ArduCopter: first pass at AP_HAL porting

* changed all the byte types to uint8_t
* fixed up much of the serial stuff

ArduCopter/ArduCopter.pde

@@ -54,64 +54,44 @@
 // Header includes
 ////////////////////////////////////////////////////////////////////////////////
 
-// AVR runtime
-#include <avr/io.h>
-#include <avr/eeprom.h>
-#include <avr/pgmspace.h>
-#include <avr/wdt.h>
-#include <math.h>
-
 // Libraries
-#include <FastSerial.h>
+
+// Common dependencies
 #include <AP_Common.h>
 #include <AP_Progmem.h>
 #include <AP_Menu.h>
 #include <AP_Param.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <APM_RC.h>             // ArduPilot Mega RC Library
+// AP_HAL
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+// Application dependencies
+#include <GCS_MAVLink.h>        // MAVLink GCS definitions
 #include <AP_GPS.h>             // ArduPilot GPS library
-#include <I2C.h>                // Arduino I2C lib
-#include <SPI.h>                // Arduino SPI lib
-#include <SPI3.h>               // SPI3 library
-#include <AP_Semaphore.h>       // for removing conflict between optical flow and dataflash on SPI3 bus
 #include <DataFlash.h>          // ArduPilot Mega Flash Memory Library
 #include <AP_ADC.h>             // ArduPilot Mega Analog to Digital Converter Library
-#include <AP_AnalogSource.h>
 #include <AP_Baro.h>
 #include <AP_Compass.h>         // ArduPilot Mega Magnetometer Library
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <AP_Curve.h>           // Curve used to linearlise throttle pwm to thrust
 #include <AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
-#include <AP_PeriodicProcess.h> // Parent header of Timer
-                                // (only included for makefile libpath to work)
-#include <AP_TimerProcess.h>    // TimerProcess is the scheduler for MPU6000 reads.
 #include <AP_AHRS.h>
 #include <APM_PI.h>             // PI library
 #include <AC_PID.h>             // PID library
 #include <RC_Channel.h>         // RC Channel Library
 #include <AP_Motors.h>          // AP Motors library
-#include <AP_MotorsQuad.h>      // AP Motors library for Quad
-#include <AP_MotorsTri.h>       // AP Motors library for Tri
-#include <AP_MotorsHexa.h>      // AP Motors library for Hexa
-#include <AP_MotorsY6.h>        // AP Motors library for Y6
-#include <AP_MotorsOcta.h>      // AP Motors library for Octa
-#include <AP_MotorsOctaQuad.h>  // AP Motors library for OctaQuad
-#include <AP_MotorsHeli.h>      // AP Motors library for Heli
-#include <AP_MotorsMatrix.h>    // AP Motors library for Heli
 #include <AP_RangeFinder.h>     // Range finder library
 #include <AP_OpticalFlow.h>     // Optical Flow library
 #include <Filter.h>             // Filter library
 #include <AP_Buffer.h>          // APM FIFO Buffer
-#include <ModeFilter.h>         // Mode Filter from Filter library
-#include <AverageFilter.h>      // Mode Filter from Filter library
 #include <AP_LeadFilter.h>      // GPS Lead filter
-#include <LowPassFilter.h>      // Low Pass Filter library
 #include <AP_Relay.h>           // APM relay
 #include <AP_Camera.h>          // Photo or video camera
 #include <AP_Mount.h>           // Camera/Antenna mount
 #include <AP_Airspeed.h>        // needed for AHRS build
 #include <AP_InertialNav.h>     // ArduPilot Mega inertial navigation library
-#include <DigitalWriteFast.h>   // faster digital write for LEDs
+#include <AP_Declination.h>     // ArduPilot Mega Declination Helper Library
+#include <AP_Limits.h>
 #include <memcheck.h>
 
 // Configuration
@@ -119,43 +99,24 @@
 #include "config.h"
 #include "config_channels.h"
 
-#include <GCS_MAVLink.h>        // MAVLink GCS definitions
-
 // Local modules
 #include "Parameters.h"
 #include "GCS.h"
 
-#include <AP_Declination.h>     // ArduPilot Mega Declination Helper Library
-
-// Limits library - Puts limits on the vehicle, and takes recovery actions
-#include <AP_Limits.h>
-#include <AP_Limit_GPSLock.h>   // a limits library module
-#include <AP_Limit_Geofence.h>  // a limits library module
-#include <AP_Limit_Altitude.h>  // a limits library module
-
-
 ////////////////////////////////////////////////////////////////////////////////
-// Serial ports
+// AP_HAL instance
 ////////////////////////////////////////////////////////////////////////////////
-//
-// Note that FastSerial port buffers are allocated at ::begin time,
-// so there is not much of a penalty to defining ports that we don't
-// use.
-//
-FastSerialPort0(Serial);        // FTDI/console
-FastSerialPort1(Serial1);       // GPS port
-FastSerialPort3(Serial3);       // Telemetry port
-
-// port to use for command line interface
-static FastSerial *cliSerial = &Serial;
-
-// this sets up the parameter table, and sets the default values. This
-// must be the first AP_Param variable declared to ensure its
-// constructor runs before the constructors of the other AP_Param
-// variables
-AP_Param param_loader(var_info, WP_START_BYTE);
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+const AP_HAL::HAL& hal = AP_HAL_AVR_SITL;
+#include <SITL.h>
+SITL sitl;
+#endif
 
-Arduino_Mega_ISR_Registry isr_registry;
+AP_HAL::BetterStream* cliSerial;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Parameters
@@ -168,26 +129,16 @@ static Parameters g;
 
 ////////////////////////////////////////////////////////////////////////////////
 // prototypes
-static void update_events(void);
-
-////////////////////////////////////////////////////////////////////////////////
-// RC Hardware
 ////////////////////////////////////////////////////////////////////////////////
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-APM_RC_APM2 APM_RC;
-#else
-APM_RC_APM1 APM_RC;
-#endif
+static void update_events(void);
 
 ////////////////////////////////////////////////////////////////////////////////
 // Dataflash
 ////////////////////////////////////////////////////////////////////////////////
-AP_Semaphore spi_semaphore;
-AP_Semaphore spi3_semaphore;
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-DataFlash_APM2 DataFlash(&spi3_semaphore);
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+DataFlash_APM2 DataFlash;
 #else
-DataFlash_APM1 DataFlash(&spi_semaphore);
+DataFlash_APM1 DataFlash;
 #endif
 
 
@@ -213,7 +164,7 @@ static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor:
 static GPS         *g_gps;
 
 // flight modes convenience array
-static AP_Int8                *flight_modes = &g.flight_mode1;
+static AP_Int8 *flight_modes = &g.flight_mode1;
 
 #if HIL_MODE == HIL_MODE_DISABLED
 
@@ -222,15 +173,13 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
 AP_ADC_ADS7844 adc;
  #endif
 
- #ifdef DESKTOP_BUILD
+ #if CONFIG_HIL_BOARD == HIL_BOARD_AVR_SITL
 AP_Baro_BMP085_HIL barometer;
 AP_Compass_HIL compass;
-  #include <SITL.h>
-SITL sitl;
  #else
 
   #if CONFIG_BARO == AP_BARO_BMP085
-   # if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+   # if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 AP_Baro_BMP085 barometer(true);
    # else
 AP_Baro_BMP085 barometer(false);
@@ -243,7 +192,7 @@ AP_Compass_HMC5843 compass;
  #endif
 
  #if OPTFLOW == ENABLED
-  #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+  #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
   #else
 AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
@@ -254,22 +203,22 @@ AP_OpticalFlow optflow;
 
 // real GPS selection
  #if   GPS_PROTOCOL == GPS_PROTOCOL_AUTO
-AP_GPS_Auto     g_gps_driver(&Serial1, &g_gps);
+AP_GPS_Auto     g_gps_driver(hal.uartB, &g_gps);
 
  #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
-AP_GPS_NMEA     g_gps_driver(&Serial1);
+AP_GPS_NMEA     g_gps_driver(hal.uartB);
 
  #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
-AP_GPS_SIRF     g_gps_driver(&Serial1);
+AP_GPS_SIRF     g_gps_driver(hal.uartB);
 
  #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
-AP_GPS_UBLOX    g_gps_driver(&Serial1);
+AP_GPS_UBLOX    g_gps_driver(hal.uartB);
 
  #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
-AP_GPS_MTK      g_gps_driver(&Serial1);
+AP_GPS_MTK      g_gps_driver(hal.uartB);
 
  #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
-AP_GPS_MTK16    g_gps_driver(&Serial1);
+AP_GPS_MTK16    g_gps_driver(hal.uartB);
 
  #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
 AP_GPS_None     g_gps_driver(NULL);
@@ -288,14 +237,14 @@ AP_InertialSensor_Oilpan ins(&adc);
 // a NULL GPS object pointer
 static GPS         *g_gps_null;
 
- #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+ #if DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
 AP_AHRS_MPU6000  ahrs(&ins, g_gps);               // only works with APM2
  #else
 AP_AHRS_DCM ahrs(&ins, g_gps);
  #endif
 
 // ahrs2 object is the secondary ahrs to allow running DMP in parallel with DCM
-  #if SECONDARY_DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+  #if SECONDARY_DMP_ENABLED == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_APM2
 AP_AHRS_MPU6000  ahrs2(&ins, g_gps);               // only works with APM2
   #endif
 
@@ -320,25 +269,18 @@ AP_Compass_HIL          compass;                  // never used
 AP_Baro_BMP085_HIL      barometer;
 
  #if OPTFLOW == ENABLED
-  #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+  #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
   #else
 AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
-  #endif    // CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+  #endif    // CONFIG_HAL_BOARD == HAL_BOARD_APM2
  #endif     // OPTFLOW == ENABLED
 
- #ifdef DESKTOP_BUILD
-  #include <SITL.h>
-SITL sitl;
- #endif     // DESKTOP_BUILD
 static int32_t gps_base_alt;
 #else
  #error Unrecognised HIL_MODE setting.
 #endif // HIL MODE
 
-// we always have a timer scheduler
-AP_TimerProcess timer_scheduler;
-
 ////////////////////////////////////////////////////////////////////////////////
 // GCS selection
 ////////////////////////////////////////////////////////////////////////////////
@@ -443,7 +385,7 @@ static int16_t y_rate_error;
 static int8_t control_mode = STABILIZE;
 // Used to maintain the state of the previous control switch position
 // This is set to -1 when we need to re-read the switch
-static byte oldSwitchPosition;
+static uint8_t oldSwitchPosition;
 
 // receiver RSSI
 static uint8_t receiver_rssi;
@@ -475,11 +417,11 @@ static uint8_t receiver_rssi;
 #endif
 
 #if FRAME_CONFIG == HELI_FRAME  // helicopter constructor requires more arguments
-MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
+MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
 #elif FRAME_CONFIG == TRI_FRAME  // tri constructor requires additional rc_7 argument to allow tail servo reversing
-MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
+MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
 #else
-MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
+MOTOR_CLASS motors(CONFIG_HAL_BOARD, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -507,11 +449,11 @@ float tuning_value;
 ////////////////////////////////////////////////////////////////////////////////
 // This is current status for the LED lights state machine
 // setting this value changes the output of the LEDs
-static byte led_mode = NORMAL_LEDS;
+static uint8_t led_mode = NORMAL_LEDS;
 // Blinking indicates GPS status
-static byte copter_leds_GPS_blink;
+static uint8_t copter_leds_GPS_blink;
 // Blinking indicates battery status
-static byte copter_leds_motor_blink;
+static uint8_t copter_leds_motor_blink;
 // Navigation confirmation blinks
 static int8_t copter_leds_nav_blink;
 
@@ -552,7 +494,7 @@ union float_int {
 static int32_t wp_bearing;
 // Status of the Waypoint tracking mode. Options include:
 // NO_NAV_MODE, WP_MODE, LOITER_MODE, CIRCLE_MODE
-static byte wp_control;
+static uint8_t wp_control;
 // Register containing the index of the current navigation command in the mission script
 static int16_t command_nav_index;
 // Register containing the index of the previous navigation command in the mission script
@@ -824,7 +766,7 @@ static int16_t yaw_look_at_heading_slew;
 // Repeat Mission Scripting Command
 ////////////////////////////////////////////////////////////////////////////////
 // The type of repeating event - Toggle a servo channel, Toggle the APM1 relay, etc
-static byte event_id;
+static uint8_t event_id;
 // Used to manage the timimng of repeating events
 static uint32_t event_timer;
 // How long to delay the next firing of event in millis
@@ -872,11 +814,11 @@ static uint32_t fast_loopTimer;
 // Time in microseconds of 50hz control loop
 static uint32_t fiftyhz_loopTimer;
 // Counters for branching from 10 hz control loop
-static byte medium_loopCounter;
+static uint8_t medium_loopCounter;
 // Counters for branching from 3 1/3hz control loop
-static byte slow_loopCounter;
+static uint8_t slow_loopCounter;
 // Counters for branching at 1 hz
-static byte counter_one_herz;
+static uint8_t counter_one_herz;
 // Counter of main loop executions.  Used for performance monitoring and failsafe processing
 static uint16_t mainLoop_count;
 // Delta Time in milliseconds for navigation computations, updated with every good GPS read
@@ -1017,7 +959,7 @@ void loop()
             }
         }
     } else {
-#ifdef DESKTOP_BUILD
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
         usleep(1000);
 #endif
         if (timer - fast_loopTimer < 9) {
@@ -1412,7 +1354,7 @@ static void update_optical_flow(void)
 static void update_GPS(void)
 {
     // A counter that is used to grab at least 10 reads before commiting the Home location
-    static byte ground_start_count  = 10;
+    static uint8_t ground_start_count  = 10;
 
     g_gps->update();
     update_GPS_light();
@@ -1739,7 +1681,7 @@ void update_roll_pitch_mode(void)
 // new radio frame is used to make sure we only call this at 50hz
 void update_simple_mode(void)
 {
-    static byte simple_counter = 0;             // State machine counter for Simple Mode
+    static uint8_t simple_counter = 0;             // State machine counter for Simple Mode
     static float simple_sin_y=0, simple_cos_x=0;
 
     // used to manage state machine

ArduCopter/GCS.h

@@ -7,11 +7,8 @@
 #ifndef __GCS_H
 #define __GCS_H
 
-#include <FastSerial.h>
-#include <AP_Common.h>
+#include <AP_HAL.h>
 #include <GPS.h>
-#include <Stream.h>
-#include <stdint.h>
 
 ///
 /// @class	GCS
@@ -40,7 +37,7 @@ public:
     ///
     /// @param	port		The stream over which messages are exchanged.
     ///
-    void        init(FastSerial *port) {
+    void        init(AP_HAL::UARTDriver *port) {
         _port = port;
         initialised = true;
         last_gps_satellites = 255;
@@ -91,7 +88,7 @@ public:
 
 protected:
     /// The stream we are communicating over
-    FastSerial *      _port;
+    AP_HAL::UARTDriver *      _port;
 };
 
 //
@@ -110,7 +107,7 @@ class GCS_MAVLINK : public GCS_Class
 public:
     GCS_MAVLINK();
     void        update(void);
-    void        init(FastSerial *port);
+    void        init(AP_HAL::UARTDriver *port);
     void        send_message(enum ap_message id);
     void        send_text(gcs_severity severity, const char *str);
     void        send_text(gcs_severity severity, const prog_char_t *str);

ArduCopter/GCS_Mavlink.pde

@@ -761,10 +761,10 @@ GCS_MAVLINK::GCS_MAVLINK() :
 }
 
 void
-GCS_MAVLINK::init(FastSerial * port)
+GCS_MAVLINK::init(AP_HAL::UARTDriver* port)
 {
     GCS_Class::init(port);
-    if (port == &Serial) {
+    if (port == hal.uartA) {
         mavlink_comm_0_port = port;
         chan = MAVLINK_COMM_0;
     }else{

ArduCopter/Log.pde

@@ -228,7 +228,7 @@ process_logs(uint8_t argc, const Menu::arg *argv)
 
 // print_latlon - prints an latitude or longitude value held in an int32_t
 // probably this should be moved to AP_Common
-void print_latlon(BetterStream *s, int32_t lat_or_lon)
+void print_latlon(AL_HAL::BetterStream *s, int32_t lat_or_lon)
 {
     int32_t dec_portion, frac_portion;
     int32_t abs_lat_or_lon = labs(lat_or_lon);
@@ -703,7 +703,7 @@ static void Log_Read_Performance()
 }
 
 // Write a command processing packet.  Total length : 21 bytes
-static void Log_Write_Cmd(byte num, struct Location *wp)
+static void Log_Write_Cmd(uint8_t num, struct Location *wp)
 {
     DataFlash.WriteByte(HEAD_BYTE1);
     DataFlash.WriteByte(HEAD_BYTE2);
@@ -851,7 +851,7 @@ static void Log_Read_INAV()
 }
 
 // Write a mode packet. Total length : 7 bytes
-static void Log_Write_Mode(byte mode)
+static void Log_Write_Mode(uint8_t mode)
 {
     DataFlash.WriteByte(HEAD_BYTE1);
     DataFlash.WriteByte(HEAD_BYTE2);
@@ -1131,8 +1131,8 @@ static void Log_Read(int16_t start_page, int16_t end_page)
 // Read the DataFlash log memory : Packet Parser
 static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
 {
-    byte data;
-    byte log_step           = 0;
+    uint8_t data;
+    uint8_t log_step           = 0;
     int16_t page                    = start_page;
     int16_t packet_count = 0;
 
@@ -1257,9 +1257,9 @@ static void Log_Read_Startup() {
 }
 static void Log_Read(int16_t start_page, int16_t end_page) {
 }
-static void Log_Write_Cmd(byte num, struct Location *wp) {
+static void Log_Write_Cmd(uint8_t num, struct Location *wp) {
 }
-static void Log_Write_Mode(byte mode) {
+static void Log_Write_Mode(uint8_t mode) {
 }
 static void Log_Write_Raw() {
 }

ArduCopter/control_modes.pde

@@ -5,7 +5,7 @@ static void read_control_switch()
 {
     static uint8_t switch_counter = 0;
 
-    byte switchPosition = readSwitch();
+    uint8_t switchPosition = readSwitch();
 
     if (oldSwitchPosition != switchPosition) {
         switch_counter++;

ArduCopter/leds.pde

@@ -67,7 +67,7 @@ static void update_motor_light(void)
 
 static void dancing_light()
 {
-    static byte step;
+    static uint8_t step;
 
     if (step++ == 3)
         step = 0;
@@ -368,4 +368,4 @@ void piezo_beep(){
     piezo_off();
 }
 
-#endif                  //COPTER_LEDS
+#endif                  //COPTER_LEDS

ArduCopter/radio.pde

@@ -68,7 +68,7 @@ static void init_rc_out()
     motors.set_min_throttle(g.throttle_min);
     motors.set_max_throttle(g.throttle_max);
 
-    for(byte i = 0; i < 5; i++) {
+    for(uint8_t i = 0; i < 5; i++) {
         delay(20);
         read_radio();
     }
@@ -199,7 +199,7 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
 
 static void trim_radio()
 {
-    for (byte i = 0; i < 30; i++) {
+    for (uint8_t i = 0; i < 30; i++) {
         read_radio();
     }
 

ArduCopter/setup.pde

@@ -316,8 +316,8 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 {
-    byte _switchPosition = 0;
-    byte _oldSwitchPosition = 0;
+    uint8_t _switchPosition = 0;
+    uint8_t _oldSwitchPosition = 0;
     int8_t mode = 0;
 
     cliSerial->printf_P(PSTR("\nMode switch to edit, aileron: select modes, rudder: Simple on/off\n"));
@@ -780,10 +780,10 @@ static void report_batt_monitor()
     print_blanks(2);
 }
 
-static void report_wp(byte index = 255)
+static void report_wp(uint8_t index = 255)
 {
     if(index == 255) {
-        for(byte i = 0; i < g.command_total; i++) {
+        for(uint8_t i = 0; i < g.command_total; i++) {
             struct Location temp = get_cmd_with_index(i);
             print_wp(&temp, i);
         }
@@ -966,7 +966,7 @@ print_radio_values()
 }
 
 static void
-print_switch(byte p, byte m, bool b)
+print_switch(uint8_t p, uint8_t m, bool b)
 {
     cliSerial->printf_P(PSTR("Pos %d:\t"),p);
     print_flight_mode(m);
@@ -986,7 +986,7 @@ print_done()
 
 static void zero_eeprom(void)
 {
-    byte b = 0;
+    uint8_t b = 0;
 
     cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
 
@@ -1038,8 +1038,8 @@ heli_get_servo(int16_t servo_num){
 
 // Used to read integer values from the serial port
 static int16_t read_num_from_serial() {
-    byte index = 0;
-    byte timeout = 0;
+    uint8_t index = 0;
+    uint8_t timeout = 0;
     char data[5] = "";
 
     do {
@@ -1118,7 +1118,7 @@ init_esc()
     }
 }
 
-static void print_wp(struct Location *cmd, byte index)
+static void print_wp(struct Location *cmd, uint8_t index)
 {
    	//float t1 = (float)cmd->lat / t7;
     //float t2 = (float)cmd->lng / t7;

ArduCopter/system.pde

@@ -48,7 +48,7 @@ static int8_t reboot_board(uint8_t argc, const Menu::arg *argv)
 }
 
 // the user wants the CLI. It never exits
-static void run_cli(FastSerial *port)
+static void run_cli(AP_HAL::UARTDriver *port)
 {
     cliSerial = port;
     Menu::set_port(port);
@@ -393,7 +393,7 @@ static void startup_ground(void)
 }
 
 // set_mode - change flight mode and perform any necessary initialisation
-static void set_mode(byte mode)
+static void set_mode(uint8_t mode)
 {
     // Switch to stabilize mode if requested mode requires a GPS lock
     if(!ap.home_is_set) {