Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule

cmake/configs/posix_bbblue_common.cmake

+# This file is shared between posix_bbblue_native.cmake
+# and posix_bbblue_cross.cmake.
+
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the bbblue.
+add_definitions(
+	-D__PX4_POSIX_BBBLUE
+	-D__PX4_POSIX
+	-D__DF_LINUX        # For DriverFramework
+	-D__DF_BBBLUE       # For DriverFramework
+	-DRC_AUTOPILOT_EXT  # Enable extensions in Robotics Cape Library
+#	-DDEBUG_BUILD
+)
+
+#optional __DF_BBBLUE_USE_RC_BMP280_IMP
+add_definitions(
+	-D__DF_BBBLUE_USE_RC_BMP280_IMP
+)
+
+#optional __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI, default is "SoftAp"
+#add_definitions(
+#	-D__PX4_BBBLUE_DEFAULT_MAVLINK_WIFI="wlan"
+#)
+
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	#drivers/barometer
+	drivers/batt_smbus
+	drivers/differential_pressure
+	drivers/distance_sensor
+	#drivers/telemetry
+	#drivers/boards
+
+	modules/sensors
+
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+		
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/led_control
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/tune_control
+	systemcmds/perf
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/landing_target_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/gnd_att_control
+	modules/gnd_pos_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/logger
+	modules/commander
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+	drivers/linux_sbus
+	drivers/gps
+	drivers/bbblue_adc
+	drivers/linux_gpio
+	drivers/linux_pwm_out
+	drivers/pwm_out_sim
+
+)
+
+#
+# DriverFramework driver
+#
+set(config_df_driver_list
+	mpu9250
+	bmp280
+)

cmake/configs/posix_bbblue_cross.cmake

+include(configs/posix_bbblue_common)
+
+SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

cmake/configs/posix_bbblue_native.cmake

+include(configs/posix_bbblue_common)
+
+add_definitions(
+	 -D __DF_BBBLUE
+	)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

platforms/posix/CMakeLists.txt

@@ -69,6 +69,24 @@ if ("${BOARD}" STREQUAL "rpi")
 		USES_TERMINAL
 		)
 
+elseif ("${BOARD}" STREQUAL "bbblue")
+	target_link_libraries(px4 PRIVATE robotcontrol)
+
+	add_custom_target(upload
+		COMMAND scp -r ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config  debian@BBBluePX4:/home/debian/px4/posix-configs
+		COMMAND scp -r ${PX4_SOURCE_DIR}/ROMFS   $<TARGET_FILE:px4>     debian@BBBluePX4:/home/debian/px4
+		DEPENDS px4
+		COMMENT "uploading px4 and data files"
+		USES_TERMINAL
+		)
+
+	add_custom_target(upload_px4
+		COMMAND scp -r  $<TARGET_FILE:px4>   debian@BBBluePX4:/home/debian/px4
+		DEPENDS px4
+		COMMENT "uploading px4"
+		USES_TERMINAL
+		)
+
 elseif ("${BOARD}" STREQUAL "bebop")
 
 	add_custom_target(upload

platforms/posix/cmake/px4_impl_os.cmake

@@ -283,6 +283,20 @@ function(px4_os_add_flags)
 	elseif ("${BOARD}" STREQUAL "bebop")
 		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
 		list(APPEND added_cxx_flags -Wno-missing-field-initializers)
+		
+	elseif ("${BOARD}" STREQUAL "bbblue")
+		set(BBBLUE_COMPILE_FLAGS -mcpu=cortex-a8 -mfpu=neon -mfloat-abi=hard -mtune=cortex-a8)
+		list(APPEND added_c_flags   ${BBBLUE_COMPILE_FLAGS})
+		list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
+
+		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
+		# On cross compile host system and native build system:
+		#   a) install robotcontrol.h and rc/* into /usr/local/include
+		#   b) install pre-built native (ARM) version of librobotcontrol.* into /usr/local/lib
+		list(APPEND added_cxx_flags -I/usr/local/include -Wno-missing-field-initializers)
+		list(APPEND added_c_flags   -I/usr/local/include)
+		
+		list(APPEND added_exe_linker_flags -L/usr/local/lib)
 	endif()
 
 	# output

platforms/posix/src/main.cpp

@@ -335,8 +335,10 @@ int main(int argc, char **argv)
 	string data_path;
 	string node_name;
 
+	bool skippingOutputRedirect = false;
+
 	// parse arguments
-	while (index < argc) {
+	while (index < argc && !skippingOutputRedirect) {
 		//cout << "arg: " << index << " : " << argv[index] << endl;
 
 		if (argv[index][0] == '-') {
@@ -366,6 +368,9 @@ int main(int argc, char **argv)
 				cout << "node name: " << node_name << endl;
 			}
 
+		} else if (strchr(argv[index], '>')) {
+			skippingOutputRedirect = true;
+
 		} else {
 			//cout << "positional argument" << endl;
 

posix-configs/bbblue/px4.config

+# config for a quad
+# modified from ../rpi/px4.config
+
+uorb start
+param load
+
+# Auto-start script index. Defines the auto-start script used to bootstrap the system.
+# It seems that SYS_AUTOSTART does not work as intended on posix platform.
+# For now, find the corresponding settings, and manually set them in ground control.
+#
+# 4001: Generic Quadrotor X;  4011: DJI Flame Wheel F450
+param set SYS_AUTOSTART 4011
+
+# DJI ESCs do not support calibration and need higher PWM_MIN
+# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
+# It seems that all latest DJI ESC have the same range.
+# Note that the setting here applies to all PWM channels.
+# param set PWM_MIN 1120
+# param set PWM_MAX 1920
+# Not using DJI 430 LITE ESC anymore due to its hiccups: 
+#    each random motor stop would cause a scary flip in the fly
+# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
+ 
+# Broadcast heartbeats on local network. This allows a ground control station
+# to automatically find the drone on the local network.
+param set MAV_BROADCAST 1
+
+# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
+param set MAV_TYPE 2
+
+# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
+param set SYS_MC_EST_GROUP 2
+
+# Three possible main power battery sources for BBBlue:
+# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
+# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
+# 3. other power source (e.g., LiPo battery more than 4S/18V). 
+#    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3. 
+param set BAT_ADC_CHANNEL 	5
+
+# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
+param set BAT_CNT_V_VOLT 	 0.0004394531
+
+# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
+param set BAT_V_DIV 		11.0
+
+#param set BAT_CNT_V_CURR 	 0.001
+#param set BAT_A_PER_V 		15.391030303
+
+dataman start
+
+df_bmp280_wrapper  start -D /dev/i2c-2
+
+df_mpu9250_wrapper start
+# options:  -R rotation
+
+gps start -d /dev/ttyS2 -s -p ubx
+
+#rgbled start -b 1
+bbblue_adc start
+bbblue_adc test
+
+sensors start
+commander start
+navigator start
+ekf2 start
+#land_detector start multicopter
+
+mc_pos_control start
+mc_att_control start
+#fw_att_control start
+#fw_pos_control_l1 start
+
+mavlink start -x -u 14556 -r 1000000 
+# -n name of wifi interface: SoftAp, wlan or your custom interface, 
+# e.g., -n wlan . The default on BBBlue is SoftAp
+
+sleep 1
+
+mavlink stream -u 14556 -s HIGHRES_IMU -r 20
+mavlink stream -u 14556 -s ATTITUDE -r 20
+mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
+
+linux_sbus start -d /dev/ttyS4 -c 16
+# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
+
+# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
+linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
+#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+
+logger start -t -b 200
+mavlink boot_complete

posix-configs/bbblue/px4_fw.config

+# config for fixed wing (FW)
+# modified from ./px4.config, switch att/pos_control & mixer
+
+uorb start
+param load
+
+# Auto-start script index. Defines the auto-start script used to bootstrap the system.
+# It seems that SYS_AUTOSTART does not work as intended on posix platform.
+# For now, find the corresponding settings, and manually set them in ground control.
+#
+# 4001: Generic Quadrotor X;  4011: DJI Flame Wheel F450
+param set SYS_AUTOSTART 4011
+
+# DJI ESCs do not support calibration and need higher PWM_MIN
+# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
+# It seems that all latest DJI ESC have the same range.
+# Note that the setting here applies to all PWM channels.
+# param set PWM_MIN 1120
+# param set PWM_MAX 1920
+# Not using DJI 430 LITE ESC anymore due to its hiccups: 
+#    each random motor stop would cause a scary flip in the fly
+# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
+ 
+# Broadcast heartbeats on local network. This allows a ground control station
+# to automatically find the drone on the local network.
+param set MAV_BROADCAST 1
+
+# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
+param set MAV_TYPE 2
+
+# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
+param set SYS_MC_EST_GROUP 2
+
+# Three possible main power battery sources for BBBlue:
+# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
+# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
+# 3. other power source (e.g., LiPo battery more than 4S/18V). 
+#    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3. 
+param set BAT_ADC_CHANNEL 	5
+
+# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
+param set BAT_CNT_V_VOLT 	 0.0004394531
+
+# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
+param set BAT_V_DIV 		11.0
+
+#param set BAT_CNT_V_CURR 	 0.001
+#param set BAT_A_PER_V 		15.391030303
+
+dataman start
+
+df_bmp280_wrapper  start -D /dev/i2c-2
+
+df_mpu9250_wrapper start
+# options:  -R rotation
+
+gps start -d /dev/ttyS2 -s -p ubx
+
+#rgbled start -b 1
+bbblue_adc start
+bbblue_adc test
+
+sensors start
+commander start
+navigator start
+ekf2 start
+#land_detector start multicopter
+
+#mc_pos_control start
+#mc_att_control start
+fw_att_control start
+fw_pos_control_l1 start
+
+mavlink start -x -u 14556 -r 1000000 
+# -n name of wifi interface: SoftAp, wlan or your custom interface, 
+# e.g., -n wlan . The default on BBBlue is SoftAp
+
+sleep 1
+
+mavlink stream -u 14556 -s HIGHRES_IMU -r 20
+mavlink stream -u 14556 -s ATTITUDE -r 20
+mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
+
+linux_sbus start -d /dev/ttyS4 -c 16
+# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
+
+# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
+#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
+linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+
+logger start -t -b 200
+mavlink boot_complete

src/drivers/bbblue_adc/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2015-2017 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.
+#
+############################################################################
+if ("${BOARD}" STREQUAL "bbblue")  
+	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
+
+	px4_add_module(
+		MODULE drivers__bbblue_adc
+		MAIN bbblue_adc
+		COMPILE_FLAGS
+		SRCS
+			bbblue_adc.cpp
+			
+			# Previous board specific code is now precluded from build after
+			# the following was added to Frimware/CMakeLists.txt:
+			#
+			# 		add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
+			#
+			# so include bbblue board specific code here:
+			../boards/bbblue/init.c
+		DEPENDS
+			platforms__common
+	)
+endif()

src/drivers/bbblue_adc/bbblue_adc.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2018 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bbblue_adc.cpp
+ *
+ * BBBlue ADC Driver
+ *
+ */
+
+#include <px4_config.h>
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <drivers/drv_adc.h>
+
+#include <VirtDevObj.hpp>
+
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <string.h>
+
+#ifdef __DF_BBBLUE
+#include <robotcontrol.h>
+#include <board_config.h>
+#endif
+
+#define ADC_BASE_DEV_PATH "/dev/null"
+
+#define BBBLUE_MAX_ADC_CHANNELS 	            (6)
+#define BBBLUE_MAX_ADC_USER_CHANNELS 	        (4)
+#define BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL 		(5)
+#define BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL (6)
+
+__BEGIN_DECLS
+__EXPORT int bbblue_adc_main(int argc, char *argv[]);
+__END_DECLS
+
+class BBBlueADC: public DriverFramework::VirtDevObj
+{
+public:
+	BBBlueADC();
+	virtual ~BBBlueADC();
+
+	virtual int init();
+
+	virtual ssize_t devRead(void *buf, size_t count) override;
+	virtual int devIOCTL(unsigned long request, unsigned long arg) override;
+
+protected:
+	virtual void _measure() override;
+
+private:
+	pthread_mutex_t _samples_lock;
+	px4_adc_msg_t   _samples[BBBLUE_MAX_ADC_CHANNELS];
+};
+
+BBBlueADC::BBBlueADC()
+	: DriverFramework::VirtDevObj("bbblue_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
+{
+	pthread_mutex_init(&_samples_lock, NULL);
+}
+
+BBBlueADC::~BBBlueADC()
+{
+	pthread_mutex_destroy(&_samples_lock);
+
+	rc_cleaning();
+}
+
+void BBBlueADC::_measure()
+{
+#ifdef __DF_BBBLUE
+	px4_adc_msg_t tmp_samples[BBBLUE_MAX_ADC_CHANNELS];
+
+	for (int i = 0; i < BBBLUE_MAX_ADC_USER_CHANNELS; ++i) {
+		tmp_samples[i].am_channel = i;
+		tmp_samples[i].am_data = rc_adc_read_raw(i);
+	}
+
+	tmp_samples[BBBLUE_MAX_ADC_USER_CHANNELS].am_channel = BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL;
+	tmp_samples[BBBLUE_MAX_ADC_USER_CHANNELS].am_data    = rc_adc_read_raw(BBBLUE_ADC_LIPO_BATTERY_VOLTAGE_CHANNEL);
+
+	tmp_samples[BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL].am_channel = BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL;
+	tmp_samples[BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL].am_data    = rc_adc_read_raw(BBBLUE_ADC_DC_JACK_VOLTAGE_CHANNEL);
+
+	pthread_mutex_lock(&_samples_lock);
+	memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
+	pthread_mutex_unlock(&_samples_lock);
+#endif
+}
+
+int BBBlueADC::init()
+{
+	rc_init();
+
+	int ret = DriverFramework::VirtDevObj::init();
+
+	if (ret != PX4_OK) {
+		PX4_ERR("init failed");
+		return ret;
+	}
+
+	_measure(); // start the initial conversion so that the test command right
+	            // after the start command can return values
+	return PX4_OK;
+}
+
+int BBBlueADC::devIOCTL(unsigned long request, unsigned long arg)
+{
+	return -ENOTTY;
+}
+
+ssize_t BBBlueADC::devRead(void *buf, size_t count)
+{
+	const size_t maxsize = sizeof(_samples);
+	int ret;
+
+	if (count > maxsize) {
+		count = maxsize;
+	}
+
+	ret = pthread_mutex_trylock(&_samples_lock);
+
+	if (ret != 0) {
+		return 0;
+	}
+
+	memcpy(buf, &_samples, count);
+	pthread_mutex_unlock(&_samples_lock);
+
+	return count;
+}
+
+static BBBlueADC *instance = nullptr;
+
+int bbblue_adc_main(int argc, char *argv[])
+{
+	int ret;
+
+	if (argc < 2) {
+		PX4_WARN("usage: {start|stop|test}");
+		return PX4_ERROR;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+		if (instance) {
+			PX4_WARN("already started");
+			return PX4_OK;
+		}
+
+		instance = new BBBlueADC;
+
+		if (!instance) {
+			PX4_WARN("not enough memory");
+			return PX4_ERROR;
+		}
+
+		if (instance->init() != PX4_OK) {
+			delete instance;
+			instance = nullptr;
+			PX4_WARN("init failed");
+			return PX4_ERROR;
+		}
+
+		PX4_INFO("BBBlueADC started");
+		return PX4_OK;
+
+	} else if (!strcmp(argv[1], "stop")) {
+		if (!instance) {
+			PX4_WARN("already stopped");
+			return PX4_OK;
+		}
+
+		delete instance;
+		instance = nullptr;
+		return PX4_OK;
+
+	} else if (!strcmp(argv[1], "test")) {
+		if (!instance) {
+			PX4_ERR("start first");
+			return PX4_ERROR;
+		}
+
+		px4_adc_msg_t adc_msgs[BBBLUE_MAX_ADC_CHANNELS];
+
+		ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
+
+		if (ret < 0) {
+			PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
+			return ret;
+
+		} else if (ret != sizeof(adc_msgs)) {
+			PX4_ERR("incomplete read: %d expected %d", ret, sizeof(adc_msgs));
+			return ret;
+		}
+
+		for (int i = 0; i < BBBLUE_MAX_ADC_USER_CHANNELS; ++i) {
+			PX4_INFO("ADC channel: %d; value: %d", (int)adc_msgs[i].am_channel,
+				 adc_msgs[i].am_data);
+		}
+
+		for (int i = BBBLUE_MAX_ADC_USER_CHANNELS; i < BBBLUE_MAX_ADC_CHANNELS; ++i) {
+			PX4_INFO("ADC channel: %d; value: %d, voltage: %6.2f V", (int)adc_msgs[i].am_channel,
+					adc_msgs[i].am_data, adc_msgs[i].am_data* 1.8/4095.0 * 11.0);
+
+		}
+
+		return PX4_OK;
+
+	} else {
+		PX4_WARN("action (%s) not supported", argv[1]);
+
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+
+}
+
+

src/drivers/boards/bbblue/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+if ("${BOARD}" STREQUAL "bbblue")  
+	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
+
+	px4_add_library(drivers_board
+		init.c
+	)
+
+endif()
\ No newline at end of file

src/drivers/boards/bbblue/board_config.h

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * BBBLUE internal definitions
+ */
+
+#pragma once
+
+#ifndef BOARD_CONFIG_H
+#define BOARD_CONFIG_H
+
+#define BOARD_OVERRIDE_UUID "BBBLUEID    " // must be of length 12 (PX4_CPU_UUID_BYTE_LENGTH)
+#define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
+
+#define BOARD_NAME "BBBLUE"
+
+#define BOARD_BATTERY1_V_DIV   (11.0f)
+//#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
+// Battery ADC channels
+#define ADC_BATTERY_VOLTAGE_CHANNEL     5
+#define ADC_BATTERY_CURRENT_CHANNEL     ((uint8_t)(-1))
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL    ((uint8_t)(-1))
+
+#define BOARD_HAS_NO_BOOTLOADER
+
+#define BOARD_MAX_LEDS 4 // Number external of LED's this board has
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_EXPANSION	1
+#define PX4_NUMBER_I2C_BUSES    1
+
+#include <system_config.h>
+#include "../common/board_common.h"
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+int  rc_init(void);
+void rc_cleaning(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#ifdef __RC_V0_3
+#define rc_i2c_lock_bus 	rc_i2c_claim_bus
+#define rc_i2c_unlock_bus	rc_i2c_release_bus
+#define rc_i2c_get_lock		rc_i2c_get_in_use_state
+
+#define rc_bmp_init			rc_initialize_barometer
+
+#define rc_adc_read_raw		rc_adc_raw
+
+#define rc_servo_send_pulse_us			rc_send_servo_pulse_us
+
+#define rc_filter_empty					rc_empty_filter
+#define rc_filter_march					rc_march_filter
+#define rc_filter_prefill_inputs		rc_prefill_filter_inputs
+#define rc_filter_prefill_outputs		rc_prefill_filter_outputs
+#define rc_filter_butterworth_lowpass	rc_butterworth_lowpass
+
+/**
+ * struct to hold the data retreived during one read of the barometer.
+ */
+typedef struct rc_bmp_data_t{
+	float temp_c;		///< temperature in degrees celcius
+	float alt_m;		///< altitude in meters
+	float pressure_pa;	///< current pressure in pascals
+} rc_bmp_data_t;
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+int rc_bmp_read(rc_bmp_data_t* data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif // BOARD_CONFIG_H
+

src/drivers/boards/bbblue/init.c

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * BBBLUE specific initialization
+ */
+#include <stddef.h>
+#include <px4_log.h>
+
+#include <robotcontrol.h>
+
+#include "board_config.h"
+
+// initialize roboticscape library similar to the deprecated rc_initialize()
+int rc_init(void)
+{
+#ifdef __RC_V0_3
+	return rc_initialize();
+#else
+#ifdef __DF_BBBLUE
+	if (rc_get_state() == RUNNING) {  return 0; }
+
+	PX4_INFO("Initializing Robotics Cape library ...");
+
+	// make sure another instance isn't running
+	rc_kill_existing_process(2.0f);
+
+	// make PID file to indicate your project is running
+	rc_make_pid_file();
+
+	// start state as Uninitialized
+	rc_set_state(UNINITIALIZED);
+
+	// initialize pinmux
+	/*
+	if (rc_pinmux_set_default()) {
+		PX4_ERR("rc_init failed to run rc_pinmux_set_default()");
+		return -1;
+	}
+	// rc_pinmux_set_default() includes: rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
+	 */
+
+	/*
+	// Due to device tree issue, rc_pinmux_set_default() currently does not work correctly
+	// with kernel 4.14, use a simplified version for now
+	//
+	// shared pins
+	int ret = 0;
+	ret |= rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
+	ret |= rc_pinmux_set(GPS_HEADER_PIN_3, PINMUX_UART);
+	ret |= rc_pinmux_set(GPS_HEADER_PIN_4, PINMUX_UART);
+	ret |= rc_pinmux_set(UART1_HEADER_PIN_3, PINMUX_UART);
+	ret |= rc_pinmux_set(UART1_HEADER_PIN_4, PINMUX_UART);
+
+	if (ret != 0) {
+		PX4_ERR("rc_init failed to set default pinmux");
+		return -1;
+	}
+    */
+
+	// no direct equivalent of configure_gpio_pins()
+
+	if (rc_adc_init()) {
+		PX4_ERR("rc_init failed to run rc_adc_init()");
+		return -1;
+	}
+
+	if (rc_servo_init()) {  // Configures the PRU to send servo pulses
+		PX4_ERR("rc_init failed to run rc_servo_init()");
+		return -1;
+	}
+
+	if(rc_servo_power_rail_en(1)) { // Turning On 6V Servo Power Rail
+		PX4_ERR("rc_init failed to run rc_servo_power_rail_en(1)");
+		return -1;
+	}
+
+	//i2c, barometer and mpu will be initialized later
+
+	rc_set_state(RUNNING);
+
+	// wait to let threads start up
+	rc_usleep(10000);
+#endif
+
+	return 0;
+#endif
+}
+
+
+void rc_cleaning(void)
+{
+#ifdef __RC_V0_3
+	rc_cleanup();  return ;
+#else
+#ifdef __DF_BBBLUE
+	if (rc_get_state() == EXITING) { return; }
+
+	rc_set_state(EXITING);
+
+	rc_adc_cleanup();
+
+	rc_servo_power_rail_en(0);
+	rc_servo_cleanup();
+
+	rc_remove_pid_file();
+#endif
+#endif
+}
+
+
+#ifdef __RC_V0_3
+int rc_bmp_read(rc_bmp_data_t* data) {
+	int rtn = rc_read_barometer();
+
+	data->temp_c 		= rc_bmp_get_temperature();
+	data->alt_m  		= rc_bmp_get_altitude_m();
+	data->pressure_pa	= rc_bmp_get_pressure_pa();
+
+	return rtn;
+}
+#endif

src/drivers/linux_pwm_out/CMakeLists.txt

@@ -30,6 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 px4_add_module(
 	MODULE drivers__linux_pwm_out
 	MAIN linux_pwm_out
@@ -39,6 +40,7 @@ px4_add_module(
 		navio_sysfs.cpp
 		linux_pwm_out.cpp
 		ocpoc_mmap.cpp
+		bbblue_pwm_rc.cpp
 	DEPENDS
 		pwm_limit
 	)

src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+#ifdef __DF_BBBLUE
+
+#include <fcntl.h>
+#include <errno.h>
+#include <px4_log.h>
+
+#include <robotcontrol.h>
+#include <board_config.h>
+
+#include "bbblue_pwm_rc.h"
+
+using namespace linux_pwm_out;
+
+BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs)
+{
+	if (_num_outputs > MAX_NUM_PWM) {
+		PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
+		_num_outputs = MAX_NUM_PWM;
+	}
+}
+
+BBBlueRcPWMOut::~BBBlueRcPWMOut()
+{
+	rc_cleaning();
+}
+
+int BBBlueRcPWMOut::init()
+{
+	rc_init();
+
+	return 0;
+}
+
+int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
+{
+	if (num_outputs > _num_outputs) {
+		num_outputs = _num_outputs;
+	}
+
+	int ret = 0;
+
+	// pwm[ch] is duty_cycle in us
+	for (int ch = 0; ch < num_outputs; ++ch) {
+		ret += rc_servo_send_pulse_us(ch+1, pwm[ch]);  // converts to 1-based channel #
+	}
+
+	return ret;
+}
+
+#endif  // __DF_BBBLUE

src/drivers/linux_pwm_out/bbblue_pwm_rc.h

+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "common.h"
+
+namespace linux_pwm_out
+{
+
+/**
+ ** class BBBlueRcPWMOut
+ * PWM output class for BeagleBone Blue with Robotics Cape Library
+ *
+ * Ref: https://github.com/StrawsonDesign/Robotics_Cape_Installer
+ *      http://www.strawsondesign.com/#!manual-servos
+ */
+class BBBlueRcPWMOut : public PWMOutBase
+{
+public:
+	BBBlueRcPWMOut(int max_num_outputs);
+	virtual ~BBBlueRcPWMOut();
+
+	int init() override;
+
+	int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
+
+private:
+	static const int MAX_NUM_PWM = 8;
+	static const int MIN_FREQUENCY_PWM = 40;
+
+	int _num_outputs;
+};
+
+}

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -58,6 +58,7 @@
 #include "navio_sysfs.h"
 #include "PCA9685.h"
 #include "ocpoc_mmap.h"
+#include "bbblue_pwm_rc.h"
 
 namespace linux_pwm_out
 {
@@ -233,6 +234,12 @@ void task_main(int argc, char *argv[])
 		PX4_INFO("Starting PWM output in ocpoc_mmap mode");
 		pwm_out = new OcpocMmapPWMOut(_max_num_outputs);
 
+#ifdef __DF_BBBLUE
+	} else if (strcmp(_protocol, "bbblue_rc") == 0) {
+		PX4_INFO("Starting PWM output in bbblue_rc mode");
+		pwm_out = new BBBlueRcPWMOut(_max_num_outputs);
+#endif
+
 	} else { /* navio */
 		PX4_INFO("Starting PWM output in Navio mode");
 		pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs);
@@ -493,7 +500,7 @@ void usage()
 	PX4_INFO("                       (default /sys/class/pwm/pwmchip0)");
 	PX4_INFO("       -m mixerfile : path to mixerfile");
 	PX4_INFO("                       (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
-	PX4_INFO("       -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap)");
+	PX4_INFO("       -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)");
 	PX4_INFO("                       (default is navio)");
 	PX4_INFO("       -n num_outputs : maximum number of outputs the driver should use");
 	PX4_INFO("                       (default is 8)");

src/drivers/linux_sbus/linux_sbus.cpp

@@ -42,7 +42,8 @@ int RcInput::init()
 	/**
 	 * initialize the data of each channel
 	 */
-	for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
+	for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS && i<16; ++i) {
+		//_data.values defined as int[16] and RC_INPUT_MAX_CHANNELS (=18) > 16
 		_data.values[i] = UINT16_MAX;
 	}
 
@@ -104,7 +105,7 @@ int RcInput::start(char *device, int channels)
 {
 	int result = 0;
 	strcpy(_device, device);
-	PX4_WARN("Device %s , channels: %d \n", device, channels);
+	PX4_INFO("Device %s , channels: %d \n", device, channels);
 	_channels = channels;
 	result = init();
 
@@ -231,6 +232,7 @@ void RcInput::_measure(void)
 	_data.rc_failsafe = (_sbusData[23] & (1 << 3)) ? true : false;
 	_data.rc_lost = (_sbusData[23] & (1 << 2)) ? true : false;
 	_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
+
 	orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
 }
 //---------------------------------------------------------------------------------------------------------//

src/modules/commander/PreflightCheck.cpp

@@ -685,6 +685,9 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 #elif defined(__PX4_POSIX_RPI)
 	PX4_WARN("Preflight checks for mag, acc, gyro always pass on RPI");
 	checkSensors = false;
+#elif defined(__PX4_POSIX_BBBLUE)
+	PX4_WARN("Preflight checks for mag, acc, gyro always pass on BBBLUE");
+	checkSensors = false;    
 #elif defined(__PX4_POSIX_BEBOP)
 	PX4_WARN("Preflight checks always pass on Bebop.");
 	checkSensors = false;

src/modules/commander/commander_helper.cpp

@@ -279,7 +279,7 @@ int led_init()
 	led_control.timestamp = hrt_absolute_time();
 	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, LED_UORB_QUEUE_LENGTH);
 
-#ifndef CONFIG_ARCH_BOARD_RPI
+#if !defined(CONFIG_ARCH_BOARD_RPI) && !defined(CONFIG_ARCH_BOARD_BBBLUE)
 	/* first open normal LEDs */
 	DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
 
@@ -313,7 +313,7 @@ int led_init()
 void led_deinit()
 {
 	orb_unadvertise(led_control_pub);
-#ifndef CONFIG_ARCH_BOARD_RPI
+#if !defined(CONFIG_ARCH_BOARD_RPI) && !defined(CONFIG_ARCH_BOARD_BBBLUE)
 	DevMgr::releaseHandle(h_leds);
 #endif
 }