #if USE_PWM7
 #define PWM_SERVO_7 6
 #define PWM_SERVO_7_TIMER TIM4
-#define PWM_SERVO_7_RCC RCC_GPIOB
 #define PWM_SERVO_7_GPIO GPIOB
 #define PWM_SERVO_7_PIN GPIO6
 #define PWM_SERVO_7_AF GPIO_AF2
@@ -473,7 +466,6 @@
 #if USE_PWM8
 #define PWM_SERVO_8 7
 #define PWM_SERVO_8_TIMER TIM4
-#define PWM_SERVO_8_RCC RCC_GPIOB
 #define PWM_SERVO_8_GPIO GPIOB
 #define PWM_SERVO_8_PIN GPIO7
 #define PWM_SERVO_8_AF GPIO_AF2

sw/airborne/boards/lisa_s_1.0.h

@@ -315,7 +315,6 @@
 #if USE_PWM1
 #define PWM_SERVO_1 4
 #define PWM_SERVO_1_TIMER TIM4
-#define PWM_SERVO_1_RCC RCC_GPIOB
 #define PWM_SERVO_1_GPIO GPIOB
 #define PWM_SERVO_1_PIN GPIO6
 #define PWM_SERVO_1_AF 0
@@ -328,7 +327,6 @@
 #if USE_PWM2
 #define PWM_SERVO_2 5
 #define PWM_SERVO_2_TIMER TIM4
-#define PWM_SERVO_2_RCC RCC_GPIOB
 #define PWM_SERVO_2_GPIO GPIOB
 #define PWM_SERVO_2_PIN GPIO7
 #define PWM_SERVO_2_AF 0
@@ -341,7 +339,6 @@
 #if USE_PWM3
 #define PWM_SERVO_3 0
 #define PWM_SERVO_3_TIMER TIM4
-#define PWM_SERVO_3_RCC RCC_GPIOB
 #define PWM_SERVO_3_GPIO GPIOB
 #define PWM_SERVO_3_PIN GPIO8
 #define PWM_SERVO_3_AF 0
@@ -354,7 +351,6 @@
 #if USE_PWM4
 #define PWM_SERVO_4 1
 #define PWM_SERVO_4_TIMER TIM4
-#define PWM_SERVO_4_RCC RCC_GPIOB
 #define PWM_SERVO_4_GPIO GPIOB
 #define PWM_SERVO_4_PIN GPIO9
 #define PWM_SERVO_4_AF 0
@@ -367,7 +363,6 @@
 #if USE_PWM5
   #define PWM_SERVO_5 2
   #define PWM_SERVO_5_TIMER TIM5
-  #define PWM_SERVO_5_RCC RCC_GPIOA
   #define PWM_SERVO_5_GPIO GPIOA
   #define PWM_SERVO_5_PIN GPIO0
   #define PWM_SERVO_5_AF 0
@@ -392,7 +387,6 @@
 #if USE_PWM6
   #define PWM_SERVO_6 3
   #define PWM_SERVO_6_TIMER TIM5
-  #define PWM_SERVO_6_RCC RCC_GPIOA
   #define PWM_SERVO_6_GPIO GPIOA
   #define PWM_SERVO_6_PIN GPIO1
   #define PWM_SERVO_6_AF 0

sw/airborne/boards/navstik/baro_board.c

@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/** @file boards/navstik/baro_board.c
+ *  Baro board interface for Bosch BMP185 on Navstik I2C3 without EOC check.
+ */
+
+#include "std.h"
+
+#include "subsystems/sensors/baro.h"
+#include "peripherals/bmp085.h"
+#include "peripherals/bmp085_regs.h"
+#include <libopencm3/stm32/gpio.h>
+#include "subsystems/abi.h"
+
+#include "led.h"
+
+
+struct Bmp085 baro_bmp085;
+
+void baro_init(void) {
+  bmp085_init(&baro_bmp085, &i2c3, BMP085_SLAVE_ADDR);
+
+#ifdef BARO_LED
+  LED_OFF(BARO_LED);
+#endif
+}
+
+void baro_periodic(void) {
+  if (baro_bmp085.initialized) {
+    bmp085_periodic(&baro_bmp085);
+  }
+  else {
+    bmp085_read_eeprom_calib(&baro_bmp085);
+  }
+}
+
+void baro_event(void) {
+  bmp085_event(&baro_bmp085);
+
+  if (baro_bmp085.data_available) {
+    float pressure = (float)baro_bmp085.pressure;
+    AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
+    baro_bmp085.data_available = FALSE;
+#ifdef BARO_LED
+    RunOnceEvery(10,LED_TOGGLE(BARO_LED));
+#endif
+  }
+}

sw/airborne/boards/navstik/baro_board.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/*
+ * board specific functions for the navstik board
+ */
+
+#ifndef BOARDS_NAVSTIK_BARO_H
+#define BOARDS_NAVSTIK_BARO_H
+
+// only for printing the baro type during compilation
+#ifndef BARO_BOARD
+#define BARO_BOARD BARO_BOARD_BMP085
+#endif
+
+extern void baro_event(void);
+#define BaroEvent baro_event
+
+#endif /* BOARDS_NAVSTIK_BARO_H */

sw/airborne/boards/navstik_1.0.h

@@ -0,0 +1,320 @@
+/*
+ * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef CONFIG_NAVSTIK_1_0_H
+#define CONFIG_NAVSTIK_1_0_H
+
+/* Navstik has a 12MHz external clock and 168MHz internal. */
+#define EXT_CLK 25000000
+#define AHB_CLK 168000000
+
+/*
+ * Onboard LEDs
+ */
+
+/* red, on PA8 */
+#ifndef USE_LED_1
+#define USE_LED_1 1
+#endif
+#define LED_1_GPIO GPIOC
+#define LED_1_GPIO_PIN GPIO4
+#define LED_1_GPIO_ON gpio_set
+#define LED_1_GPIO_OFF gpio_clear
+#define LED_1_AFIO_REMAP ((void)0)
+
+/* green, shared with JTAG_TRST */
+#ifndef USE_LED_2
+#define USE_LED_2 1
+#endif
+#define LED_2_GPIO GPIOC
+#define LED_2_GPIO_PIN GPIO5
+#define LED_2_GPIO_ON gpio_set
+#define LED_2_GPIO_OFF gpio_clear
+#define LED_2_AFIO_REMAP ((void)0)
+
+
+/*
+ * not actual LEDS, used as GPIOs
+ */
+#define GPS_POWER_GPIO GPIOA,GPIO4
+#define IMU_POWER_GPIO GPIOC,GPIO15
+
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
+#define ActuatorsDefaultInit() ActuatorsPwmInit()
+#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
+
+
+/* UART */
+#define UART1_GPIO_AF GPIO_AF7
+#define UART1_GPIO_PORT_RX GPIOB
+#define UART1_GPIO_RX GPIO7
+#define UART1_GPIO_PORT_TX GPIOB
+#define UART1_GPIO_TX GPIO6
+
+#define UART2_GPIO_AF GPIO_AF7
+#define UART2_GPIO_PORT_RX GPIOA
+#define UART2_GPIO_RX GPIO3
+#define UART2_GPIO_PORT_TX GPIOA
+#define UART2_GPIO_TX GPIO2
+
+#define UART5_GPIO_AF GPIO_AF8
+#define UART5_GPIO_PORT_RX GPIOD
+#define UART5_GPIO_RX GPIO2
+#define UART5_GPIO_PORT_TX GPIOC
+#define UART5_GPIO_TX GPIO12
+
+#define UART6_GPIO_AF GPIO_AF8
+#define UART6_GPIO_PORT_RX GPIOC
+#define UART6_GPIO_RX GPIO7
+#define UART6_GPIO_PORT_TX GPIOC
+#define UART6_GPIO_TX GPIO6
+
+/*
+ * Spektrum
+ */
+/* The line that is pulled low at power up to initiate the bind process */
+#define SPEKTRUM_BIND_PIN GPIO6
+#define SPEKTRUM_BIND_PIN_PORT GPIOC
+#define SPEKTRUM_BIND_PIN_HIGH 1
+
+#define SPEKTRUM_UART6_RCC RCC_USART6
+#define SPEKTRUM_UART6_BANK GPIOC
+#define SPEKTRUM_UART6_PIN GPIO7
+#define SPEKTRUM_UART6_AF GPIO_AF8
+#define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ
+#define SPEKTRUM_UART6_ISR usart6_isr
+#define SPEKTRUM_UART6_DEV USART6
+
+/*
+ * PPM
+ */
+
+/* input on PC6 (Spektrum Tx) */
+#define USE_PPM_TIM8 8
+#define PPM_CHANNEL         TIM_IC3
+#define PPM_TIMER_INPUT     TIM_IC_IN_TI2
+#define PPM_IRQ             NVIC_TIM3_CC_IRQ
+#define PPM_IRQ2            NVIC_TIM1_UP_TIM10_IRQ
+// Capture/Compare InteruptEnable and InterruptFlag
+#define PPM_CC_IE           TIM_DIER_CC2IE
+#define PPM_CC_IF           TIM_SR_CC2IF
+#define PPM_GPIO_PORT       GPIOC
+#define PPM_GPIO_PIN        GPIO7
+#define PPM_GPIO_AF         GPIO_AF8
+
+/* SPI */
+#define SPI1_GPIO_AF GPIO_AF5
+#define SPI1_GPIO_PORT_MISO GPIOA
+#define SPI1_GPIO_MISO GPIO6
+#define SPI1_GPIO_PORT_MOSI GPIOA
+#define SPI1_GPIO_MOSI GPIO7
+#define SPI1_GPIO_PORT_SCK GPIOA
+#define SPI1_GPIO_SCK GPIO5
+
+#define SPI2_GPIO_AF GPIO_AF5
+#define SPI2_GPIO_PORT_MISO GPIOB
+#define SPI2_GPIO_MISO GPIO14
+#define SPI2_GPIO_PORT_MOSI GPIOB
+#define SPI2_GPIO_MOSI GPIO15
+#define SPI2_GPIO_PORT_SCK GPIOB
+#define SPI2_GPIO_SCK GPIO13
+
+#define SPI_SELECT_SLAVE0_PORT GPIOA
+#define SPI_SELECT_SLAVE0_PIN GPIO15
+
+#define SPI_SELECT_SLAVE1_PORT GPIOA
+#define SPI_SELECT_SLAVE1_PIN GPIO4
+
+#define SPI_SELECT_SLAVE2_PORT GPIOB
+#define SPI_SELECT_SLAVE2_PIN GPIO12
+
+#define SPI_SELECT_SLAVE3_PORT GPIOC
+#define SPI_SELECT_SLAVE3_PIN GPIO13
+
+#define SPI_SELECT_SLAVE4_PORT GPIOC
+#define SPI_SELECT_SLAVE4_PIN GPIO12
+
+#define SPI_SELECT_SLAVE5_PORT GPIOC
+#define SPI_SELECT_SLAVE5_PIN GPIO4
+
+
+/* I2C mapping */
+#define I2C1_GPIO_PORT GPIOB
+#define I2C1_GPIO_SCL GPIO8
+#define I2C1_GPIO_SDA GPIO9
+
+#define I2C3_GPIO_PORT_SCL GPIOA
+#define I2C3_GPIO_SCL GPIO8
+#define I2C3_GPIO_PORT_SDA GPIOC
+#define I2C3_GPIO_SDA GPIO9
+
+
+/*
+ * ADC
+ */
+
+/* Onboard ADCs */
+/*
+   BATT_volt     PC1/ADC123  (ADC123_IN11)
+   BATT_current  PA1/ADC123  (ADC123_IN1)
+*/
+
+// Internal ADC for battery enabled by default
+#ifndef USE_ADC_1
+#define USE_ADC_1 1
+#endif
+#if USE_ADC_1
+#define AD1_1_CHANNEL 11
+#define ADC_1 AD1_1
+#define ADC_1_GPIO_PORT GPIOC
+#define ADC_1_GPIO_PIN GPIO1
+#endif
+
+#ifndef USE_ADC_2
+#define USE_ADC_2 1
+#endif
+#if USE_ADC_2
+#define AD1_2_CHANNEL 1
+#define ADC_2 AD1_2
+#define ADC_2_GPIO_PORT GPIOA
+#define ADC_2_GPIO_PIN GPIO1
+#endif
+
+/* allow to define ADC_CHANNEL_VSUPPLY and ADC_CHANNEL_CURRENT in the airframe file*/
+#ifndef ADC_CHANNEL_VSUPPLY
+#define ADC_CHANNEL_VSUPPLY ADC_1
+#endif
+#ifndef ADC_CHANNEL_CURRENT
+#define ADC_CHANNEL_CURRENT ADC_2
+#endif
+
+#define DefaultVoltageOfAdc(adc) (0.00382*adc)
+#define DefaultMilliAmpereOfAdc(adc) (0.42497*adc)
+
+
+/*
+ * PWM
+ *
+ */
+#define PWM_USE_TIM1 1
+#define PWM_USE_TIM2 2
+#define PWM_USE_TIM3 3
+#define PWM_USE_TIM8 8
+
+#define USE_PWM1 1
+#define USE_PWM2 1
+#define USE_PWM3 1
+#define USE_PWM4 1
+#define USE_PWM5 1
+#define USE_PWM6 1
+
+
+// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
+#if USE_PWM1
+#define PWM_SERVO_1 0
+#define PWM_SERVO_1_TIMER TIM3
+#define PWM_SERVO_1_GPIO GPIOB
+#define PWM_SERVO_1_PIN GPIO5
+#define PWM_SERVO_1_AF GPIO_AF2
+#define PWM_SERVO_1_OC TIM_OC2
+#define PWM_SERVO_1_OC_BIT (1<<1)
+#else
+#define PWM_SERVO_1_OC_BIT 0
+#endif
+
+#if USE_PWM2
+#define PWM_SERVO_2 1
+#define PWM_SERVO_2_TIMER TIM1
+#define PWM_SERVO_2_GPIO GPIOA
+#define PWM_SERVO_2_PIN GPIO10
+#define PWM_SERVO_2_AF GPIO_AF1
+#define PWM_SERVO_2_OC TIM_OC3
+#define PWM_SERVO_2_OC_BIT (1<<2)
+#else
+#define PWM_SERVO_2_OC_BIT 0
+#endif
+
+#if USE_PWM3
+#define PWM_SERVO_3 2
+#define PWM_SERVO_3_TIMER TIM8
+#define PWM_SERVO_3_GPIO GPIOC
+#define PWM_SERVO_3_PIN GPIO8
+#define PWM_SERVO_3_AF GPIO_AF3
+#define PWM_SERVO_3_OC TIM_OC3
+#define PWM_SERVO_3_OC_BIT (1<<2)
+#else
+#define PWM_SERVO_3_OC_BIT 0
+#endif
+
+#if USE_PWM4
+#define PWM_SERVO_4 3
+#define PWM_SERVO_4_TIMER TIM2
+#define PWM_SERVO_4_GPIO GPIOB
+#define PWM_SERVO_4_PIN GPIO11
+#define PWM_SERVO_4_AF GPIO_AF1
+#define PWM_SERVO_4_OC TIM_OC4
+#define PWM_SERVO_4_OC_BIT (1<<3)
+#else
+#define PWM_SERVO_4_OC_BIT 0
+#endif
+
+#if USE_PWM5
+#define PWM_SERVO_5 4
+#define PWM_SERVO_5_TIMER TIM3
+#define PWM_SERVO_5_GPIO GPIOB
+#define PWM_SERVO_5_PIN GPIO1
+#define PWM_SERVO_5_AF GPIO_AF2
+#define PWM_SERVO_5_OC TIM_OC4
+#define PWM_SERVO_5_OC_BIT (1<<3)
+#else
+#define PWM_SERVO_5_OC_BIT 0
+#endif
+
+#if USE_PWM6
+#define PWM_SERVO_6 5
+#define PWM_SERVO_6_TIMER TIM3
+#define PWM_SERVO_6_GPIO GPIOB
+#define PWM_SERVO_6_PIN GPIO0
+#define PWM_SERVO_6_AF GPIO_AF2
+#define PWM_SERVO_6_OC TIM_OC3
+#define PWM_SERVO_6_OC_BIT (1<<2)
+#else
+#define PWM_SERVO_6_OC_BIT 0
+#endif
+
+/* servo 2 on TIM1 */
+#define PWM_TIM1_CHAN_MASK (PWM_SERVO_2_OC_BIT)
+/* servo 4 on TIM2 */
+#define PWM_TIM2_CHAN_MASK (PWM_SERVO_4_OC_BIT)
+/* servos 1,5,6 on TIM3 */
+#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
+/* servo 3 on TIM8 */
+#define PWM_TIM8_CHAN_MASK (PWM_SERVO_3_OC_BIT)
+
+/* by default activate onboard baro */
+#ifndef USE_BARO_BOARD
+#define USE_BARO_BOARD 1
+#endif
+
+#endif /* CONFIG_NAVSTIK_1_0_H */

sw/airborne/boards/px4fmu_1.7.h

@@ -226,7 +226,6 @@
 #if USE_PWM1
 #define PWM_SERVO_1 0
 #define PWM_SERVO_1_TIMER TIM2
-#define PWM_SERVO_1_RCC RCC_GPIOA
 #define PWM_SERVO_1_GPIO GPIOA
 #define PWM_SERVO_1_PIN GPIO0
 #define PWM_SERVO_1_AF GPIO_AF1
@@ -240,7 +239,6 @@
 #if USE_PWM2
 #define PWM_SERVO_2 1
 #define PWM_SERVO_2_TIMER TIM2
-#define PWM_SERVO_2_RCC RCC_GPIOA
 #define PWM_SERVO_2_GPIO GPIOA
 #define PWM_SERVO_2_PIN GPIO1
 #define PWM_SERVO_2_AF GPIO_AF1
@@ -254,7 +252,6 @@
 #if USE_PWM3
 #define PWM_SERVO_3_IDX 2
 #define PWM_SERVO_3_TIMER TIM2
-#define PWM_SERVO_3_RCC RCC_GPIOA
 #define PWM_SERVO_3_GPIO GPIOA
 #define PWM_SERVO_3_PIN GPIO2
 #define PWM_SERVO_3_AF GPIO_AF1
@@ -268,7 +265,6 @@
 #if USE_PWM4
 #define PWM_SERVO_4 3
 #define PWM_SERVO_4_TIMER TIM2
-#define PWM_SERVO_4_RCC RCC_GPIOA
 #define PWM_SERVO_4_GPIO GPIOA
 #define PWM_SERVO_4_PIN GPIO3
 #define PWM_SERVO_4_AF GPIO_AF1

sw/airborne/boards/stm32f4_discovery.h

@@ -393,7 +393,6 @@
 #if USE_PWM0
 #define PWM_SERVO_0 0
 #define PWM_SERVO_0_TIMER TIM1
-#define PWM_SERVO_0_RCC RCC_GPIOE
 #define PWM_SERVO_0_GPIO GPIOE
 #define PWM_SERVO_0_PIN GPIO9
 #define PWM_SERVO_0_AF GPIO_AF1
@@ -406,7 +405,6 @@
 #if USE_PWM1
 #define PWM_SERVO_1 1
 #define PWM_SERVO_1_TIMER TIM1
-#define PWM_SERVO_1_RCC RCC_GPIOE
 #define PWM_SERVO_1_GPIO GPIOE
 #define PWM_SERVO_1_PIN GPIO11
 #define PWM_SERVO_1_AF GPIO_AF1
@@ -419,7 +417,6 @@
 #if USE_PWM2
 #define PWM_SERVO_2 2
 #define PWM_SERVO_2_TIMER TIM1
-#define PWM_SERVO_2_RCC RCC_GPIOE
 #define PWM_SERVO_2_GPIO GPIOE
 #define PWM_SERVO_2_PIN GPIO13
 #define PWM_SERVO_2_AF GPIO_AF1
@@ -432,7 +429,6 @@
 #if USE_PWM3
 #define PWM_SERVO_3 3
 #define PWM_SERVO_3_TIMER TIM1
-#define PWM_SERVO_3_RCC RCC_GPIOE
 #define PWM_SERVO_3_GPIO GPIOE
 #define PWM_SERVO_3_PIN GPIO14
 #define PWM_SERVO_3_AF GPIO_AF1
@@ -445,7 +441,6 @@
 #if USE_PWM4
 #define PWM_SERVO_4 4
 #define PWM_SERVO_4_TIMER TIM9
-#define PWM_SERVO_4_RCC RCC_GPIOE
 #define PWM_SERVO_4_GPIO GPIOE
 #define PWM_SERVO_4_PIN GPIO5
 #define PWM_SERVO_4_AF GPIO_AF3
@@ -458,7 +453,6 @@
 #if USE_PWM5
 #define PWM_SERVO_5 5
 #define PWM_SERVO_5_TIMER TIM9
-#define PWM_SERVO_5_RCC RCC_GPIOE
 #define PWM_SERVO_5_GPIO GPIOE
 #define PWM_SERVO_5_PIN GPIO6
 #define PWM_SERVO_5_AF GPIO_AF3
@@ -472,7 +466,6 @@
 #if USE_PWM6
 #define PWM_SERVO_6 6
 #define PWM_SERVO_6_TIMER TIM5
-#define PWM_SERVO_6_RCC RCC_GPIOA
 #define PWM_SERVO_6_GPIO GPIOA
 #define PWM_SERVO_6_PIN GPIO3
 #define PWM_SERVO_6_AF GPIO_AF2
@@ -485,7 +478,6 @@
 #if USE_PWM7
 #define PWM_SERVO_7 7
 #define PWM_SERVO_7_TIMER TIM5
-#define PWM_SERVO_7_RCC RCC_GPIOA
 #define PWM_SERVO_7_GPIO GPIOA
 #define PWM_SERVO_7_PIN GPIO2
 #define PWM_SERVO_7_AF GPIO_AF2
@@ -498,7 +490,6 @@
 #if USE_PWM8
 #define PWM_SERVO_8 8
 #define PWM_SERVO_8_TIMER TIM5
-#define PWM_SERVO_8_RCC RCC_GPIOA
 #define PWM_SERVO_8_GPIO GPIOA
 #define PWM_SERVO_8_PIN GPIO1
 #define PWM_SERVO_8_AF GPIO_AF2
@@ -511,7 +502,6 @@
 #if USE_PWM9
 #define PWM_SERVO_9 9
 #define PWM_SERVO_9_TIMER TIM5
-#define PWM_SERVO_9_RCC RCC_GPIOA
 #define PWM_SERVO_9_GPIO GPIOA
 #define PWM_SERVO_9_PIN GPIO0
 #define PWM_SERVO_9_AF GPIO_AF2
@@ -525,7 +515,6 @@
 #if USE_PWM10
 #define PWM_SERVO_10 10
 #define PWM_SERVO_10_TIMER TIM12
-#define PWM_SERVO_10_RCC RCC_GPIOB
 #define PWM_SERVO_10_GPIO GPIOB
 #define PWM_SERVO_10_PIN GPIO14
 #define PWM_SERVO_10_AF GPIO_AF9
@@ -538,7 +527,6 @@
 #if USE_PWM11
 #define PWM_SERVO_11 11
 #define PWM_SERVO_11_TIMER TIM12
-#define PWM_SERVO_11_RCC RCC_GPIOB
 #define PWM_SERVO_11_GPIO GPIOB
 #define PWM_SERVO_11_PIN GPIO15
 #define PWM_SERVO_11_AF GPIO_AF9

sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h

@@ -57,16 +57,6 @@ extern float h_ctl_pitch_of_roll;
   h_ctl_pitch_igain = _gain; \
   }
 
-/* inner roll loop parameters */
-extern float h_ctl_ref_roll_angle;
-extern float h_ctl_ref_roll_rate;
-extern float h_ctl_ref_roll_accel;
-
-/* inner pitch loop parameters */
-extern float h_ctl_ref_pitch_angle;
-extern float h_ctl_ref_pitch_rate;
-extern float h_ctl_ref_pitch_accel;
-
 extern bool_t use_airspeed_ratio;
 
 #endif /* FW_H_CTL_A_H */

sw/airborne/firmwares/rotorcraft/autopilot.c

@@ -460,7 +460,7 @@ void autopilot_check_in_flight(bool_t motors_on) {
 
 
 void autopilot_set_motors_on(bool_t motors_on) {
-  if (ahrs_is_aligned() && motors_on)
+  if (autopilot_mode != AP_MODE_KILL && ahrs_is_aligned() && motors_on)
     autopilot_motors_on = TRUE;
   else
     autopilot_motors_on = FALSE;

sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

@@ -446,7 +446,7 @@ static void guidance_h_traj_run(bool_t in_flight) {
     ((guidance_h_again * guidance_h_accel_ref.x) >> 8);   /* acceleration feedforward gain */
   guidance_h_cmd_earth.y =
     pd_y +
-    ((guidance_h_vgain * guidance_h_speed_ref.x) >> 17) + /* speed feedforward gain */
+    ((guidance_h_vgain * guidance_h_speed_ref.y) >> 17) + /* speed feedforward gain */
     ((guidance_h_again * guidance_h_accel_ref.y) >> 8);   /* acceleration feedforward gain */
 
   /* trim max bank angle from PD */