Merge branch 'release_v1.0.0' into beta

src/drivers/drv_rc_input.h

@@ -67,6 +67,21 @@
  */
 #define RC_INPUT_RSSI_MAX	100
 
+/**
+ * Minimum value
+ */
+#define RC_INPUT_LOWEST_MIN_US	500
+
+/**
+ * Maximum value
+ */
+#define RC_INPUT_HIGHEST_MAX_US	2500
+
+/**
+ * Maximum deadzone value
+ */
+#define RC_INPUT_MAX_DEADZONE_US	500
+
 /**
  * @addtogroup topics
  * @{

src/modules/commander/commander.cpp

@@ -1478,20 +1478,20 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* Update land detector */
 		orb_check(land_detector_sub, &updated);
-		if(updated) {
+		if (updated) {
 			orb_copy(ORB_ID(vehicle_land_detected), land_detector_sub, &land_detector);
 		}
 
-		if (status.condition_local_altitude_valid) {
+		if (updated && status.condition_local_altitude_valid) {
 			if (status.condition_landed != land_detector.landed) {
 				status.condition_landed = land_detector.landed;
 				status_changed = true;
 
 				if (status.condition_landed) {
-					mavlink_log_critical(mavlink_fd, "LANDED MODE");
+					mavlink_log_critical(mavlink_fd, "LANDING DETECTED");
 
 				} else {
-					mavlink_log_critical(mavlink_fd, "IN AIR MODE");
+					mavlink_log_critical(mavlink_fd, "TAKEOFF DETECTED");
 				}
 			}
 		}

src/modules/land_detector/LandDetector.h

@@ -52,19 +52,24 @@ public:
 	virtual ~LandDetector();
 
 	/**
-	* @return true if this task is currently running
-	**/
+	 * @return true if this task is currently running
+	 **/
 	inline bool isRunning() const {return _taskIsRunning;}
 
 	/**
-	* @brief  Tells the Land Detector task that it should exit
-	**/
+	 * @return the current landed state
+	 */
+	bool isLanded() { return _landDetected.landed; }
+
+	/**
+	 * @brief  Tells the Land Detector task that it should exit
+	 **/
 	void shutdown();
 
 	/**
-	* @brief Blocking function that should be called from it's own task thread. This method will
-	*        run the underlying algorithm at the desired update rate and publish if the landing state changes.
-	**/
+	 * @brief Blocking function that should be called from it's own task thread. This method will
+	 *        run the underlying algorithm at the desired update rate and publish if the landing state changes.
+	 **/
 	void start();
 
 protected:

src/modules/land_detector/land_detector_main.cpp

@@ -195,7 +195,7 @@ int land_detector_main(int argc, char *argv[])
 		if (land_detector_task) {
 
 			if (land_detector_task->isRunning()) {
-				warnx("running (%s)", _currentMode);
+				warnx("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
 
 			} else {
 				errx(1, "exists, but not running (%s)", _currentMode);

src/modules/land_detector/land_detector_params.c

@@ -83,7 +83,7 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
  *
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.20f);
+PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.40f);
 
 /**
  * Fixedwing max climb rate

src/modules/mavlink/mavlink_ftp.cpp

@@ -316,14 +316,8 @@ MavlinkFTP::_workList(PayloadHeader* payload)
 		_mavlink->send_statustext_critical("FTP: can't open path (file system corrupted?)");
 		_mavlink->send_statustext_critical(dirPath);
 #endif
-		// this is not an FTP error, abort directory read and continue
-
-		payload->data[offset++] = kDirentSkip;
-		*((char *)&payload->data[offset]) = '\0';
-		offset++;
-		payload->size = offset;
-
-		return errorCode;
+		// this is not an FTP error, abort directory by simulating eof
+		return kErrEOF;
 	}
 
 #ifdef MAVLINK_FTP_DEBUG

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -158,6 +158,7 @@ private:
 	perf_counter_t	_controller_latency_perf;
 
 	math::Vector<3>		_rates_prev;	/**< angular rates on previous step */
+	math::Vector<3>		_rates_sp_prev; /**< previous rates setpoint */
 	math::Vector<3>		_rates_sp;		/**< angular rates setpoint */
 	math::Vector<3>		_rates_int;		/**< angular rates integral error */
 	float				_thrust_sp;		/**< thrust setpoint */
@@ -353,6 +354,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 
 	_rates_prev.zero();
 	_rates_sp.zero();
+	_rates_sp_prev.zero();
 	_rates_int.zero();
 	_thrust_sp = 0.0f;
 	_att_control.zero();
@@ -712,7 +714,8 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 
 	/* angular rates error */
 	math::Vector<3> rates_err = _rates_sp - rates;
-	_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int + _params.rate_ff.emult(_rates_sp);
+	_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int + _params.rate_ff.emult(_rates_sp - _rates_sp_prev) / dt;
+	_rates_sp_prev = _rates_sp;
 	_rates_prev = rates;
 
 	/* update integral only if not saturated on low limit and if motor commands are not saturated */

src/modules/systemlib/rc_check.c

@@ -48,29 +48,72 @@
 #include <mavlink/mavlink_log.h>
 #include <drivers/drv_rc_input.h>
 
-int rc_calibration_check(int mavlink_fd) {
+#define RC_INPUT_MAP_UNMAPPED 0
+
+int rc_calibration_check(int mavlink_fd)
+{
 
 	char nbuf[20];
 	param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
-	_parameter_handles_rev, _parameter_handles_dz;
+		_parameter_handles_rev, _parameter_handles_dz;
+
+	unsigned map_fail_count = 0;
 
-	float param_min, param_max, param_trim, param_rev, param_dz;
+	const char *rc_map_mandatory[] = {	"RC_MAP_MODE_SW",
+						/* needs discussion if this should be mandatory "RC_MAP_POSCTL_SW"*/
+						0 /* end marker */
+					 };
+
+	unsigned j = 0;
 
 	/* first check channel mappings */
-			/* check which map param applies */
-		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
-		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
-		// 	/* give system time to flush error message in case there are more */
-		// 	usleep(100000);
-		// 	count++;
-		// }
+	while (rc_map_mandatory[j] != 0) {
+
+		param_t map_parm = param_find(rc_map_mandatory[j]);
 
-	int channel_fail_count = 0;
+		if (map_parm == PARAM_INVALID) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]);
+			/* give system time to flush error message in case there are more */
+			usleep(100000);
+			map_fail_count++;
+			j++;
+			continue;
+		}
 
-	for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
+		int32_t mapping;
+		param_get(map_parm, &mapping);
+
+		if (mapping > RC_INPUT_MAX_CHANNELS) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]);
+			/* give system time to flush error message in case there are more */
+			usleep(100000);
+			map_fail_count++;
+		}
+
+		if (mapping == 0) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]);
+			/* give system time to flush error message in case there are more */
+			usleep(100000);
+			map_fail_count++;
+		}
+
+		j++;
+	}
+
+	unsigned total_fail_count = 0;
+	unsigned channels_failed = 0;
+
+	for (unsigned i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
 		/* should the channel be enabled? */
 		uint8_t count = 0;
 
+		/* initialize values to values failing the check */
+		float param_min = 0.0f;
+		float param_max = 0.0f;
+		float param_trim = 0.0f;
+		float param_rev = 0.0f;
+		float param_dz = RC_INPUT_MAX_DEADZONE_US * 2.0f;
+
 		/* min values */
 		sprintf(nbuf, "RC%d_MIN", i + 1);
 		_parameter_handles_min = param_find(nbuf);
@@ -97,56 +140,55 @@ int rc_calibration_check(int mavlink_fd) {
 		param_get(_parameter_handles_dz, &param_dz);
 
 		/* assert min..center..max ordering */
-		if (param_min < 500) {
+		if (param_min < RC_INPUT_LOWEST_MIN_US) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MIN < 500", i+1);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
-		if (param_max > 2500) {
+
+		if (param_max > RC_INPUT_HIGHEST_MAX_US) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MAX > 2500", i+1);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
+
 		if (param_trim < param_min) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
+
 		if (param_trim > param_max) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
 
 		/* assert deadzone is sane */
-		if (param_dz > 500) {
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_DZ > 500", i+1);
+		if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 			count++;
 		}
 
-		/* check which map param applies */
-		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
-		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
-		// 	/* give system time to flush error message in case there are more */
-		// 	usleep(100000);
-		// 	count++;
-		// }
+		total_fail_count += count;
 
-		/* sanity checks pass, enable channel */
 		if (count) {
-			mavlink_log_critical(mavlink_fd, "#audio ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			usleep(100000);
+			channels_failed++;
 		}
+	}
 
-		channel_fail_count += count;
+	if (channels_failed) {
+		sleep(2);
+		mavlink_and_console_log_critical(mavlink_fd, "%d config error%s for %d RC channel%s.", total_fail_count,
+						 (total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
+		usleep(100000);
 	}
 
-	return channel_fail_count;
+	return total_fail_count + map_fail_count;
 }