HAL_PX4: updates for upstream merge

libraries/AP_HAL_PX4/HAL_PX4_Class.cpp

@@ -231,12 +231,12 @@ void HAL_PX4::init(int argc, char * const argv[]) const
                    SKETCHNAME, deviceA, deviceC, deviceD, deviceE);
 
             _px4_thread_should_exit = false;
-            daemon_task = task_spawn_cmd(SKETCHNAME,
+            daemon_task = px4_task_spawn_cmd(SKETCHNAME,
-                                         SCHED_FIFO,
+                                             SCHED_FIFO,
-                                         APM_MAIN_PRIORITY,
+                                             APM_MAIN_PRIORITY,
-                                         APM_MAIN_THREAD_STACK_SIZE,
+                                             APM_MAIN_THREAD_STACK_SIZE,
-                                         main_loop,
+                                             main_loop,
-                                         NULL);
+                                             NULL);
             exit(0);
         }
 

libraries/AP_HAL_PX4/RCOutput.cpp

@@ -59,10 +59,10 @@ void PX4RCOutput::init(void* unused)
     }
 
     // publish actuator vaules on demand
-    _actuator_direct_pub = -1;
+    _actuator_direct_pub = NULL;
 
     // and armed state
-    _actuator_armed_pub = -1;
+    _actuator_armed_pub = NULL;
 }
 
 
@@ -280,7 +280,7 @@ void PX4RCOutput::_arm_actuators(bool arm)
     _armed.lockdown = false;
     _armed.force_failsafe = false;
 
-    if (_actuator_armed_pub == -1) {
+    if (_actuator_armed_pub == NULL) {
         _actuator_armed_pub = orb_advertise(ORB_ID(actuator_armed), &_armed);
     } else {
         orb_publish(ORB_ID(actuator_armed), _actuator_armed_pub, &_armed);
@@ -295,8 +295,8 @@ void PX4RCOutput::_publish_actuators(void)
 	struct actuator_direct_s actuators;
 
 	actuators.nvalues = _max_channel;
-    if (actuators.nvalues > NUM_ACTUATORS_DIRECT) {
+    if (actuators.nvalues > actuators.NUM_ACTUATORS_DIRECT) {
-        actuators.nvalues = NUM_ACTUATORS_DIRECT;
+        actuators.nvalues = actuators.NUM_ACTUATORS_DIRECT;
     }
     // don't publish more than 8 actuators for now, as the uavcan ESC
     // driver refuses to update any motors if you try to publish more
@@ -311,7 +311,7 @@ void PX4RCOutput::_publish_actuators(void)
         actuators.values[i] = actuators.values[i]*2 - 1;
     }
 
-    if (_actuator_direct_pub == -1) {
+    if (_actuator_direct_pub == NULL) {
         _actuator_direct_pub = orb_advertise(ORB_ID(actuator_direct), &actuators);
     } else {
         orb_publish(ORB_ID(actuator_direct), _actuator_direct_pub, &actuators);

libraries/AP_HAL_PX4/RCOutput.h

@@ -49,8 +49,8 @@ private:
     actuator_outputs_s _outputs;
     actuator_armed_s _armed;
 
-    int _actuator_direct_pub = -1;
+    orb_advert_t _actuator_direct_pub = NULL;
-    int _actuator_armed_pub = -1;
+    orb_advert_t _actuator_armed_pub = NULL;
     uint16_t _esc_pwm_min = 1000;
     uint16_t _esc_pwm_max = 2000;
 

libraries/AP_HAL_PX4/Scheduler.cpp

@@ -242,7 +242,7 @@ void PX4Scheduler::resume_timer_procs()
 
 void PX4Scheduler::reboot(bool hold_in_bootloader) 
 {
-	systemreset(hold_in_bootloader);
+	px4_systemreset(hold_in_bootloader);
 }
 
 void PX4Scheduler::_run_timers(bool called_from_timer_thread)