Merge branch 'master' into bugfix-ground

Makefile

@@ -457,9 +457,9 @@ sim_win32_%: uavobjects_flight
 
 ##############################
 #
-# Release packaging components
+# Packaging components
 #
 ##############################
-.PHONY: release
+.PHONY: package
-release:
+package:
 	$(V1) cd $@ && $(MAKE) --no-print-directory $@

flight/CopterControl/Makefile

@@ -187,6 +187,7 @@ SRC += $(PIOSSTM32F10X)/pios_spektrum.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 SRC += $(PIOSSTM32F10X)/pios_exti.c
+SRC += $(PIOSSTM32F10X)/pios_rtc.c
 SRC += $(PIOSSTM32F10X)/pios_wdg.c
 
 

flight/CopterControl/System/inc/pios_config.h

@@ -64,6 +64,7 @@
 #define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_BL_HELPER
 
@@ -92,7 +93,7 @@
 /* Task stack sizes */
 #define PIOS_ACTUATOR_STACK_SIZE       1020
 #define PIOS_MANUAL_STACK_SIZE          724
-#define PIOS_SYSTEM_STACK_SIZE          504
+#define PIOS_SYSTEM_STACK_SIZE          560
 #define PIOS_STABILIZATION_STACK_SIZE   524
 #define PIOS_TELEM_STACK_SIZE           500
 

flight/CopterControl/System/pios_board.c

@@ -348,39 +348,38 @@ void PIOS_USART_spektrum_irq_handler(void)
 }
 
 #include <pios_spektrum_priv.h>
-void TIM2_IRQHandler();
+void RTC_IRQHandler();
-void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler")));
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.tim_base_init = {
-		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
-		.TIM_ClockDivision = TIM_CKD_DIV1,
-		.TIM_CounterMode = TIM_CounterMode_Up,
-		.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps atleast one interrupt between frames
-		.TIM_RepetitionCounter = 0x0000,
-	},
 	.gpio_init = { //used for bind feature
 		.GPIO_Mode = GPIO_Mode_Out_PP,
 		.GPIO_Speed = GPIO_Speed_2MHz,
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM2_IRQHandler,
+		.handler = RTC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.timer = TIM2,
 	.port = GPIOB,
-	.ccr = TIM_IT_Update,
 	.pin = GPIO_Pin_11,
 };
 
-void PIOS_TIM2_irq_handler()
+void PIOS_SUPV_irq_handler() {
+	if (RTC_GetITStatus(RTC_IT_SEC))
 	{
+		/* Call the right handler */
 		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
 }
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 
@@ -441,14 +440,12 @@ const struct pios_servo_channel pios_servo_channels[] = {
 		.channel = TIM_Channel_1,
 		.pin = GPIO_Pin_4,
 	},  	
-#ifndef PIOS_INCLUDE_SPEKTRUM
 	{
 		.timer = TIM2,
 		.port = GPIOA,
 		.channel = TIM_Channel_3,
 		.pin = GPIO_Pin_2,
 	},	
-#endif
 };
 
 const struct pios_servo_cfg pios_servo_cfg = {

flight/OpenPilot/System/inc/FreeRTOSConfig.h

@@ -75,7 +75,7 @@ NVIC value of 255. */
 #if defined(DEBUG)
 #define configGENERATE_RUN_TIME_STATS 1
 #define INCLUDE_uxTaskGetRunTime 1
-#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() PIOS_RTC_Start()
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() PIOS_RTC_Init()
 // Note: Using the tick count defeats the purpose here, need some timer on the scale of 10khz
 #define portGET_RUN_TIME_COUNTER_VALUE()  PIOS_RTC_Counter()
 #endif

flight/OpenPilot/System/pios_board.c

@@ -504,39 +504,38 @@ void PIOS_USART_spektrum_irq_handler(void)
 }
 
 #include <pios_spektrum_priv.h>
-void TIM6_IRQHandler();
+void RTC_IRQHandler();
-void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.tim_base_init = {
-		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
-		.TIM_ClockDivision = TIM_CKD_DIV1,
-		.TIM_CounterMode = TIM_CounterMode_Up,
-		.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps, atleast one interrupt between frames
-		.TIM_RepetitionCounter = 0x0000,
-	},
 	.gpio_init = { //used for bind feature
 		.GPIO_Mode = GPIO_Mode_Out_PP,
 		.GPIO_Speed = GPIO_Speed_2MHz,
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM6_IRQHandler,
+		.handler = RTC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.timer = TIM6,
 	.port = GPIOA,
-	.ccr = TIM_IT_Update,
 	.pin = GPIO_Pin_10,
 };
 
-void PIOS_TIM6_irq_handler()
+void PIOS_SUPV_irq_handler() {
+	if (RTC_GetITStatus(RTC_IT_SEC))
 	{
-	PIOS_SPEKTRUM_irq_handler();
+		/* Call the right handler */
+		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
 }
 #endif	/* PIOS_COM_SPEKTRUM */
 
@@ -1049,6 +1048,7 @@ void PIOS_Board_Init(void) {
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 	/* SPEKTRUM init must come before comms */
+	PIOS_RTC_Init();  // Spektrum uses RTC to check for frame failures
 	PIOS_SPEKTRUM_Init();
 
 	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {

flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h

@@ -138,7 +138,7 @@ extern void vPortYieldFromISR( void );
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
 
-void PIOS_RTC_Start();
+void PIOS_RTC_Init();
 uint32_t PIOS_RTC_Counter();
 	
 #define portDISABLE_INTERRUPTS()	portSET_INTERRUPT_MASK()

flight/PiOS/STM32F10x/pios_rtc.c

@@ -33,7 +33,11 @@
 
 #if defined(PIOS_INCLUDE_RTC)
 
-void PIOS_RTC_Start()
+#ifndef PIOS_RTC_PRESCALAR
+#define PIOS_RTC_PRESCALAR 100
+#endif
+
+void PIOS_RTC_Init()
 {
 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,
 			       ENABLE);
@@ -44,7 +48,14 @@ void PIOS_RTC_Start()
 	RTC_WaitForLastTask();
 	RTC_WaitForSynchro();
 	RTC_WaitForLastTask();
-	RTC_SetPrescaler(0);	// counting at 8e6 / 128
+
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+	/* Enable the RTC Second interrupt */
+	RTC_ITConfig( RTC_IT_SEC, ENABLE );
+	/* Wait until last write operation on RTC registers has finished */
+	RTC_WaitForLastTask();
+#endif
+	RTC_SetPrescaler(PIOS_RTC_PRESCALAR);	// counting at 8e6 / 128
 	RTC_WaitForLastTask();
 	RTC_SetCounter(0);
 	RTC_WaitForLastTask();
@@ -55,6 +66,15 @@ uint32_t PIOS_RTC_Counter()
 	return RTC_GetCounter();
 }
 
+float PIOS_RTC_Rate()
+{
+	return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALAR);
+}
+
+float PIOS_RTC_MsPerTick() 
+{
+	return 1000.0f / PIOS_RTC_Rate();
+}
 
 #endif
 

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -41,16 +41,24 @@
 #error "AUX com cannot be used with SPEKTRUM"
 #endif
 
+/**
+ * @Note Framesyncing:
+ * The code resets the watchdog timer whenever a single byte is received, so what watchdog code
+ * is never called if regularly getting bytes.
+ * RTC timer is running @625Hz, supervisor timer has divider 5 so frame sync comes every 1/125Hz=8ms.
+ * Good for both 11ms and 22ms framecycles
+ */
+
 /* Global Variables */
 
-/* Local Variables, use pios_usart */
+/* Local Variables */
 static uint16_t CaptureValue[12],CaptureValueTemp[12];
 static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
-
 uint8_t sync_of = 0;
+uint16_t supv_timer=0;
 
 /**
-* Initialise the onboard USARTs
+* Bind and Initialise Spektrum satellite receiver
 */
 void PIOS_SPEKTRUM_Init(void)
 {
@@ -59,62 +67,15 @@ void PIOS_SPEKTRUM_Init(void)
 		PIOS_SPEKTRUM_Bind();
 	}
 
-	NVIC_InitTypeDef NVIC_InitStructure = pios_spektrum_cfg.irq.init;
+	/* Init RTC supervisor timer interrupt */
-	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_spektrum_cfg.tim_base_init;
+	NVIC_InitTypeDef NVIC_InitStructure;
-
+	NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn;
-
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
-	/* Enable appropriate clock to timer module */
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	switch((int32_t) pios_spektrum_cfg.timer) {
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-		case (int32_t)TIM1:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
-			RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
-			break;
-		case (int32_t)TIM2:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
-			break;
-		case (int32_t)TIM3:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
-			break;
-		case (int32_t)TIM4:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
-			break;
-#ifdef STM32F10X_HD
-
-		case (int32_t)TIM5:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
-			break;
-		case (int32_t)TIM6:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
-			break;
-		case (int32_t)TIM7:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
-			break;
-		case (int32_t)TIM8:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
-			RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
-			break;
-#endif
-	}
 	NVIC_Init(&NVIC_InitStructure);
-
+	/* Init RTC clock */
-	/* Configure timer clocks */
+	PIOS_RTC_Init();
-	TIM_InternalClockConfig(pios_spektrum_cfg.timer);
-	TIM_TimeBaseInit(pios_spektrum_cfg.timer, &TIM_TimeBaseStructure);
-
-	/* Enable the Capture Compare Interrupt Request */
-	TIM_ITConfig(pios_spektrum_cfg.timer, pios_spektrum_cfg.ccr, ENABLE);
-
-	/* Clear update pending flag */
-	TIM_ClearFlag(pios_spektrum_cfg.timer, TIM_FLAG_Update);
-
-	/* Enable timers */
-	TIM_Cmd(pios_spektrum_cfg.timer, ENABLE);
 }
 
 /**
@@ -263,8 +224,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 }
 
 /* Interrupt handler for USART */
-void SPEKTRUM_IRQHandler(uint32_t usart_id)
+void SPEKTRUM_IRQHandler(uint32_t usart_id) {
-{
 	/* by always reading DR after SR make sure to clear any error interrupts */
 	volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
 	volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
@@ -280,34 +240,35 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id)
 		/* Disable TXE interrupt (TXEIE=0) */
 		USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE);
 	}
-	/* clear "watchdog" timer */
+	/* byte arrived so clear "watchdog" timer */
-	TIM_SetCounter(pios_spektrum_cfg.timer, 0);
+	supv_timer=0;
 }
 
 /**
-* This function handles TIM6 global interrupt request.
+ *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
+ *@brief clears the channel values
  */
 void PIOS_SPEKTRUM_irq_handler() {
-//PIOS_SPEKTRUM_SUPV_IRQ_FUNC {
+	/* 125hz */
-	/* Clear timer interrupt pending bit */
+	supv_timer++;
-	TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
+	if(supv_timer > 5) {
-
 		/* sync between frames */
 		sync = 0;
 		bytecount = 0;
 		prev_byte = 0xFF;
 		frame_error = 0;
 		sync_of++;
-	/* watchdog activated */
+		/* watchdog activated after 100ms silence */
 		if (sync_of > 12) {
 			/* signal lost */
 			sync_of = 0;
-		for (int i = 0; i < 12; i++)
+			for (int i = 0; i < 12; i++) {
-		{
 				CaptureValue[i] = 0;
 				CaptureValueTemp[i] = 0;
 			}
 		}
+		supv_timer = 0;
+	}
 }
 
 #endif

flight/PiOS/inc/pios_rtc.h

@@ -27,12 +27,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_SERVO_H
+#ifndef PIOS_RTC_H
-#define PIOS_SERVO_H
+#define PIOS_RTC_H
 
 /* Public Functions */
-extern void PIOS_RTC_Start();
+extern void PIOS_RTC_Init();
 extern uint32_t PIOS_RTC_Counter();
+extern float PIOS_RTC_Rate();
+extern float PIOS_RTC_MsPerTick();
 
 #endif /* PIOS_SERVO_H */
 

flight/PiOS/inc/pios_spektrum_priv.h

@@ -37,13 +37,10 @@
 
 struct pios_spektrum_cfg {
 	const struct pios_usart_cfg * pios_usart_spektrum_cfg;
-	TIM_TimeBaseInitTypeDef tim_base_init;
 	GPIO_InitTypeDef gpio_init;
 	uint32_t remap;		/* GPIO_Remap_* */
 	struct stm32_irq irq;
-	TIM_TypeDef * timer;
 	GPIO_TypeDef * port;
-	uint16_t ccr;
 	uint16_t pin;
 };
 

flight/PiOS/pios.h

@@ -73,6 +73,7 @@
 #include <pios_irq.h>
 #include <pios_adc.h>
 #include <pios_servo.h>
+#include <pios_rtc.h>
 #include <pios_i2c.h>
 #include <pios_spi.h>
 #include <pios_ppm.h>

ground/openpilotgcs/copydata.pro

@@ -52,11 +52,21 @@ equals(copydata, 1) {
             data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_PLUGINS]/sqldrivers/$$dll\") $$targetPath(\"$$GCS_APP_PATH/sqldrivers/$$dll\") $$addNewline()
         }
 
-        # copy SDL (if available) - Simple DirectMedia Layer (www.libsdl.org)
+        # copy SDL - Simple DirectMedia Layer (www.libsdl.org)
+        # Check the wiki for SDL installation, it should be copied first
+        # (make sure that the Qt installation path below is correct)
+        #
+        # - For qt-sdk-win-opensource-2010.05.exe:
+        #   xcopy /s /e <SDL>\bin\SDL.dll   C:\Qt\2010.05\mingw\bin\SDL.dll
+        #   xcopy /s /e <SDL>\include\SDL\* C:\Qt\2010.05\mingw\include\SDL
+        #   xcopy /s /e <SDL>\lib\*         C:\Qt\2010.05\mingw\lib
+        #
+        # - For Qt_SDK_Win_offline_v1_1_1_en.exe:
+        #   xcopy /s /e <SDL>\bin\SDL.dll   C:\QtSDK\Desktop\Qt\4.7.3\mingw\bin\SDL.dll
+        #   xcopy /s /e <SDL>\include\SDL\* C:\QtSDK\Desktop\Qt\4.7.3\mingw\include\SDL
+        #   xcopy /s /e <SDL>\lib\*         C:\QtSDK\Desktop\Qt\4.7.3\mingw\lib
         SDL_DLL = SDL.dll
-        exists($$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\")) {
         data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
-        }
 
         data_copy.target = FORCE
         QMAKE_EXTRA_TARGETS += data_copy

make/winx86/README.txt

@@ -33,11 +33,14 @@ It is expected that you have the following tools installed into the listed
 locations (but any other locations are fine as well):
 
  - Python            in C:\Python27
- - QtSDK             in C:\Qt\2010.05
+ - QtSDK             in C:\Qt\2010.05 or C:\QtSDK (depending on SDK version)
  - CodeSourcery G++  in %ProgramFiles%\CodeSourcery\Sourcery G++ Lite
  - msysGit           in %ProgramFiles%\Git
  - Unicode NSIS      in %ProgramFiles%\NSIS\Unicode
- - OpenOCD           in C:\OpenOCD\0.4.0\bin
+ - OpenOCD           in C:\OpenOCD\0.4.0\bin (optional)
+
+The SDL library and headers should be installed into Qt directories to build
+the GCS. Check the wiki or ground/openpilotgcs/copydata.pro for details.
 
 Also it is assumed that you have the C:\Program Files\Git\cmd\ directory in
 the PATH. Usually this is the case for msysGit installation if you have chosen

make/winx86/cmd/sh.cmd

@@ -38,6 +38,9 @@ rem As a result, the SDL headers will not be found, if they were copied into
 rem QtSDK's MinGW directory. In that case make sure that you have correct
 rem directories specified here.
 rem
+rem Also the SDL should be installed into Qt directories to build the GCS.
+rem Check the wiki or ground/openpilotgcs/copydata.pro for details.
+rem
 rem Also you can add any paths below just by adding extra 'call :which'
 rem lines with the following parameters:
 rem  - environment variable which will be set to the tool location, if found;
@@ -51,8 +54,12 @@ set NOT_FOUND=
 set PATH_DIRS=
 
 call :which MSYSGIT       "%ProgramFiles%\Git\bin"       git.exe
+rem These two lines for qt-sdk-win-opensource-2010.05.exe:
 call :which QTMINGW       "C:\Qt\2010.05\mingw\bin"      mingw32-make.exe
 call :which QTSDK         "C:\Qt\2010.05\qt\bin"         qmake.exe
+rem These two lines for Qt_SDK_Win_offline_v1_1_1_en.exe:
+rem call :which QTMINGW       "C:\QtSDK\mingw\bin"           mingw32-make.exe
+rem call :which QTSDK         "C:\QtSDK\Desktop\Qt\4.7.3\mingw\bin" qmake.exe
 call :which CODESOURCERY  "%ProgramFiles%\CodeSourcery\Sourcery G++ Lite\bin" cs-make.exe
 call :which PYTHON        "C:\Python27"                  python.exe
 call :which UNSIS         "%ProgramFiles%\NSIS\Unicode"  makensis.exe

package/Makefile

@@ -14,9 +14,9 @@ ROOT_DIR := $(realpath $(WHEREAMI)/../)
 # Set up some macros
 BUILD_DIR    := $(ROOT_DIR)/build
 VERSION_CMD  := python $(ROOT_DIR)/make/scripts/version-info.py --path="$(ROOT_DIR)"
-RELEASE_LBL  := $(shell $(VERSION_CMD) --format=\$${DATE}-\$${TAG_OR_HASH8}\$${DIRTY})
+PACKAGE_LBL  := $(shell $(VERSION_CMD) --format=\$${DATE}-\$${TAG_OR_HASH8}\$${DIRTY})
-RELEASE_DIR  := $(BUILD_DIR)/release-$(RELEASE_LBL)
+PACKAGE_DIR  := $(BUILD_DIR)/package-$(PACKAGE_LBL)
-FW_DIR       := $(RELEASE_DIR)/firmware-$(RELEASE_LBL)
+FW_DIR       := $(PACKAGE_DIR)/firmware-$(PACKAGE_LBL)
 BL_DIR       := $(FW_DIR)/bootloaders
 BU_DIR       := $(FW_DIR)/bootloader-updaters
 FE_DIR       := $(FW_DIR)/flash-erase-tools
@@ -52,11 +52,11 @@ help:
 	@echo "   Here is a summary of the available targets:"
 	@echo
 	@echo "   [Packaging]"
-	@echo "     release        - Build and package the OpenPilot distributable"
+	@echo "     package        - Build and package the OpenPilot distributable"
-	@echo "     release_flight - Build and package the OpenPilot flight firmware only"
+	@echo "     package_flight - Build and package the OpenPilot flight firmware only"
 	@echo
 	@echo "   Notes:"
-	@echo "     - package will be placed in $(RELEASE_DIR)"
+	@echo "     - package will be placed in $(PACKAGE_DIR)"
 	@echo
 	@echo "     - the build directory will be removed first on every run unless one"
 	@echo "       of CLEAN_BUILD=NO or CLEAN_BUILD=NEVER options is defined."
@@ -101,19 +101,19 @@ endif
 endef
 
 # Firmware for different input drivers
-$(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(RELEASE_LBL),,,$(FW_TARGETS_COMMON),install))
+$(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS_COMMON),install))
-$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(RELEASE_LBL),,clean,$(FW_TARGETS_INPUT),install))
+$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(PACKAGE_LBL),,clean,$(FW_TARGETS_INPUT),install))
-$(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-spektrum-$(RELEASE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install))
+$(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-spektrum-$(PACKAGE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install))
-$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(RELEASE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install))
+$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(PACKAGE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install))
 
 # Bootloaders (change 'install' to 'bin' if you don't want to install bootloaders)
-$(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(RELEASE_LBL),,,$(BL_TARGETS),install))
+$(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(BL_TARGETS),install))
 
 # Bootloader updaters
-$(eval $(call INSTALL_TEMPLATE,all_bu,all_bl,$(BU_DIR),,-$(RELEASE_LBL),,,$(BU_TARGETS),install))
+$(eval $(call INSTALL_TEMPLATE,all_bu,all_bl,$(BU_DIR),,-$(PACKAGE_LBL),,,$(BU_TARGETS),install))
 
 # CopterControl flash eraser tool
-$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(RELEASE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install))
+$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(PACKAGE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install))
 
 # Order-only dependencies
 # They are bit complicated to support parallel (-j) builds and to create
@@ -127,17 +127,17 @@ fw_ppm: | fw_spektrum   # ordered build
 
 fw_tools: | fw_spektrum # ordered build, replace fw_spektrum by fw_ppm if uncommented below
 
-release_fw: | fw_common fw_pwm fw_spektrum # fw_ppm
+package_fw: | fw_common fw_pwm fw_spektrum # fw_ppm
 
-release_bu: | all_bu
+package_bu: | all_bu
 
-release_flight: | release_fw release_bu fw_tools
+package_flight: | package_fw package_bu fw_tools
 
-release_ground: | ground_package
+package_ground: | ground_package
 
-release: | release_flight release_ground
+package: | package_flight package_ground
 
-.PHONY: help uavobjects all_clean release release_flight release_fw release_bu release_ground
+.PHONY: help uavobjects all_clean package package_flight package_fw package_bu package_ground
 
 # Decide on a verbosity level based on the V= parameter
 export AT := @

package/Makefile.osx

@@ -0,0 +1,20 @@
+#
+# MacOSX-specific packaging
+#
+
+osx_package: gcs package_flight
+	( \
+	  ROOT_DIR="$(ROOT_DIR)" \
+	  BUILD_DIR="$(BUILD_DIR)" \
+	  PACKAGE_LBL="$(PACKAGE_LBL)" \
+	  PACKAGE_DIR="$(PACKAGE_DIR)" \
+	  FW_DIR="$(FW_DIR)" \
+	  "$(ROOT_DIR)/package/osx/package" \
+	)
+
+gcs: uavobjects
+	$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
+
+ground_package: | osx_package
+
+.PHONY: gcs ground_package osx_package

package/Makefile.winx86

@@ -4,19 +4,22 @@
 
 NSIS_CMD      := makensis.exe
 NSIS_OPTS     := /V3
-NSIS_DIR      := $(ROOT_DIR)/release/winx86
+NSIS_DIR      := $(ROOT_DIR)/package/winx86
 NSIS_SCRIPT   := $(NSIS_DIR)/openpilotgcs.nsi
 NSIS_TEMPLATE := $(NSIS_DIR)/openpilotgcs.tpl
 NSIS_HEADER   := $(BUILD_DIR)/ground/openpilotgcs/openpilotgcs.nsh
 
-package: gcs release_flight
+win_package: gcs package_flight
-	mkdir -p "$(dir $(NSIS_HEADER))"
+	$(V1) mkdir -p "$(dir $(NSIS_HEADER))"
 	$(VERSION_CMD) --template="$(NSIS_TEMPLATE)" --outfile="$(NSIS_HEADER)"
+	$(V1) echo "Building Windows installer, please wait..."
+	$(V1) echo "If you have a script error in line 1 - use Unicode NSIS 2.46+"
+	$(V1) echo "  http://www.scratchpaper.com"
 	$(NSIS_CMD) $(NSIS_OPTS) $(NSIS_SCRIPT)
 
 gcs: uavobjects
 	$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
 
-ground_package: | package
+ground_package: | win_package
 
-.PHONY: gcs ground_package package
+.PHONY: gcs ground_package win_package

package/osx/libraries

@@ -20,7 +20,7 @@ do
 done
 
 # should be redundant but some libs missed by main app and macdeployqt
-for f in ${QT_LIBS} SDL
+for f in ${QT_LIBS}
 do
     echo "Copying ${f}"
     cp -r /Library/Frameworks/${f}.framework "${APP}/Contents/Frameworks/"
@@ -44,4 +44,4 @@ done
 echo "Deleting unnecessary files"
 find "${APP}/Contents/Frameworks" -iname "current" -exec rm -rf \{\} \;
 find "${APP}/Contents/Frameworks" -iname "4.0" -exec rm -rf \{\} \;
-find "${APP}/Contents/Frameworks" -iname "*_debug*" -exec rm -rf \{\} \;
+find "${APP}/Contents/Frameworks" -iname "*_debug" -exec rm -rf \{\} \;

package/osx/package

@@ -1,19 +1,19 @@
 #!/bin/bash
 
 # the following environment variables must be set
-: ${ROOT_DIR?} ${BUILD_DIR?} ${RELEASE_LBL?} ${RELEASE_DIR?} ${FW_DIR?}
+: ${ROOT_DIR?} ${BUILD_DIR?} ${PACKAGE_LBL?} ${PACKAGE_DIR?} ${FW_DIR?}
 
 # more variables
 APP_PATH="${BUILD_DIR}/ground/openpilotgcs/bin/OpenPilot GCS.app"
-TEMP_FILE="${RELEASE_DIR}/OpenPilot-temp.dmg"
+TEMP_FILE="${PACKAGE_DIR}/OpenPilot-temp.dmg"
-OUT_FILE="${RELEASE_DIR}/OpenPilot-${RELEASE_LBL}.dmg"
+OUT_FILE="${PACKAGE_DIR}/OpenPilot-${PACKAGE_LBL}.dmg"
 VOL_NAME="OpenPilot"
 
 # prepare the stage
 rm -f "${TEMP_FILE}"
 rm -f "${OUT_FILE}"
 
-hdiutil convert "${ROOT_DIR}/release/osx/OpenPilot.dmg" \
+hdiutil convert "${ROOT_DIR}/package/osx/OpenPilot.dmg" \
 	-format UDRW -o "${TEMP_FILE}"
 device=$(hdiutil attach  "${TEMP_FILE}" | \
          egrep '^/dev/' | sed 1q | awk '{print $1}')
@@ -22,7 +22,7 @@ device=$(hdiutil attach  "${TEMP_FILE}" | \
 cp -r "${APP_PATH}" "/Volumes/${VOL_NAME}"
 cp -r "${FW_DIR}" "/Volumes/${VOL_NAME}/firmware"
 
-"${ROOT_DIR}/release/osx/libraries" \
+"${ROOT_DIR}/package/osx/libraries" \
 	"/Volumes/${VOL_NAME}/OpenPilot GCS.app" || exit 1
 
 hdiutil detach ${device}

package/winx86/openpilotgcs.nsi

@@ -50,17 +50,17 @@
   !define INSTALLER_NAME "OpenPilot GCS Installer"
 
   ; Read automatically generated version info
-; !define RELEASE_LBL "${DATE}-${TAG_OR_HASH8}"
+; !define PACKAGE_LBL "${DATE}-${TAG_OR_HASH8}"
-; !define RELEASE_DIR "..\..\build\release-$${RELEASE_LBL}"
+; !define PACKAGE_DIR "..\..\build\package-$${PACKAGE_LBL}"
-; !define OUT_FILE "OpenPilotGCS-$${RELEASE_LBL}-install.exe"
+; !define OUT_FILE "OpenPilotGCS-$${PACKAGE_LBL}-install.exe"
-; !define FIRMWARE_DIR "firmware-$${RELEASE_LBL}"
+; !define FIRMWARE_DIR "firmware-$${PACKAGE_LBL}"
 ; !define PRODUCT_VERSION "0.0.0.0"
 ; !define FILE_VERSION "${TAG_OR_BRANCH}:${HASH8} ${DATETIME}"
 ; !define BUILD_DESCRIPTION "${TAG_OR_BRANCH}:${HASH8} built using ${ORIGIN} as origin, committed ${DATETIME} as ${HASH}"
   !include "${GCS_BUILD_TREE}\openpilotgcs.nsh"
 
   Name "${PRODUCT_NAME}"
-  OutFile "${RELEASE_DIR}\${OUT_FILE}"
+  OutFile "${PACKAGE_DIR}\${OUT_FILE}"
 
   VIProductVersion ${PRODUCT_VERSION}
   VIAddVersionKey "ProductName" "${INSTALLER_NAME}"
@@ -185,7 +185,7 @@ SectionEnd
 
 Section "Firmware" InSecFirmware
   SetOutPath "$INSTDIR\firmware\${FIRMWARE_DIR}"
-  File /r "${RELEASE_DIR}\${FIRMWARE_DIR}\*"
+  File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
 SectionEnd
 
 Section "Shortcuts" InSecShortcuts

package/winx86/openpilotgcs.tpl

@@ -12,10 +12,10 @@
 #
 
 ; Some names, paths and constants
-!define RELEASE_LBL "${DATE}-${TAG_OR_HASH8}${DIRTY}"
+!define PACKAGE_LBL "${DATE}-${TAG_OR_HASH8}${DIRTY}"
-!define RELEASE_DIR "..\..\build\release-$${RELEASE_LBL}"
+!define PACKAGE_DIR "..\..\build\package-$${PACKAGE_LBL}"
-!define OUT_FILE "OpenPilot-$${RELEASE_LBL}-install.exe"
+!define OUT_FILE "OpenPilot-$${PACKAGE_LBL}-install.exe"
-!define FIRMWARE_DIR "firmware-$${RELEASE_LBL}"
+!define FIRMWARE_DIR "firmware-$${PACKAGE_LBL}"
 
 ; Installer version info
 !define PRODUCT_VERSION "0.0.0.0"

release/Makefile.osx

@@ -1,20 +0,0 @@
-#
-# MacOSX-specific packaging
-#
-
-package: gcs release_flight
-	( \
-	  ROOT_DIR="$(ROOT_DIR)" \
-	  BUILD_DIR="$(BUILD_DIR)" \
-	  RELEASE_LBL="$(RELEASE_LBL)" \
-	  RELEASE_DIR="$(RELEASE_DIR)" \
-	  FW_DIR="$(FW_DIR)" \
-	  "$(ROOT_DIR)/release/osx/package" \
-	)
-
-gcs: uavobjects
-	$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
-
-ground_package: | package
-
-.PHONY: gcs ground_package package

shared/uavobjectdefinition/attitudesettings.xml

@@ -2,7 +2,7 @@
     <object name="AttitudeSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref Attitude module used on CopterControl</description>
         <field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
-        <field name="BoardRotation" units="deg" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
+        <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
         <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
         <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
         <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>