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

ROMFS/px4fmu_common/init.d/2103_skyhunter_1800

@@ -0,0 +1,5 @@
+#!nsh
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER FMU_AET

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -27,7 +27,7 @@ then
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.06
 	param set FW_RR_FF 0.6
-	param set FW_RR_IMA 0.2
+	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.09
 	param set FW_THR_CRUISE 0.65
 fi

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -68,6 +68,12 @@ then
 	set MODE custom
 fi
 
+if param compare SYS_AUTOSTART 2103 103
+then
+        sh /etc/init.d/2103_skyhunter_1800
+        set MODE custom
+fi
+
 #
 # Flying wing
 #

Tools/.gitignore

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

Tools/px4params/.gitignore

@@ -1,4 +0,0 @@
-parameters.wiki
-parameters.xml
-parameters.wikirpc.xml
-cookies.txt

Tools/px4params/README.md

@@ -1,9 +1 @@
-h1. PX4 Parameters Processor
-
-It's designed to scan PX4 source codes, find declarations of tunable parameters,
-and generate the list in various formats.
-
-Currently supported formats are:
-
-* XML for the parametric UI generator
-* Human-readable description in DokuWiki format
+This folder contains a python library used by px_process_params.py

Tools/px4params/__init__.py

@@ -0,0 +1 @@
+__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc"]

Tools/px4params/dokuwikiout.py

@@ -0,0 +1,44 @@
+from xml.sax.saxutils import escape
+import codecs
+
+class DokuWikiTablesOutput():
+    def __init__(self, groups):
+        result = ("====== Parameter Reference ======\n"
+                  "<note>**This list is auto-generated from the source code** and contains the most recent parameter documentation.</note>\n"
+                  "\n")
+        for group in groups:
+            result += "==== %s ====\n\n" % group.GetName()
+            result += "|< 100% 25% 45% 10% 10% 10% >|\n"
+            result += "^ Name ^ Description ^  Min ^  Max ^  Default ^\n"
+            result += "^ :::  ^ Comment ^^^^\n"
+            for param in group.GetParams():
+                code = param.GetFieldValue("code")
+                name = param.GetFieldValue("short_desc")
+                min_val = param.GetFieldValue("min")
+                max_val = param.GetFieldValue("max")
+                def_val = param.GetFieldValue("default")
+                long_desc = param.GetFieldValue("long_desc")
+
+                if name == code:
+                    name = ""
+                else:
+                    name = name.replace("\n", " ")
+                    name = name.replace("|", "%%|%%")
+                    name = name.replace("^", "%%^%%")
+
+                result += "| **%s** |" % code
+                result += " %s |" % name
+                result += "  %s |" % (min_val or "")
+                result += "  %s |" % (max_val or "")
+                result += "  %s |" % (def_val or "")
+                result += "\n"
+
+                if long_desc is not None:
+                    result += "| ::: | <div>%s</div> ||||\n" % long_desc
+
+            result += "\n"
+        self.output = result;
+
+    def Save(self, filename):
+        with codecs.open(filename, 'w', 'utf-8') as f:
+            f.write(self.output)

Tools/px4params/dokuwikirpc.py

@@ -0,0 +1,16 @@
+try:
+    import xmlrpclib
+except ImportError:
+    import xmlrpc.client as xmlrpclib 
+
+# See https://www.dokuwiki.org/devel:xmlrpc for a list of available functions!
+# Usage example:
+#     xmlrpc = dokuwikirpc.get_xmlrpc(url, username, password)
+#     print(xmlrpc.dokuwiki.getVersion())
+
+def get_xmlrpc(url, username, password):
+    #proto, url = url.split("://")
+    #url = proto + "://" + username + ":" + password + "@" + url + "/lib/exe/xmlrpc.php"
+    url += "/lib/exe/xmlrpc.php?u=" + username + "&p=" + password
+    
+    return xmlrpclib.ServerProxy(url)

Tools/px4params/output_dokuwiki_listings.py

@@ -1,31 +0,0 @@
-import codecs
-
-class DokuWikiListingsOutput():
-    def __init__(self, groups):
-        result = ""
-        for group in groups:
-            result += "==== %s ====\n\n" % group.GetName()
-            for param in group.GetParams():
-                code = param.GetFieldValue("code")
-                name = param.GetFieldValue("short_desc")
-                if code != name:
-                    name = "%s (%s)" % (name, code)
-                result += "=== %s ===\n\n" % name
-                long_desc = param.GetFieldValue("long_desc")
-                if long_desc is not None:
-                    result += "%s\n\n" % long_desc
-                min_val = param.GetFieldValue("min")
-                if min_val is not None:
-                    result += "* Minimal value: %s\n" % min_val
-                max_val = param.GetFieldValue("max")
-                if max_val is not None:
-                    result += "* Maximal value: %s\n" % max_val
-                def_val = param.GetFieldValue("default")
-                if def_val is not None:
-                    result += "* Default value: %s\n" % def_val
-                result += "\n"
-        self.output = result
-
-    def Save(self, filename):
-        with codecs.open(filename, 'w', 'utf-8') as f:
-            f.write(self.output)

Tools/px4params/output_dokuwiki_tables.py

@@ -1,76 +0,0 @@
-from xml.sax.saxutils import escape
-import codecs
-
-class DokuWikiTablesOutput():
-    def __init__(self, groups):
-        result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values.\n\n"
-        for group in groups:
-            result += "==== %s ====\n\n" % group.GetName()
-            result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n"
-            result += "^ Name ^ Description ^  Min ^  Max ^  Default ^ Comment ^\n"
-            for param in group.GetParams():
-                code = param.GetFieldValue("code")
-                name = param.GetFieldValue("short_desc")
-                min_val = param.GetFieldValue("min")
-                max_val = param.GetFieldValue("max")
-                def_val = param.GetFieldValue("default")
-                long_desc = param.GetFieldValue("long_desc")
-
-                name = name.replace("\n", " ")
-                result += "| %s | %s |" % (code, name)
-
-                if min_val is not None:
-                    result += "  %s |" % min_val
-                else:
-                    result += " |"
-
-                if max_val is not None:
-                    result += "  %s |" % max_val
-                else:
-                    result += " |"
-
-                if def_val is not None:
-                    result += "  %s |" % def_val
-                else:
-                    result += " |"
-
-                if long_desc is not None:
-                    long_desc = long_desc.replace("\n", " ")
-                    result += " %s |" % long_desc
-                else:
-                    result += " |"
-
-                result += "\n"
-            result += "\n"
-        self.output = result;
-
-    def Save(self, filename):
-        with codecs.open(filename, 'w', 'utf-8') as f:
-            f.write(self.output)
-
-    def SaveRpc(self, filename):
-        with codecs.open(filename, 'w', 'utf-8') as f:
-            f.write("""<?xml version='1.0'?>
-<methodCall>
-  <methodName>wiki.putPage</methodName>
-      <params>
-          <param> 
-            <value>
-              <string>:firmware:parameters</string>
-            </value>
-          </param>
-          <param> 
-            <value>
-              <string>""")
-            f.write(escape(self.output))
-            f.write("""</string>
-            </value>
-        </param>
-        <param> 
-            <value>
-                <name>sum</name>
-                <string>Updated parameters automagically from code.</string>
-            </value>
-        </param>
-    </params>
-</methodCall>""")

Tools/px4params/px_process_params.py

@@ -1,67 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# PX4 paramers processor (main executable file)
-#
-# It scans src/ subdirectory of the project, collects all parameters
-# definitions, and outputs list of parameters in XML and DokuWiki formats.
-#
-
-import scanner
-import srcparser
-import output_xml
-import output_dokuwiki_tables
-import output_dokuwiki_listings
-
-# Initialize parser
-prs = srcparser.Parser()
-
-# Scan directories, and parse the files
-sc = scanner.Scanner()
-sc.ScanDir("../../src", prs)
-groups = prs.GetParamGroups()
-
-# Output into XML
-out = output_xml.XMLOutput(groups)
-out.Save("parameters.xml")
-
-# Output to DokuWiki listings
-#out = output_dokuwiki_listings.DokuWikiListingsOutput(groups)
-#out.Save("parameters.wiki")
-
-# Output to DokuWiki tables
-out = output_dokuwiki_tables.DokuWikiTablesOutput(groups)
-out.Save("parameters.wiki")
-out.SaveRpc("parameters.wikirpc.xml")

Tools/px4params/srcparser.py

@@ -44,6 +44,7 @@ class Parameter(object):
         "default": 6,
         "min": 5,
         "max": 4,
+        "unit": 3,
         # all others == 0 (sorted alphabetically)
     }
 
@@ -71,7 +72,7 @@ class Parameter(object):
         """
         return self.fields.get(code)
 
-class Parser(object):
+class SourceParser(object):
     """
     Parses provided data and stores all found parameters internally.
     """
@@ -86,7 +87,7 @@ class Parser(object):
     re_is_a_number = re.compile(r'^-?[0-9\.]')
     re_remove_dots = re.compile(r'\.+$')
 
-    valid_tags = set(["min", "max", "group"])
+    valid_tags = set(["group", "min", "max", "unit"])
 
     # Order of parameter groups
     priority = {

Tools/px4params/srcscanner.py

@@ -2,26 +2,21 @@ import os
 import re
 import codecs
 
-class Scanner(object):
+class SourceScanner(object):
     """
     Traverses directory tree, reads all source files, and passes their contents
     to the Parser.
     """
 
-    re_file_extension = re.compile(r'\.([^\.]+)$')
-
     def ScanDir(self, srcdir, parser):
         """
         Scans provided path and passes all found contents to the parser using
         parser.Parse method.
         """
-        extensions = set(parser.GetSupportedExtensions())
+        extensions = tuple(parser.GetSupportedExtensions())
         for dirname, dirnames, filenames in os.walk(srcdir):
             for filename in filenames:
-                m = self.re_file_extension.search(filename)
-                if m:
-                    ext = m.group(1)
-                    if ext in extensions:
+                if filename.endswith(extensions):
                         path = os.path.join(dirname, filename)
                         self.ScanFile(path, parser)
 

Tools/px4params/xmlrpc.sh

@@ -1,5 +0,0 @@
-python px_process_params.py
-
-rm cookies.txt
-curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login
-curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wikirpc.xml "https://pixhawk.org/lib/exe/xmlrpc.php"

Tools/px_process_params.py

@@ -0,0 +1,140 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# PX4 paramers processor (main executable file)
+#
+# This tool scans the PX4 source code for declarations of tunable parameters
+# and outputs the list in various formats.
+#
+# Currently supported formats are:
+#   * XML for the parametric UI generator
+#   * Human-readable description in DokuWiki page format
+#
+# This tool also allows to automatically upload the human-readable version
+# to the DokuWiki installation via XML-RPC.
+#
+
+from __future__ import print_function
+import sys
+import os
+import argparse
+from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc
+
+def main():
+    # Parse command line arguments
+    parser = argparse.ArgumentParser(description="Process parameter documentation.")
+    parser.add_argument("-s", "--src-path",
+                        default="../src",
+                        metavar="PATH",
+                        help="path to source files to scan for parameters")
+    parser.add_argument("-x", "--xml",
+                        nargs='?',
+                        const="parameters.xml",
+                        metavar="FILENAME",
+                        help="Create XML file"
+                             " (default FILENAME: parameters.xml)")
+    parser.add_argument("-w", "--wiki",
+                        nargs='?',
+                        const="parameters.wiki",
+                        metavar="FILENAME",
+                        help="Create DokuWiki file"
+                             " (default FILENAME: parameters.wiki)")
+    parser.add_argument("-u", "--wiki-update",
+                        nargs='?',
+                        const="firmware:parameters",
+                        metavar="PAGENAME",
+                        help="Update DokuWiki page"
+                             " (default PAGENAME: firmware:parameters)")
+    parser.add_argument("--wiki-url",
+                        default="https://pixhawk.org",
+                        metavar="URL",
+                        help="DokuWiki URL"
+                             " (default: https://pixhawk.org)")
+    parser.add_argument("--wiki-user",
+                        default=os.environ.get('XMLRPCUSER', None),
+                        metavar="USERNAME",
+                        help="DokuWiki XML-RPC user name"
+                             " (default: $XMLRPCUSER environment variable)")
+    parser.add_argument("--wiki-pass",
+                        default=os.environ.get('XMLRPCPASS', None),
+                        metavar="PASSWORD",
+                        help="DokuWiki XML-RPC user password"
+                             " (default: $XMLRPCUSER environment variable)")
+    parser.add_argument("--wiki-summary",
+                        metavar="SUMMARY",
+                        default="Automagically updated parameter documentation from code.",
+                        help="DokuWiki page edit summary")
+    args = parser.parse_args()
+
+    # Check for valid command
+    if not (args.xml or args.wiki or args.wiki_update):
+        print("Error: You need to specify at least one output method!\n")
+        parser.print_usage()
+        sys.exit(1)
+
+    # Initialize source scanner and parser
+    scanner = srcscanner.SourceScanner()
+    parser = srcparser.SourceParser()
+
+    # Scan directories, and parse the files
+    print("Scanning source path " + args.src_path)
+    scanner.ScanDir(args.src_path, parser)
+    param_groups = parser.GetParamGroups()
+
+    # Output to XML file
+    if args.xml:
+        print("Creating XML file " + args.xml)
+        out = xmlout.XMLOutput(param_groups)
+        out.Save(args.xml)
+
+    # Output to DokuWiki tables
+    if args.wiki or args.wiki_update:
+        out = dokuwikiout.DokuWikiTablesOutput(param_groups)
+        if args.wiki:
+            print("Creating wiki file " + args.wiki)
+            out.Save(args.wiki)
+        if args.wiki_update:
+            if args.wiki_user and args.wiki_pass:
+                print("Updating wiki page " + args.wiki_update)
+                xmlrpc = dokuwikirpc.get_xmlrpc(args.wiki_url, args.wiki_user, args.wiki_pass)
+                xmlrpc.wiki.putPage(args.wiki_update, out.output, {'sum': args.wiki_summary})
+            else:
+                print("Error: You need to specify DokuWiki XML-RPC username and password!")
+
+    print("All done!")
+
+
+if __name__ == "__main__":
+    main()

Tools/px_update_wiki.sh

@@ -0,0 +1,2 @@
+# Remember to set the XMLRPCUSER and XMLRPCPASS environment variables
+python px_process_params.py --wiki-update

src/modules/dataman/dataman.c

@@ -1,8 +1,10 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Lorenz Meier
- *              Jean Cyr
+ *   Author: 	Jean Cyr
+ *              Lorenz Meier
+ *              Julian Oes
+ *              Thomas Gubler
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,16 +42,8 @@
 #include <nuttx/config.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
 #include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <sys/ioctl.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/err.h>
 #include <queue.h>
 
 #include "dataman.h"
@@ -175,8 +169,10 @@ create_work_item(void)
 
 	/* Try to reuse item from free item queue */
 	lock_queue(&g_free_q);
+
 	if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q))))
 		g_free_q.size--;
+
 	unlock_queue(&g_free_q);
 
 	/* If we there weren't any free items then obtain memory for a new one */
@@ -289,11 +285,11 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v
 	offset = calculate_offset(item, index);
 
 	/* If item type or index out of range, return error */
-	if (offset < 0) 
+	if (offset < 0)
 		return -1;
 
 	/* Make sure caller has not given us more data than we can handle */
-	if (count > DM_MAX_DATA_SIZE) 
+	if (count > DM_MAX_DATA_SIZE)
 		return -1;
 
 	/* Write out the data, prefixed with length and persistence level */
@@ -339,6 +335,7 @@ _read(dm_item_t item, unsigned char index, void *buf, size_t count)
 
 	/* Read the prefix and data */
 	len = -1;
+
 	if (lseek(g_task_fd, offset, SEEK_SET) == offset)
 		len = read(g_task_fd, buffer, count + DM_SECTOR_HDR_SIZE);
 
@@ -492,7 +489,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
 		return -1;
 
 	/* get a work item and queue up a write request */
-	if ((work = create_work_item()) == NULL) 
+	if ((work = create_work_item()) == NULL)
 		return -1;
 
 	work->func = dm_write_func;
@@ -599,17 +596,20 @@ task_main(int argc, char *argv[])
 
 	/* Open or create the data manager file */
 	g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
+
 	if (g_task_fd < 0) {
 		warnx("Could not open data manager file %s", k_data_manager_device_path);
 		sem_post(&g_init_sema); /* Don't want to hang startup */
 		return -1;
 	}
+
 	if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
 		close(g_task_fd);
 		warnx("Could not seek data manager file %s", k_data_manager_device_path);
 		sem_post(&g_init_sema); /* Don't want to hang startup */
 		return -1;
 	}
+
 	fsync(g_task_fd);
 
 	/* We use two file descriptors, one for the caller context and one for the worker thread */
@@ -767,10 +767,10 @@ dataman_main(int argc, char *argv[])
 		stop();
 	else if (!strcmp(argv[1], "status"))
 		status();
-    else if (!strcmp(argv[1], "poweronrestart"))
-        dm_restart(DM_INIT_REASON_POWER_ON);
-    else if (!strcmp(argv[1], "inflightrestart"))
-        dm_restart(DM_INIT_REASON_IN_FLIGHT);
+	else if (!strcmp(argv[1], "poweronrestart"))
+		dm_restart(DM_INIT_REASON_POWER_ON);
+	else if (!strcmp(argv[1], "inflightrestart"))
+		dm_restart(DM_INIT_REASON_IN_FLIGHT);
 	else
 		usage();
 

src/modules/dataman/module.mk

@@ -38,5 +38,3 @@
 MODULE_COMMAND	= dataman
 
 SRCS		= dataman.c
-
-INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -245,7 +245,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
 /**
  * Maximum vertical acceleration
  *
- * This is the maximum vertical acceleration (in metres/second^2) 
+ * This is the maximum vertical acceleration (in metres/second square)
  * either up or down that the controller will use to correct speed 
  * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) 
  * allows for reasonably aggressive pitch changes if required to recover