Merged master into indoor branch

.gitignore

@@ -38,3 +38,4 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+Firmware.zip

.gitmodules

@@ -5,5 +5,8 @@
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
 [submodule "uavcan"]
-	path = uavcan
+	path = src/lib/uavcan
 	url = git://github.com/pavel-kirienko/uavcan.git
+[submodule "unittests/gtest"]
+	path = unittests/gtest
+	url = https://github.com/sjwilks/gtest.git

.travis.yml

+# Build and autotest script for PX4 Firmware
+# http://travis-ci.org
+
+language: cpp
+
+before_script:
+  - sudo apt-get update -q
+# Travis specific tools
+  - sudo apt-get install s3cmd grep zip mailutils
+# General toolchain dependencies
+  - sudo apt-get install libc6:i386 libgcc1:i386 gcc-4.6-base:i386 libstdc++5:i386 libstdc++6:i386
+  - sudo apt-get install python-serial python-argparse
+  - sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget
+  - pushd .
+  - cd ~
+  - wget https://launchpadlibrarian.net/174121628/gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
+  - tar -jxf gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
+  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_7-2014q2/bin:\$PATH"
+  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+  - . ~/.profile
+  - popd
+
+git:
+  depth: 500
+
+env:
+  global:
+# AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+# AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+    - PX4_AWS_BUCKET=px4-travis
+    - PX4_EMAIL_SUBJECT="Travis CI result"
+# Email address: $PX4_EMAIL
+    - secure: "ei3hKAw6Pk+vEkQBI5Y2Ak74BRAaXcK2UHVnVadviBHI4EVPwn1YGP6A4Y0wnLe4U7ETTl0UiijRoVxyDW0Mq896Pv0siw02amNpjSZZYu+RfN1+//MChB48OxsLDirUdHVrULhl/bOARM02h2Bg28jDE2g7IqmJwg3em3oMbjU="
+    - PX4_REPORT=report.txt
+
+script:
+  - arm-none-eabi-gcc --version
+  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
+  - make tests
+  - echo -en 'travis_fold:end:script.1\\r'
+  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
+  - make archives
+  - echo -en 'travis_fold:end:script.2\\r'
+  - echo 'Building Firmware..' && echo -en 'travis_fold:start:script.3\\r'
+  - make -j6
+  - echo -en 'travis_fold:end:script.3\\r'
+  - zip Firmware.zip Images/*.px4
+
+# We use an encrypted env variable to ensure this only executes when artifacts are uploaded.
+after_script:
+  - echo "Branch $TRAVIS_BRANCH (pull request: $TRAVIS_PULL_REQUEST) ready for flight testing." >> $PX4_REPORT
+  - git log -n1 > $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - echo "Files available at:" >> $PX4_REPORT
+  - echo "https://px4-travis.s3.amazonaws.com/PX4/Firmware/$TRAVIS_BUILD_NUMBER/$TRAVIS_BUILD_NUMBER.1/Firmware.zip" >> $PX4_REPORT
+  - echo "Description of desired tests is available at:" >> $PX4_REPORT
+  - echo "https://github.com/PX4/Firmware/pull/$TRAVIS_PULL_REQUEST" >> $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - echo "Thanks for testing!" >> $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - /usr/bin/mail -s "$SUBJECT ($TRAVIS_COMMIT)" "$PX4_EMAIL" < "$PX4_REPORT"
+  #- s3cmd put --acl-public --guess-mime-type --config=.s3cfg Firmware.zip s3://s3-website-us-east-1.amazonaws.com/#$TRAVIS_JOB_ID/
+
+deploy:
+  provider: releases
+  api_key:
+    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+  file: "Firmware.zip"
+  skip_cleanup: true
+  on:
+    tags: true
+    all_branches: true
+    repo: PX4/Firmware
+
+addons:
+  artifacts:
+    paths:
+    - "Firmware.zip"
+    key:
+      secure: j4y9x9KXUiarGrnpFBLPIkEKIH8X6oSRUO61TwxTOamsE0eEKnIaCz1Xq83q7DoqzomHBD3qXAFPV9dhLr1zdKEPJDIyV45GVD4ClIQIzh/P3Uc7kDNxKzdmxY12SH6D0orMpC4tCf1sNK7ETepltWfcnjaDk1Rjs9+TVY7LuzM=
+    secret:
+      secure: CJC7VPGtEhJu8Pix85iPF8xUvMPZvTgnHyd9MrSlPKCFFMrlgz9eMT0WWW/TPQ+s4LPwJIfEQx2Q0BRT5tOXuvsTLuOG68mplVddhTWbHb0m0qTQErXFHEppvW4ayuSdeLJ4TjTWphBVainL0mcLLRwQfuAJJDDs/sGan3WrG+Y=
+    bucket: px4-travis
+    region: us-east-1
+    endpoint: s3-website-us-east-1.amazonaws.com
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/2b9c4a4cb2211f8befba
+    on_success: always  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+    on_start: false     # default: false

Makefile

@@ -229,6 +229,14 @@ updatesubmodules:
 #
 testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
+	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
+
+#
+# Unittest targets. Builds and runs the host-level
+# unit tests.
+.PHONY: tests
+tests:
+	$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
@@ -237,14 +245,14 @@ testbuild:
 #
 .PHONY:	clean
 clean:
-	$(Q) $(RMDIR) $(BUILD_DIR)*.build
-	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
+	$(Q) $(RMDIR) $(BUILD_DIR)*.build > /dev/null
+	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4 > /dev/null
 
 .PHONY:	distclean
 distclean: clean
-	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
+	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export > /dev/null
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean > /dev/null
+	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) > /dev/null
 
 #
 # Print some help text

NuttX @ 3c36467c

-Subproject commit 9d06b645790e1445f14e3b19c71d40b3088f4e4f
+Subproject commit 3c36467c0d5572431a09ae50013328a4693ee070

README.md

-## PX4 Aerial Middleware and Flight Control Stack ##
+## PX4 Flight Control Stack and Middleware ##
+
+[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware)
+
+[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see LICENSE.md)
 *   Supported airframes:
-  * Multicopters
-  * Fixed wing
+  * [Multicopters](http://px4.io/platforms/multicopters/start)
+  * [Fixed wing](http://px4.io/platforms/planes/start)
+  * [VTOL](http://px4.io/platforms/vtol/start)
 *   Binaries (always up-to-date from master):
   * [Downloads](https://pixhawk.org/downloads)
 *   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
+
+### Developers ###
+
+Contributing guide:
+http://px4.io/dev/contributing
+
+Developer guide:
+http://px4.io/dev/
+
+This repository contains code supporting these boards:
+  * PX4FMUv1.x
+  * PX4FMUv2.x
+  * AeroCore
+
+## NuttShell (NSH) ##
+
+NSH usage documentation:
+http://px4.io/users/serial_connection

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO review MC_YAWRATE_I
 	param set MC_ROLL_P 8.0
@@ -26,5 +26,5 @@ fi
 
 set MIXER FMU_quad_w
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
 set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
@@ -29,7 +29,7 @@ fi
 
 set MIXER FMU_quad_w
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
 
 set PWM_MIN 1200
 set PWM_MAX 1950

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
@@ -31,4 +31,4 @@ set MIXER FMU_quad_w
 set PWM_MIN 1210
 set PWM_MAX 2100
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

+#!nsh
+#
+# Team Blacksheep Discovery Long Range Quadcopter
+# 
+# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
+#
+# Simon Wilks <simon@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLLRATE_I 0.02
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.4
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER FMU_quad_w
+
+set PWM_OUTPUTS 1234
+set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER FMU_hexa_cox
 
 # Need to set all 8 channels
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_octo_cox
 
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

+#!nsh
+#
+# Generic configuration file for caipirinha VTOL version
+#
+# Roman Bapst <bapstr@ethz.ch>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER FMU_caipirinha_vtol
+
+set PWM_OUT 12
+set PWM_MAX 2000
+set PWM_RATE 400
+param set VT_MOT_COUNT 2
+param set VT_IDLE_PWM_MC  1080

ROMFS/px4fmu_common/init.d/2102_3dr_skywalker

@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AERT
\ No newline at end of file
+set MIXER skywalker
\ No newline at end of file

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -4,5 +4,5 @@ sh /etc/init.d/rc.fw_defaults
 
 set MIXER FMU_Q
 # Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
@@ -36,5 +36,5 @@ fi
 set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 2
 	param set FW_AIRSPD_MAX 15
@@ -44,5 +44,5 @@ fi
 
 set MIXER wingwing
 # Provide ESC a constant 1000 us pulse
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -7,9 +7,9 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
-	
+
 	# TODO: these are the X5 default parameters, update them to the caipi
 
 	param set FW_AIRSPD_MIN 15