Merge branch 'master' into cmake-2

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -551,8 +551,8 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 #
 # USART1 Configuration
 #
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=600
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_TXBUFSIZE=32
 CONFIG_USART1_BAUD=115200
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0

src/drivers/ll40ls/ll40ls.cpp

@@ -113,6 +113,10 @@ LidarLite * get_dev(const bool use_i2c, const int bus) {
  */
 void start(const bool use_i2c, const int bus)
 {
+	if (g_dev_int != nullptr || g_dev_ext != nullptr || g_dev_pwm != nullptr) {
+		errx(1,"driver already started");
+	}
+
 	if (use_i2c) {
 		/* create the driver, attempt expansion bus first */
 		if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
@@ -464,7 +468,6 @@ ll40ls_main(int argc, char *argv[])
 
 		/* Start/load the driver. */
 		if (!strcmp(verb, "start")) {
-
 			ll40ls::start(use_i2c, bus);
 		}
 

src/modules/mavlink/mavlink_main.cpp

@@ -1642,7 +1642,8 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("GPS_RAW_INT", 1.0f);
 		configure_stream("GLOBAL_POSITION_INT", 3.0f);
 		configure_stream("LOCAL_POSITION_NED", 3.0f);
-		configure_stream("RC_CHANNELS", 4.0f);
+		configure_stream("RC_CHANNELS", 1.0f);
+		configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
 		configure_stream("ATTITUDE_TARGET", 8.0f);
 		configure_stream("DISTANCE_SENSOR", 0.5f);
@@ -1664,6 +1665,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("DISTANCE_SENSOR", 10.0f);
 		configure_stream("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream("RC_CHANNELS", 20.0f);
+		configure_stream("SERVO_OUTPUT_RAW_0", 10.0f);
 		configure_stream("VFR_HUD", 10.0f);
 		configure_stream("SYSTEM_TIME", 1.0f);
 		configure_stream("TIMESYNC", 10.0f);
@@ -1683,6 +1685,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("BATTERY_STATUS", 1.0f);
 		configure_stream("SYSTEM_TIME", 1.0f);
 		configure_stream("RC_CHANNELS", 5.0f);
+		configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream("VTOL_STATE", 0.5f);
 		break;
 
@@ -1696,7 +1699,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("VFR_HUD", 20.0f);
 		configure_stream("ATTITUDE", 100.0f);
 		configure_stream("ACTUATOR_CONTROL_TARGET0", 30.0f);
-		configure_stream("RC_CHANNELS_RAW", 5.0f);
+		configure_stream("RC_CHANNELS", 5.0f);
 		configure_stream("SERVO_OUTPUT_RAW_0", 20.0f);
 		configure_stream("SERVO_OUTPUT_RAW_1", 20.0f);
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);