Merge remote-tracking branch 'remotes/origin/next' into sambas/diffnext

Conflicts:
	flight/Libraries/CoordinateConversions.c
	flight/Libraries/paths.c
	flight/Modules/System/systemmod.c
	flight/PiOS/STM32F4xx/pios_sys.c
	flight/targets/boards/coptercontrol/pios_board.h
	flight/targets/boards/revolution/pios_board.h
	flight/targets/boards/revoproto/pios_board.h

.gitattributes

@@ -2,8 +2,11 @@
 # Line endings normalization: http://wiki.openpilot.org/display/Doc/Coding+Style
 # You need at least git 1.7.2 for this to work (previous versions ignore text and eol attributes).
 #
-# Make sure you have committed all local changes first. Then use the following bash commands
-# to normalize your local repository to be able to merge it with a mainline:
+# To merge your old branch with new normalized version use the following git option:
+#   git merge ... -X renormalize
+#
+# To reformat your local branch completely make sure you have committed all local changes first.
+# Then use the following bash commands:
 #
 # Minimal normalization:
 #   git rm --cached -r .

Makefile

@@ -190,31 +190,22 @@ uavobjects_clean:
 export PIOS          := $(ROOT_DIR)/flight/PiOS
 export FLIGHTLIB     := $(ROOT_DIR)/flight/Libraries
 export OPMODULEDIR   := $(ROOT_DIR)/flight/Modules
-export OPUAVOBJ      := $(ROOT_DIR)/flight/targets/UAVObjects
-export OPUAVTALK     := $(ROOT_DIR)/flight/targets/UAVTalk
-export HWDEFS        := $(ROOT_DIR)/flight/targets/board_hw_defs
+export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
+export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
 export DOXYGENDIR    := $(ROOT_DIR)/flight/Doc/Doxygen
 export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
 export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 
 # Define supported board lists
-ALL_BOARDS    := coptercontrol pipxtreme revolution revomini osd simposix
-ALL_BOARDS_BU := coptercontrol pipxtreme simposix
-
-# Friendly names of each board (used to find source tree)
-coptercontrol_friendly := CopterControl
-pipxtreme_friendly     := PipXtreme
-revolution_friendly    := Revolution
-revomini_friendly      := RevoMini
-osd_friendly           := OSD
-simposix_friendly      := SimPosix
+ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix
+ALL_BOARDS_BU := coptercontrol oplinkmini
 
 # Short names of each board (used to display board name in parallel builds)
 coptercontrol_short    := 'cc  '
-pipxtreme_short        := 'pipx'
+oplinkmini_short       := 'oplm'
 revolution_short       := 'revo'
-revomini_short         := 'rm  '
 osd_short              := 'osd '
+revoproto_short        := 'revp'
 simposix_short         := 'posx'
 
 # SimPosix only builds on Linux so drop it from the list for
@@ -259,8 +250,7 @@ endif
 # TEMPLATES (used to generate build rules)
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Name of board used in source tree (e.g. CopterControl)
-# $(3) = Short name for board (e.g CC)
+# $(2) = Short name for board (e.g cc)
 define FW_TEMPLATE
 .PHONY: $(1) fw_$(1)
 $(1): fw_$(1)_opfw
@@ -269,13 +259,12 @@ fw_$(1): fw_$(1)_opfw
 fw_$(1)_%: uavobjects_flight
 	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=fw \
-		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/$(2) \
+		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
 		OUTDIR=$(BUILD_DIR)/fw_$(1) \
 		TARGET=fw_$(1) \
 		$$*
@@ -288,7 +277,7 @@ fw_$(1)_clean:
 endef
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Name of board used in source tree (e.g. CopterControl)
+# $(2) = Short name for board (e.g cc)
 define BL_TEMPLATE
 .PHONY: bl_$(1)
 bl_$(1): bl_$(1)_bin
@@ -297,13 +286,12 @@ bl_$(1)_bino: bl_$(1)_bin
 bl_$(1)_%:
 	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=bl \
-		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/Bootloaders/$(2) \
+		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
 		OUTDIR=$(BUILD_DIR)/bl_$(1) \
 		TARGET=bl_$(1) \
 		$$*
@@ -329,19 +317,19 @@ bl_$(1)_clean:
 endef
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
 define BU_TEMPLATE
 .PHONY: bu_$(1)
 bu_$(1): bu_$(1)_opfw
 
 bu_$(1)_%: bl_$(1)_bino
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/BootloaderUpdater && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=bu \
-		HWDEFSINC=$(HWDEFS)/$(1) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/BootloaderUpdater \
+		TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
 		OUTDIR=$(BUILD_DIR)/bu_$(1) \
 		TARGET=bu_$(1) \
 		$$*
@@ -353,19 +341,20 @@ bu_$(1)_clean:
 endef
 
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
 define EF_TEMPLATE
 .PHONY: ef_$(1)
 ef_$(1): ef_$(1)_bin
 
 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
-	$(V1) cd $(ROOT_DIR)/flight/targets/EntireFlash && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(3) \
+		BOARD_SHORT_NAME=$(2) \
 		BUILD_TYPE=ef \
 		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
-		TOPDIR=$(ROOT_DIR)/flight/targets/EntireFlash \
+		TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
 		OUTDIR=$(BUILD_DIR)/ef_$(1) \
 		TARGET=ef_$(1) \
 		$$*
@@ -416,16 +405,16 @@ all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 
 # Expand the firmware rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
 
 # Expand the bootloader rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
 
 # Expand the bootloader updater rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
 
 # Expand the entire-flash rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
+$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
 
 .PHONY: sim_win32
 sim_win32: sim_win32_exe
@@ -441,7 +430,7 @@ sim_osx: sim_osx_elf
 sim_osx_%: uavobjects_flight
 	$(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
 	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/targets/Revolution --file=$(ROOT_DIR)/flight/targets/Revolution/Makefile.osx $*
+		-C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
 
 ##############################
 #
@@ -790,6 +779,28 @@ package: all_fw all_ground uavobjects_matlab
 	$(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,))
 	$(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
 
+##############################
+#
+# Source code formatting
+#
+##############################
+
+# $(1) = Uncrustify target (e.g flight or ground)
+# $(2) = Target root directory
+define UNCRUSTIFY_TEMPLATE
+
+.PHONY: uncrustify_$(1)
+uncrustify_$(1):
+	@$(ECHO) "Auto-formatting $(1) source code"
+	$(V1) UNCRUSTIFY_CONFIG="make/templates/uncrustify.cfg" $(SHELL) make/scripts/uncrustify.sh $(call toprel, $(2))
+endef
+
+$(eval $(call UNCRUSTIFY_TEMPLATE,flight,$(ROOT_DIR)/flight))
+$(eval $(call UNCRUSTIFY_TEMPLATE,ground,$(ROOT_DIR)/ground))
+
+.PHONY: uncrustify_all
+uncrustify_all: $(addprefix uncrustify_,flight ground)
+
 ##############################
 #
 # Build info
@@ -825,6 +836,7 @@ help:
 	@$(ECHO) "     qt_sdk_install       - Install the QT development tools"
 	@$(ECHO) "     mingw_install        - Install the MinGW toolchain (Windows only)"
 	@$(ECHO) "     python_install       - Install the Python interpreter (Windows only)"
+	@$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 	@$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 	@$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
 	@$(ECHO) "     dfuutil_install      - Install the dfu-util tool for unbricking F4-based boards"
@@ -919,6 +931,10 @@ help:
 	@$(ECHO) "     clean_package        - Clean, build and package the OpenPilot platform-dependent package"
 	@$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package"
 	@$(ECHO)
+	@$(ECHO) "   [Code Formatting]"
+	@$(ECHO) "     uncrustify_<source>  - Reformat <source> code. <source> can be flight or ground"
+	@$(ECHO) "     uncrustify_all       - Reformat all source code"
+	@$(ECHO)
 	@$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
 	@$(ECHO)
 	@$(ECHO) "   Notes: All tool distribution files will be downloaded into $(DL_DIR)"

README.txt

@@ -1 +1 @@
-Check the wiki: http://wiki.openpilot.org/display/Doc/OpenPilot+Developer+Manual
+Check the wiki: http://wiki.openpilot.org/display/Doc/OpenPilot+Developer+Manual

flight/Libraries/CoordinateConversions.c

@@ -29,11 +29,10 @@
 
 #include <math.h>
 #include <stdint.h>
+#include <pios_math.h>
 #include "CoordinateConversions.h"
 
-#define F_PI 3.14159265358979323846f
-#define RAD2DEG (180.0f/ F_PI)
-#define DEG2RAD (F_PI /180.0f)
+#define MIN_ALLOWABLE_MAGNITUDE 1e-30f
 
 // ****** convert Lat,Lon,Alt to ECEF  ************
 void LLA2ECEF(float LLA[3], float ECEF[3])
@@ -43,10 +42,10 @@ void LLA2ECEF(float LLA[3], float ECEF[3])
 	float sinLat, sinLon, cosLat, cosLon;
 	float N;
 
-	sinLat = sinf(DEG2RAD * LLA[0]);
-	sinLon = sinf(DEG2RAD * LLA[1]);
-	cosLat = cosf(DEG2RAD * LLA[0]);
-	cosLon = cosf(DEG2RAD * LLA[1]);
+	sinLat = sinf(DEG2RAD(LLA[0]));
+	sinLon = sinf(DEG2RAD(LLA[1]));
+	cosLat = cosf(DEG2RAD(LLA[0]));
+	cosLon = cosf(DEG2RAD(LLA[1]));
 
 	N = a / sqrtf(1.0f - e * e * sinLat * sinLat);	//prime vertical radius of curvature
 
@@ -73,10 +72,10 @@ uint16_t ECEF2LLA(float ECEF[3], float LLA[3])
 	float Lat, N, NplusH, delta, esLat;
 	uint16_t iter;
 #define MAX_ITER 10		// should not take more than 5 for valid coordinates
-#define ACCURACY 1.0e-11	// used to be e-14, but we don't need sub micrometer exact calculations
+#define ACCURACY 1.0e-11f	// used to be e-14, but we don't need sub micrometer exact calculations
 
-	LLA[1] = RAD2DEG * atan2f(y, x);
-	Lat = DEG2RAD * LLA[0];
+	LLA[1] = RAD2DEG(atan2f(y, x));
+	Lat = DEG2RAD(LLA[0]);
 	esLat = e * sinf(Lat);
 	N = a / sqrtf(1 - esLat * esLat);
 	NplusH = N + LLA[2];
@@ -93,7 +92,7 @@ uint16_t ECEF2LLA(float ECEF[3], float LLA[3])
 		iter += 1;
 	}
 
-	LLA[0] = RAD2DEG * Lat;
+	LLA[0] = RAD2DEG(Lat);
 	LLA[2] = NplusH - N;
 
 	return (iter < MAX_ITER);
@@ -104,10 +103,10 @@ void RneFromLLA(float LLA[3], float Rne[3][3])
 {
 	float sinLat, sinLon, cosLat, cosLon;
 
-	sinLat = (float)sinf(DEG2RAD * LLA[0]);
-	sinLon = (float)sinf(DEG2RAD * LLA[1]);
-	cosLat = (float)cosf(DEG2RAD * LLA[0]);
-	cosLon = (float)cosf(DEG2RAD * LLA[1]);
+	sinLat = (float)sinf(DEG2RAD(LLA[0]));
+	sinLon = (float)sinf(DEG2RAD(LLA[1]));
+	cosLat = (float)cosf(DEG2RAD(LLA[0]));
+	cosLon = (float)cosf(DEG2RAD(LLA[1]));
 
 	Rne[0][0] = -sinLat * cosLon;
 	Rne[0][1] = -sinLat * sinLon;
@@ -135,9 +134,9 @@ void Quaternion2RPY(const float q[4], float rpy[3])
 	R23 = 2.0f * (q[2] * q[3] + q[0] * q[1]);
 	R33 = q0s - q1s - q2s + q3s;
 
-	rpy[1] = RAD2DEG * asinf(-R13);	// pitch always between -pi/2 to pi/2
-	rpy[2] = RAD2DEG * atan2f(R12, R11);
-	rpy[0] = RAD2DEG * atan2f(R23, R33);
+	rpy[1] = RAD2DEG(asinf(-R13));	// pitch always between -pi/2 to pi/2
+	rpy[2] = RAD2DEG(atan2f(R12, R11));
+	rpy[0] = RAD2DEG(atan2f(R23, R33));
 
 	//TODO: consider the cases where |R13| ~= 1, |pitch| ~= pi/2
 }
@@ -148,9 +147,9 @@ void RPY2Quaternion(const float rpy[3], float q[4])
 	float phi, theta, psi;
 	float cphi, sphi, ctheta, stheta, cpsi, spsi;
 
-	phi = DEG2RAD * rpy[0] / 2.0f;
-	theta = DEG2RAD * rpy[1] / 2.0f;
-	psi = DEG2RAD * rpy[2] / 2.0f;
+	phi = DEG2RAD(rpy[0] / 2);
+	theta = DEG2RAD(rpy[1] / 2);
+	psi = DEG2RAD(rpy[2] / 2);
 	cphi = cosf(phi);
 	sphi = sinf(phi);
 	ctheta = cosf(theta);
@@ -294,13 +293,13 @@ uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[
 
 	// The first rows of rot matrices chosen in direction of v1
 	mag = VectorMagnitude(v1b);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rib[0][i]=v1b[i]/mag;
 
 	mag = VectorMagnitude(v1e);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rie[0][i]=v1e[i]/mag;
@@ -308,14 +307,14 @@ uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[
 	// The second rows of rot matrices chosen in direction of v1xv2
 	CrossProduct(v1b,v2b,&Rib[1][0]);
 	mag = VectorMagnitude(&Rib[1][0]);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rib[1][i]=Rib[1][i]/mag;
 
 	CrossProduct(v1e,v2e,&Rie[1][0]);
 	mag = VectorMagnitude(&Rie[1][0]);
-	if (fabs(mag) < 1e-30)
+	if (fabsf(mag) < MIN_ALLOWABLE_MAGNITUDE)
 		return (-1);
 	for (i=0;i<3;i++)
 		Rie[1][i]=Rie[1][i]/mag;

flight/Libraries/WorldMagModel.c

@@ -57,7 +57,8 @@
 //#define MALLOC(x) malloc(x)
 //#define FREE(x) free(x)
 
-// const should hopefully keep them in the flash region
+// http://reviews.openpilot.org/cru/OPReview-436#c6476 :
+// first column not used but it will be optimized out by compiler
 static const float CoeffFile[91][6] = { {0, 0, 0, 0, 0, 0},
 	{1, 0, -29496.6, 0.0, 11.6, 0.0},
 	{1, 1, -1586.3, 4944.4, 16.5, -25.9},
@@ -204,11 +205,11 @@ int WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month, u
     // ***********
     // range check supplied params
 
-    if (Lat <  -90) return -1;  // error
-    if (Lat >   90) return -2;  // error
+    if (Lat <  -90.0f) return -1;  // error
+    if (Lat >   90.0f) return -2;  // error
 
-    if (Lon < -180) return -3;  // error
-    if (Lon >  180) return -4;  // error
+    if (Lon < -180.0f) return -3;  // error
+    if (Lon >  180.0f) return -4;  // error
 
     // ***********
     // allocated required memory
@@ -242,7 +243,7 @@ int WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month, u
     {
         CoordGeodetic->lambda = Lon;
         CoordGeodetic->phi = Lat;
-        CoordGeodetic->HeightAboveEllipsoid = AltEllipsoid/1000.0; // convert to km
+        CoordGeodetic->HeightAboveEllipsoid = AltEllipsoid/1000.0f; // convert to km
 
         // Convert from geodeitic to Spherical Equations: 17-18, WMM Technical report
         if (WMM_GeodeticToSpherical(CoordGeodetic, CoordSpherical) < 0)
@@ -293,9 +294,9 @@ int WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month, u
         Ellip = NULL;
     }
 
-	B[0] = GeoMagneticElements->X * 1e-2;
-	B[1] = GeoMagneticElements->Y * 1e-2;
-	B[2] = GeoMagneticElements->Z * 1e-2;
+	B[0] = GeoMagneticElements->X * 1e-2f;
+	B[1] = GeoMagneticElements->Y * 1e-2f;
+	B[2] = GeoMagneticElements->Z * 1e-2f;
 
     return returned;
 }
@@ -433,8 +434,8 @@ int WMM_ComputeSphericalHarmonicVariables(WMMtype_CoordSpherical *CoordSpherical
 	float cos_lambda, sin_lambda;
 	uint16_t m, n;
 
-	cos_lambda = cos(DEG2RAD(CoordSpherical->lambda));
-	sin_lambda = sin(DEG2RAD(CoordSpherical->lambda));
+	cos_lambda = cosf(DEG2RAD(CoordSpherical->lambda));
+	sin_lambda = sinf(DEG2RAD(CoordSpherical->lambda));
 
 	/* for n = 0 ... model_order, compute (Radius of Earth / Spherica radius r)^(n+2)
 	   for n  1..nMax-1 (this is much faster than calling pow MAX_N+1 times).      */
@@ -444,12 +445,12 @@ int WMM_ComputeSphericalHarmonicVariables(WMMtype_CoordSpherical *CoordSpherical
 		SphVariables->RelativeRadiusPower[n] = SphVariables->RelativeRadiusPower[n - 1] * (Ellip->re / CoordSpherical->r);
 
 	/*
-	   Compute cos(m*lambda), sin(m*lambda) for m = 0 ... nMax
-	   cos(a + b) = cos(a)*cos(b) - sin(a)*sin(b)
-	   sin(a + b) = cos(a)*sin(b) + sin(a)*cos(b)
+	   Compute cosf(m*lambda), sinf(m*lambda) for m = 0 ... nMax
+	   cosf(a + b) = cosf(a)*cosf(b) - sinf(a)*sinf(b)
+	   sinf(a + b) = cosf(a)*sinf(b) + sinf(a)*cosf(b)
 	 */
-	SphVariables->cos_mlambda[0] = 1.0;
-	SphVariables->sin_mlambda[0] = 0.0;
+	SphVariables->cos_mlambda[0] = 1.0f;
+	SphVariables->sin_mlambda[0] = 0.0f;
 
 	SphVariables->cos_mlambda[1] = cos_lambda;
 	SphVariables->sin_mlambda[1] = sin_lambda;
@@ -480,9 +481,9 @@ int WMM_AssociatedLegendreFunction(WMMtype_CoordSpherical * CoordSpherical, uint
 
 	 */
 {
-	float sin_phi = sin(DEG2RAD(CoordSpherical->phig));	/* sin  (geocentric latitude) */
+	float sin_phi = sinf(DEG2RAD(CoordSpherical->phig));	/* sinf  (geocentric latitude) */
 
-	if (nMax <= 16 || (1 - fabs(sin_phi)) < 1.0e-10)	/* If nMax is less tha 16 or at the poles */
+	if (nMax <= 16 || (1 - fabsf(sin_phi)) < 1.0e-10f)	/* If nMax is less tha 16 or at the poles */
 	{
 		if (WMM_PcupLow(LegendreFunction->Pcup, LegendreFunction->dPcup, sin_phi, nMax) < 0)
 		    return -1;  // error
@@ -508,7 +509,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 
 	   dV ^     1 dV ^        1     dV ^
 	   grad V = -- r  +  - -- t  +  -------- -- p
-	   dr       r dt       r sin(t) dp
+	   dr       r dt       r sinf(t) dp
 
 	   INPUT :  LegendreFunction
 	   MagneticModel
@@ -535,7 +536,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 			index = (n * (n + 1) / 2 + m);
 
 /*		    nMax  	(n+2) 	  n     m            m           m
-	Bz =   -SUM (a/r)   (n+1) SUM  [g cos(m p) + h sin(m p)] P (sin(phi))
+	Bz =   -SUM (a/r)   (n+1) SUM  [g cosf(m p) + h sinf(m p)] P (sinf(phi))
 			n=1      	      m=0   n            n           n  */
 /* Equation 12 in the WMM Technical report.  Derivative with respect to radius.*/
 			MagneticResults->Bz -=
@@ -545,7 +546,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 			    * (float)(n + 1) * LegendreFunction->Pcup[index];
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Equation 11 in the WMM Technical report. Derivative with respect to longitude, divided by radius. */
 			MagneticResults->By +=
@@ -554,7 +555,7 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 			     SphVariables->sin_mlambda[m] - WMM_get_main_field_coeff_h(index) * SphVariables->cos_mlambda[m])
 			    * (float)(m) * LegendreFunction->Pcup[index];
 /*		   nMax  (n+2) n     m            m           m
-	Bx = - SUM (a/r)   SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	Bx = - SUM (a/r)   SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1         m=0   n            n           n  */
 /* Equation 10  in the WMM Technical report. Derivative with respect to latitude, divided by radius. */
 
@@ -567,8 +568,8 @@ int WMM_Summation(WMMtype_LegendreFunction * LegendreFunction,
 		}
 	}
 
-	cos_phi = cos(DEG2RAD(CoordSpherical->phig));
-	if (fabs(cos_phi) > 1.0e-10)
+	cos_phi = cosf(DEG2RAD(CoordSpherical->phig));
+	if (fabsf(cos_phi) > 1.0e-10f)
 	{
 		MagneticResults->By = MagneticResults->By / cos_phi;
 	}
@@ -617,7 +618,7 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			index = (n * (n + 1) / 2 + m);
 
 /*		    nMax  	(n+2) 	  n     m            m           m
-	Bz =   -SUM (a/r)   (n+1) SUM  [g cos(m p) + h sin(m p)] P (sin(phi))
+	Bz =   -SUM (a/r)   (n+1) SUM  [g cosf(m p) + h sinf(m p)] P (sinf(phi))
 			n=1      	      m=0   n            n           n  */
 /*  Derivative with respect to radius.*/
 			MagneticResults->Bz -=
@@ -627,7 +628,7 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			    * (float)(n + 1) * LegendreFunction->Pcup[index];
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Derivative with respect to longitude, divided by radius. */
 			MagneticResults->By +=
@@ -636,7 +637,7 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			     SphVariables->sin_mlambda[m] - WMM_get_secular_var_coeff_h(index) * SphVariables->cos_mlambda[m])
 			    * (float)(m) * LegendreFunction->Pcup[index];
 /*		   nMax  (n+2) n     m            m           m
-	Bx = - SUM (a/r)   SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	Bx = - SUM (a/r)   SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1         m=0   n            n           n  */
 /* Derivative with respect to latitude, divided by radius. */
 
@@ -647,8 +648,8 @@ int WMM_SecVarSummation(WMMtype_LegendreFunction * LegendreFunction,
 			    * LegendreFunction->dPcup[index];
 		}
 	}
-	cos_phi = cos(DEG2RAD(CoordSpherical->phig));
-	if (fabs(cos_phi) > 1.0e-10)
+	cos_phi = cosf(DEG2RAD(CoordSpherical->phig));
+	if (fabsf(cos_phi) > 1.0e-10f)
 	{
 		MagneticResults->By = MagneticResults->By / cos_phi;
 	}
@@ -695,11 +696,11 @@ int WMM_RotateMagneticVector(WMMtype_CoordSpherical * CoordSpherical,
 	 */
 {
 	/* Difference between the spherical and Geodetic latitudes */
-	float Psi = (M_PI / 180) * (CoordSpherical->phig - CoordGeodetic->phi);
+	float Psi = (M_PI_F / 180) * (CoordSpherical->phig - CoordGeodetic->phi);
 
 	/* Rotate spherical field components to the Geodeitic system */
-	MagneticResultsGeo->Bz = MagneticResultsSph->Bx * sin(Psi) + MagneticResultsSph->Bz * cos(Psi);
-	MagneticResultsGeo->Bx = MagneticResultsSph->Bx * cos(Psi) - MagneticResultsSph->Bz * sin(Psi);
+	MagneticResultsGeo->Bz = MagneticResultsSph->Bx * sinf(Psi) + MagneticResultsSph->Bz * cosf(Psi);
+	MagneticResultsGeo->Bx = MagneticResultsSph->Bx * cosf(Psi) - MagneticResultsSph->Bz * sinf(Psi);
 	MagneticResultsGeo->By = MagneticResultsSph->By;
 
     return 0;
@@ -727,10 +728,10 @@ int WMM_CalculateGeoMagneticElements(WMMtype_MagneticResults * MagneticResultsGe
 	GeoMagneticElements->Y = MagneticResultsGeo->By;
 	GeoMagneticElements->Z = MagneticResultsGeo->Bz;
 
-	GeoMagneticElements->H = sqrt(MagneticResultsGeo->Bx * MagneticResultsGeo->Bx + MagneticResultsGeo->By * MagneticResultsGeo->By);
-	GeoMagneticElements->F = sqrt(GeoMagneticElements->H * GeoMagneticElements->H + MagneticResultsGeo->Bz * MagneticResultsGeo->Bz);
-	GeoMagneticElements->Decl = RAD2DEG(atan2(GeoMagneticElements->Y, GeoMagneticElements->X));
-	GeoMagneticElements->Incl = RAD2DEG(atan2(GeoMagneticElements->Z, GeoMagneticElements->H));
+	GeoMagneticElements->H = sqrtf(MagneticResultsGeo->Bx * MagneticResultsGeo->Bx + MagneticResultsGeo->By * MagneticResultsGeo->By);
+	GeoMagneticElements->F = sqrtf(GeoMagneticElements->H * GeoMagneticElements->H + MagneticResultsGeo->Bz * MagneticResultsGeo->Bz);
+	GeoMagneticElements->Decl = RAD2DEG(atan2f(GeoMagneticElements->Y, GeoMagneticElements->X));
+	GeoMagneticElements->Incl = RAD2DEG(atan2f(GeoMagneticElements->Z, GeoMagneticElements->H));
 
     return 0;   // OK
 }
@@ -762,10 +763,10 @@ int WMM_CalculateSecularVariation(WMMtype_MagneticResults * MagneticVariation, W
 	    (MagneticElements->X * MagneticElements->Xdot +
 	     MagneticElements->Y * MagneticElements->Ydot + MagneticElements->Z * MagneticElements->Zdot) / MagneticElements->F;
 	MagneticElements->Decldot =
-	    180.0 / M_PI * (MagneticElements->X * MagneticElements->Ydot -
+	    180.0f / M_PI_F * (MagneticElements->X * MagneticElements->Ydot -
 			    MagneticElements->Y * MagneticElements->Xdot) / (MagneticElements->H * MagneticElements->H);
 	MagneticElements->Incldot =
-	    180.0 / M_PI * (MagneticElements->H * MagneticElements->Zdot -
+	    180.0f / M_PI_F * (MagneticElements->H * MagneticElements->Zdot -
 			    MagneticElements->Z * MagneticElements->Hdot) / (MagneticElements->F * MagneticElements->F);
 	MagneticElements->GVdot = MagneticElements->Decldot;
 
@@ -776,7 +777,7 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 
 /*	This function evaluates all of the Schmidt-semi normalized associated Legendre
 	functions up to degree nMax. The functions are initially scaled by
-	10^280 sin^m in order to minimize the effects of underflow at large m
+	10^280 sinf^m in order to minimize the effects of underflow at large m
 	near the poles (see Holmes and Featherstone 2002, J. Geodesy, 76, 279-299).
 	Note that this function performs the same operation as WMM_PcupLow.
 	However this function also can be used for high degree (large nMax) models.
@@ -784,7 +785,7 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	Calling Parameters:
 		INPUT
 			nMax:	 Maximum spherical harmonic degree to compute.
-			x:		cos(colatitude) or sin(latitude).
+			x:		cosf(colatitude) or sinf(latitude).
 
 		OUTPUT
 			Pcup:	A vector of all associated Legendgre polynomials evaluated at
@@ -800,9 +801,9 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 
   Change from the previous version
   The prevous version computes the derivatives as
-  dP(n,m)(x)/dx, where x = sin(latitude) (or cos(colatitude) ).
+  dP(n,m)(x)/dx, where x = sinf(latitude) (or cosf(colatitude) ).
   However, the WMM Geomagnetic routines requires dP(n,m)(x)/dlatitude.
-  Hence the derivatives are multiplied by sin(latitude).
+  Hence the derivatives are multiplied by sinf(latitude).
   Removed the options for CS phase and normalizations.
 
   Note: In geomagnetism, the derivatives of ALF are usually found with
@@ -842,7 +843,7 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	scalef = 1.0e-280;
 
 	for (n = 0; n <= 2 * nMax + 1; ++n)
-		PreSqr[n] = sqrt((float)(n));
+		PreSqr[n] = sqrtf((float)(n));
 
 	k = 2;
 
@@ -860,10 +861,10 @@ int WMM_PcupHigh(float *Pcup, float *dPcup, float x, uint16_t nMax)
 		k = k + 2;
 	}
 
-	/*z = sin (geocentric latitude) */
-	z = sqrt((1.0 - x) * (1.0 + x));
+	/*z = sinf (geocentric latitude) */
+	z = sqrtf((1.0f - x) * (1.0f + x));
 	pm2 = 1.0;
-	Pcup[0] = 1.0;
+	Pcup[0] = 1.0f;
 	dPcup[0] = 0.0;
 	if (nMax == 0)
     {
@@ -945,7 +946,7 @@ int WMM_PcupLow(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	Calling Parameters:
 		INPUT
 			nMax:	 Maximum spherical harmonic degree to compute.
-			x:		cos(colatitude) or sin(latitude).
+			x:		cosf(colatitude) or sinf(latitude).
 
 		OUTPUT
 			Pcup:	A vector of all associated Legendgre polynomials evaluated at
@@ -975,8 +976,8 @@ int WMM_PcupLow(float *Pcup, float *dPcup, float x, uint16_t nMax)
 	Pcup[0] = 1.0;
 	dPcup[0] = 0.0;
 
-	/*sin (geocentric latitude) - sin_phi */
-	z = sqrt((1.0 - x) * (1.0 + x));
+	/*sinf (geocentric latitude) - sin_phi */
+	z = sqrtf((1.0f - x) * (1.0f + x));
 
 	/*       First, Compute the Gauss-normalized associated Legendre  functions */
 	for (n = 1; n <= nMax; n++)
@@ -1033,7 +1034,7 @@ int WMM_PcupLow(float *Pcup, float *dPcup, float x, uint16_t nMax)
 		{
 			index = (n * (n + 1) / 2 + m);
 			index1 = (n * (n + 1) / 2 + m - 1);
-			schmidtQuasiNorm[index] = schmidtQuasiNorm[index1] * sqrt((float)((n - m + 1) * (m == 1 ? 2 : 1)) / (float)(n + m));
+			schmidtQuasiNorm[index] = schmidtQuasiNorm[index1] * sqrtf((float)((n - m + 1) * (m == 1 ? 2 : 1)) / (float)(n + m));
 		}
 
 	}
@@ -1086,7 +1087,7 @@ int WMM_SummationSpecial(WMMtype_SphericalHarmonicVariables *
 	schmidtQuasiNorm1 = 1.0;
 
 	MagneticResults->By = 0.0;
-	sin_phi = sin(DEG2RAD(CoordSpherical->phig));
+	sin_phi = sinf(DEG2RAD(CoordSpherical->phig));
 
 	for (n = 1; n <= MagneticModel->nMax; n++)
 	{
@@ -1097,7 +1098,7 @@ int WMM_SummationSpecial(WMMtype_SphericalHarmonicVariables *
 
 		index = (n * (n + 1) / 2 + 1);
 		schmidtQuasiNorm2 = schmidtQuasiNorm1 * (float)(2 * n - 1) / (float)n;
-		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrt((float)(n * 2) / (float)(n + 1));
+		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrtf((float)(n * 2) / (float)(n + 1));
 		schmidtQuasiNorm1 = schmidtQuasiNorm2;
 		if (n == 1)
 		{
@@ -1110,7 +1111,7 @@ int WMM_SummationSpecial(WMMtype_SphericalHarmonicVariables *
 		}
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Equation 11 in the WMM Technical report. Derivative with respect to longitude, divided by radius. */
 
@@ -1152,13 +1153,13 @@ int WMM_SecVarSummationSpecial(WMMtype_SphericalHarmonicVariables *
 	schmidtQuasiNorm1 = 1.0;
 
 	MagneticResults->By = 0.0;
-	sin_phi = sin(DEG2RAD(CoordSpherical->phig));
+	sin_phi = sinf(DEG2RAD(CoordSpherical->phig));
 
 	for (n = 1; n <= MagneticModel->nMaxSecVar; n++)
 	{
 		index = (n * (n + 1) / 2 + 1);
 		schmidtQuasiNorm2 = schmidtQuasiNorm1 * (float)(2 * n - 1) / (float)n;
-		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrt((float)(n * 2) / (float)(n + 1));
+		schmidtQuasiNorm3 = schmidtQuasiNorm2 * sqrtf((float)(n * 2) / (float)(n + 1));
 		schmidtQuasiNorm1 = schmidtQuasiNorm2;
 		if (n == 1)
 		{
@@ -1171,7 +1172,7 @@ int WMM_SecVarSummationSpecial(WMMtype_SphericalHarmonicVariables *
 		}
 
 /*		  1 nMax  (n+2)    n     m            m           m
-	By =    SUM (a/r) (m)  SUM  [g cos(m p) + h sin(m p)] dP (sin(phi))
+	By =    SUM (a/r) (m)  SUM  [g cosf(m p) + h sinf(m p)] dP (sinf(phi))
 		   n=1             m=0   n            n           n  */
 /* Derivative with respect to longitude, divided by radius. */
 
@@ -1291,7 +1292,7 @@ int WMM_DateToYear(uint16_t month, uint16_t day, uint16_t year)
 		temp += MonthDays[i - 1];
 	temp += day;
 	
-	decimal_date = year + (temp - 1) / (365.0 + ExtraDay);
+	decimal_date = year + (temp - 1) / (365.0f + ExtraDay);
 
 	return 0;   // OK
 }
@@ -1304,21 +1305,21 @@ int WMM_GeodeticToSpherical(WMMtype_CoordGeodetic * CoordGeodetic, WMMtype_Coord
 {
 	float CosLat, SinLat, rc, xp, zp;	// all local variables
 
-	CosLat = cos(DEG2RAD(CoordGeodetic->phi));
-	SinLat = sin(DEG2RAD(CoordGeodetic->phi));
+	CosLat = cosf(DEG2RAD(CoordGeodetic->phi));
+	SinLat = sinf(DEG2RAD(CoordGeodetic->phi));
 
 	// compute the local radius of curvature on the WGS-84 reference ellipsoid
-	rc = Ellip->a / sqrt(1.0 - Ellip->epssq * SinLat * SinLat);
+	rc = Ellip->a / sqrtf(1.0f - Ellip->epssq * SinLat * SinLat);
 
 	// compute ECEF Cartesian coordinates of specified point (for longitude=0)
 
 	xp = (rc + CoordGeodetic->HeightAboveEllipsoid) * CosLat;
-	zp = (rc * (1.0 - Ellip->epssq) + CoordGeodetic->HeightAboveEllipsoid) * SinLat;
+	zp = (rc * (1.0f - Ellip->epssq) + CoordGeodetic->HeightAboveEllipsoid) * SinLat;
 
 	// compute spherical radius and angle lambda and phi of specified point
 
-	CoordSpherical->r = sqrt(xp * xp + zp * zp);
-	CoordSpherical->phig = RAD2DEG(asin(zp / CoordSpherical->r));	// geocentric latitude
+	CoordSpherical->r = sqrtf(xp * xp + zp * zp);
+	CoordSpherical->phig = RAD2DEG(asinf(zp / CoordSpherical->r));	// geocentric latitude
 	CoordSpherical->lambda = CoordGeodetic->lambda;	// longitude
 
 	return 0;   // OK

flight/Libraries/alarms.c

@@ -27,7 +27,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "openpilot.h"
+#include <openpilot.h>
 #include "inc/alarms.h"
 
 // Private constants

flight/Libraries/inc/WMMInternal.h

@@ -26,6 +26,7 @@
 
 #ifndef WMMINTERNAL_H_
 #define WMMINTERNAL_H_
+#include <pios_math.h>
 
 	// internal constants
 #define TRUE            ((uint16_t)1)
@@ -35,8 +36,6 @@
 #define	NUMTERMS 91		// ((WMM_MAX_MODEL_DEGREES+1)*(WMM_MAX_MODEL_DEGREES+2)/2);
 #define NUMPCUP 92		// NUMTERMS +1
 #define NUMPCUPS 13		// WMM_MAX_MODEL_DEGREES +1
-#define RAD2DEG(rad)    ((rad)*(180.0L/M_PI))
-#define DEG2RAD(deg)    ((deg)*(M_PI/180.0L))
 
 	// internal structure definitions
 typedef struct {

flight/Libraries/inc/alarms.h

@@ -28,7 +28,7 @@
 #ifndef ALARMS_H
 #define ALARMS_H
 
-#include "systemalarms.h"
+#include <systemalarms.h>
 #define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
 
 int32_t AlarmsInitialize(void);

flight/Libraries/inc/sanitycheck.h

@@ -26,11 +26,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <systemalarms.h>
 
 #ifndef SANITYCHECK_H
 #define SANITYCHECK_H
 
+#include <systemalarms.h>
+
 #define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
 #define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
 

flight/Libraries/math/sin_lookup.c

@@ -32,6 +32,7 @@
 #include "math.h"
 #include "stdbool.h"
 #include "stdint.h"
+#include <pios_math.h>
 
 #define FLASH_TABLE
 #ifdef FLASH_TABLE
@@ -81,7 +82,7 @@ int sin_lookup_initalize()
 		return -1;
 
 	for(uint32_t i = 0; i < 180; i++)
-		sin_table[i] = sinf((float)i * 2 * M_PI / 360.0f);
+		sin_table[i] = sinf(DEG2RAD((float)i));
 
 	return 0;
 }
@@ -126,7 +127,7 @@ float cos_lookup_deg(float angle)
  */
 float sin_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / M_PI;
+	int degrees = angle * 180.0f / M_PI_F;
 	return sin_lookup_deg(degrees);
 }
 
@@ -137,6 +138,6 @@ float sin_lookup_rad(float angle)
  */
 float cos_lookup_rad(float angle)
 {
-	int degrees = angle * 180.0f / M_PI;
+	int degrees = angle * 180.0f / M_PI_F;
 	return cos_lookup_deg(degrees);
-}
+}

flight/Libraries/op_dfu.c

@@ -61,6 +61,8 @@ uint8_t Data0;
 uint8_t Data1;
 uint8_t Data2;
 uint8_t Data3;
+uint32_t Opt[3];
+
 uint8_t offset = 0;
 uint32_t aux;
 //Download vars
@@ -133,6 +135,14 @@ void processComand(uint8_t *xReceive_Buffer) {
 	Data1 = xReceive_Buffer[DATA + 1];
 	Data2 = xReceive_Buffer[DATA + 2];
 	Data3 = xReceive_Buffer[DATA + 3];
+	for( uint32_t i=0; i < 3; i++ )
+	{
+		Opt[i] = xReceive_Buffer[DATA + 4 * (i+1) ] << 24 |
+			 xReceive_Buffer[DATA + 4 * (i+1) + 1] << 16 |
+			 xReceive_Buffer[DATA + 4 * (i+1) + 2] << 8 |
+			 xReceive_Buffer[DATA + 4 * (i+1) + 3];	
+	}
+	
 	Command = Command & 0b00011111;
 
 	if (EchoReqFlag == 1) {
@@ -296,10 +306,16 @@ void processComand(uint8_t *xReceive_Buffer) {
 		sendData(Buffer + 1, 63);
 		break;
 	case JumpFW:
-		if (Data == 0x5AFE) {
+		if (Data == 0x5AFE) 
+		{
 			/* Force board into safe mode */
 			PIOS_IAP_WriteBootCount(0xFFFF);
 		}
+		// pass any Opt value to the firmware
+		PIOS_IAP_WriteBootCmd(0, Opt[0]);
+		PIOS_IAP_WriteBootCmd(1, Opt[1]);
+		PIOS_IAP_WriteBootCmd(2, Opt[2]);
+
 		FLASH_Lock();
 		JumpToApp = 1;
 		break;
@@ -339,8 +355,8 @@ void processComand(uint8_t *xReceive_Buffer) {
 			downType = Data0;
 			downPacketTotal = Count;
 			downSizeOfLastPacket = Data1;
-			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14 * 4
-					+ downSizeOfLastPacket * 4) == 1) {
+			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
+					+ downSizeOfLastPacket) == 1) {
 				DeviceState = outsideDevCapabilities;
 				Aditionals = (uint32_t) Command;
 
@@ -383,8 +399,8 @@ void processComand(uint8_t *xReceive_Buffer) {
 
 	}
 	if (EchoReqFlag == 1) {
-		echoBuffer[0] = echoBuffer[0] | (1 << 6);
-		sendData(echoBuffer, 63);
+		echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
+		sendData(echoBuffer + 1, 63);
 	}
 	return;
 }

flight/Libraries/paths.c

@@ -94,7 +94,7 @@ static void path_endpoint(float * start_point, float * end_point, float * cur_po
     dist_diff = sqrtf(diff_north * diff_north + diff_east * diff_east);
     dist_path = sqrtf(path_north * path_north + path_east * path_east);
 
-    if (dist_diff < 1e-6) {
+	if (dist_diff < 1e-6f ) {
         status->fractional_progress = 1;
         status->error = 0;
         status->path_direction[0] = status->path_direction[1] = 0;
@@ -135,7 +135,7 @@ static void path_vector(float * start_point, float * end_point, float * cur_poin
     dot = path_north * diff_north + path_east * diff_east;
     dist_path = sqrtf(path_north * path_north + path_east * path_east);
 
-    if (dist_path < 1e-6) {
+	if (dist_path < 1e-6f){
         // if the path is too short, we cannot determine vector direction.
         // Fly towards the endpoint to prevent flying away,
         // but assume progress=1 either way.
@@ -190,7 +190,7 @@ static void path_circle(float * start_point, float * end_point, float * cur_poin
     radius = sqrtf(powf(radius_north, 2) + powf(radius_east, 2));
     cradius = sqrtf(powf(diff_north, 2) + powf(diff_east, 2));
 
-    if (cradius < 1e-6) {
+	if (cradius < 1e-6f) {
         // cradius is zero, just fly somewhere and make sure correction is still a normal
         status->fractional_progress = 1;
         status->error = radius;

flight/Modules/Airspeed/revolution/gps_airspeed.c

@@ -35,7 +35,7 @@
 #include "gpsvelocity.h"
 #include "attitudeactual.h"
 #include "CoordinateConversions.h"
-
+#include <pios_math.h>
 
 
 // Private constants
@@ -44,9 +44,6 @@
 #define SAMPLING_DELAY_MS_GPS          100    //Needs to be settable in a UAVO
 #define GPS_AIRSPEED_TIME_CONSTANT_MS  500.0f //Needs to be settable in a UAVO
 
-#define F_PI 3.141526535897932f
-#define DEG2RAD (F_PI/180.0f)
-
 // Private types
 struct GPSGlobals {
 	float RbeCol1_old[3];
@@ -117,7 +114,7 @@ void gps_airspeedGet(float *v_air_GPS)
 	float cosDiff=(Rbe[0][0]*gps->RbeCol1_old[0]) + (Rbe[0][1]*gps->RbeCol1_old[1]) + (Rbe[0][2]*gps->RbeCol1_old[2]);
 	
 	//If there's more than a 5 degree difference between two fuselage measurements, then we have sufficient delta to continue.
-	if (fabs(cosDiff) < cos(5.0f*DEG2RAD)) {
+	if (fabsf(cosDiff) < cosf(DEG2RAD(5.0f))) {
 		GPSVelocityData gpsVelData;
 		GPSVelocityGet(&gpsVelData);
 		

flight/Modules/Attitude/attitude.c

@@ -58,6 +58,8 @@
 #include "manualcontrolcommand.h"
 #include "CoordinateConversions.h"
 #include <pios_board_info.h>
+#include <pios_math.h>
+
  
 // Private constants
 #define STACK_SIZE_BYTES 540
@@ -67,7 +69,6 @@
 #define UPDATE_RATE  25.0f
 #define GYRO_NEUTRAL 1665
 
-#define PI_MOD(x) (fmod(x + M_PI, M_PI * 2) - M_PI)
 // Private types
 
 // Private variables
@@ -334,7 +335,7 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
 			float throttle;
 			FlightStatusArmedGet(&armed);
 			ManualControlCommandThrottleGet(&throttle);  // Until flight status indicates airborne
-			if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0)) {
+			if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0.0f)) {
 				trim_samples++;
 				// Store the digitally scaled version since that is what we use for bias
 				trim_accels[0] += accels->x;
@@ -513,10 +514,10 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 		// Work out time derivative from INSAlgo writeup
 		// Also accounts for the fact that gyros are in deg/s
 		float qdot[4];
-		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * M_PI / 180 / 2;
-		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * M_PI / 180 / 2;
-		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * M_PI / 180 / 2;
-		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * M_PI / 180 / 2;
+		qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
+		qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
+		qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
+		qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f);
 		
 		// Take a time step
 		q[0] = q[0] + qdot[0];
@@ -541,7 +542,7 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 	
 	// If quaternion has become inappropriately short or is nan reinit.
 	// THIS SHOULD NEVER ACTUALLY HAPPEN
-	if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
+	if((fabsf(qmag) < 1e-3f) || (qmag != qmag)) {
 		q[0] = 1;
 		q[1] = 0;
 		q[2] = 0;
@@ -571,7 +572,7 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
 
 	// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
 	const float fakeDt = 0.0025;
-	if (attitudeSettings.AccelTau < 0.0001) {
+	if (attitudeSettings.AccelTau < 0.0001f) {
 		accel_alpha = 0;   // not trusting this to resolve to 0
 		accel_filter_enabled = false;
 	} else {

flight/Modules/Attitude/revolution/attitude.c

@@ -70,15 +70,12 @@
 #include "revosettings.h"
 #include "velocityactual.h"
 #include "CoordinateConversions.h"
-
+#include <pios_math.h>
 // Private constants
 #define STACK_SIZE_BYTES 2048
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 #define FAILSAFE_TIMEOUT_MS 10
 
-#define F_PI 3.14159265358979323846f
-#define PI_MOD(x) (fmodf(x + F_PI, F_PI * 2) - F_PI)
-
 // low pass filter configuration to calculate offset
 // of barometric altitude sensor
 // reasoning: updates at: 10 Hz, tau= 300 s settle time
@@ -303,9 +300,9 @@ static int32_t updateAttitudeComplementary(bool first_run)
 		AttitudeActualData attitudeActual;
 		AttitudeActualGet(&attitudeActual);
 		init = 0;
-		attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
-		attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
-		attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
+		attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
+		attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
+		attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
 
 		RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
 		AttitudeActualSet(&attitudeActual);
@@ -415,10 +412,10 @@ static int32_t updateAttitudeComplementary(bool first_run)
 	// Work out time derivative from INSAlgo writeup
 	// Also accounts for the fact that gyros are in deg/s
 	float qdot[4];
-	qdot[0] = (-q[1] * gyrosData.x - q[2] * gyrosData.y - q[3] * gyrosData.z) * dT * F_PI / 180 / 2;
-	qdot[1] = (q[0] * gyrosData.x - q[3] * gyrosData.y + q[2] * gyrosData.z) * dT * F_PI / 180 / 2;
-	qdot[2] = (q[3] * gyrosData.x + q[0] * gyrosData.y - q[1] * gyrosData.z) * dT * F_PI / 180 / 2;
-	qdot[3] = (-q[2] * gyrosData.x + q[1] * gyrosData.y + q[0] * gyrosData.z) * dT * F_PI / 180 / 2;
+	qdot[0] = (-q[1] * gyrosData.x - q[2] * gyrosData.y - q[3] * gyrosData.z) * dT * M_PI_F / 180 / 2;
+	qdot[1] = (q[0] * gyrosData.x - q[3] * gyrosData.y + q[2] * gyrosData.z) * dT * M_PI_F / 180 / 2;
+	qdot[2] = (q[3] * gyrosData.x + q[0] * gyrosData.y - q[1] * gyrosData.z) * dT * M_PI_F / 180 / 2;
+	qdot[3] = (-q[2] * gyrosData.x + q[1] * gyrosData.y + q[0] * gyrosData.z) * dT * M_PI_F / 180 / 2;
 
 	// Take a time step
 	q[0] = q[0] + qdot[0];
@@ -641,7 +638,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 			INSSetBaroVar(revoCalibration.baro_var);
 
 			// Initialize the gyro bias from the settings
-			float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
+			float gyro_bias[3] = {gyrosBias.x * M_PI_F / 180.0f, gyrosBias.y * M_PI_F / 180.0f, gyrosBias.z * M_PI_F / 180.0f};
 			INSSetGyroBias(gyro_bias);
 
 			xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
@@ -649,9 +646,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 			// Set initial attitude
 			AttitudeActualData attitudeActual;
-			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
+			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
 			RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
 			AttitudeActualSet(&attitudeActual);
 
@@ -676,7 +673,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 			INSSetMagNorth(homeLocation.Be);
 
 			// Initialize the gyro bias from the settings
-			float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
+			float gyro_bias[3] = {gyrosBias.x * M_PI_F / 180.0f, gyrosBias.y * M_PI_F / 180.0f, gyrosBias.z * M_PI_F / 180.0f};
 			INSSetGyroBias(gyro_bias);
 
 			GPSPositionData gpsPosition;
@@ -693,9 +690,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 			// Set initial attitude
 			AttitudeActualData attitudeActual;
-			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
-			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
+			attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
+			attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F;
 			RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
 			AttitudeActualSet(&attitudeActual);
 
@@ -711,9 +708,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 			dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
 
 			GyrosBiasGet(&gyrosBias);
-			float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f, 
-				(gyrosData.y + gyrosBias.y) * F_PI / 180.0f, 
-				(gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
+			float gyros[3] = {(gyrosData.x + gyrosBias.x) * M_PI_F / 180.0f,
+				(gyrosData.y + gyrosBias.y) * M_PI_F / 180.0f,
+				(gyrosData.z + gyrosBias.z) * M_PI_F / 180.0f};
 			INSStatePrediction(gyros, &accelsData.x, dT);
 			
 			AttitudeActualData attitude;
@@ -750,18 +747,18 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	// If the gyro bias setting was updated we should reset
 	// the state estimate of the EKF
 	if(gyroBiasSettingsUpdated) {
-		float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
+		float gyro_bias[3] = {gyrosBias.x * M_PI_F / 180.0f, gyrosBias.y * M_PI_F / 180.0f, gyrosBias.z * M_PI_F / 180.0f};
 		INSSetGyroBias(gyro_bias);
 		gyroBiasSettingsUpdated = false;
 	}
 
 	// Because the sensor module remove the bias we need to add it
 	// back in here so that the INS algorithm can track it correctly
-	float gyros[3] = {gyrosData.x * F_PI / 180.0f, gyrosData.y * F_PI / 180.0f, gyrosData.z * F_PI / 180.0f};
+	float gyros[3] = {gyrosData.x * M_PI_F / 180.0f, gyrosData.y * M_PI_F / 180.0f, gyrosData.z * M_PI_F / 180.0f};
 	if (revoCalibration.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE) {
-		gyros[0] += gyrosBias.x * F_PI / 180.0f;
-		gyros[1] += gyrosBias.y * F_PI / 180.0f;
-		gyros[2] += gyrosBias.z * F_PI / 180.0f;
+		gyros[0] += gyrosBias.x * M_PI_F / 180.0f;
+		gyros[1] += gyrosBias.y * M_PI_F / 180.0f;
+		gyros[2] += gyrosBias.z * M_PI_F / 180.0f;
 	}
 
 	// Advance the state estimate
@@ -795,8 +792,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 
 		if (0) { // Old code to take horizontal velocity from GPS Position update
 			sensors |= HORIZ_SENSORS;
-			vel[0] = gpsData.Groundspeed * cosf(gpsData.Heading * F_PI / 180.0f);
-			vel[1] = gpsData.Groundspeed * sinf(gpsData.Heading * F_PI / 180.0f);
+			vel[0] = gpsData.Groundspeed * cosf(gpsData.Heading * M_PI_F / 180.0f);
+			vel[1] = gpsData.Groundspeed * sinf(gpsData.Heading * M_PI_F / 180.0f);
 			vel[2] = 0;
 		}
 		// Transform the GPS position into NED coordinates
@@ -870,9 +867,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 		// Copy the gyro bias into the UAVO except when it was updated
 		// from the settings during the calculation, then consume it
 		// next cycle
-		gyrosBias.x = Nav.gyro_bias[0] * 180.0f / F_PI;
-		gyrosBias.y = Nav.gyro_bias[1] * 180.0f / F_PI;
-		gyrosBias.z = Nav.gyro_bias[2] * 180.0f / F_PI;
+		gyrosBias.x = Nav.gyro_bias[0] * 180.0f / M_PI_F;
+		gyrosBias.y = Nav.gyro_bias[1] * 180.0f / M_PI_F;
+		gyrosBias.z = Nav.gyro_bias[2] * 180.0f / M_PI_F;
 		GyrosBiasSet(&gyrosBias);
 	}
 

flight/Modules/CameraStab/camerastab.c

@@ -295,7 +295,7 @@ void applyFeedForward(uint8_t index, float dT_millis, float *attitude, CameraSta
 		if (index == CAMERASTABSETTINGS_INPUT_ROLL) {
 			float pitch;
 			AttitudeActualPitchGet(&pitch);
-			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH] - fabs(pitch))
+			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH] - fabsf(pitch))
 							/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
 		}
 		break;
@@ -303,7 +303,7 @@ void applyFeedForward(uint8_t index, float dT_millis, float *attitude, CameraSta
 		if (index == CAMERASTABSETTINGS_INPUT_PITCH) {
 			float roll;
 			AttitudeActualRollGet(&roll);
-			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL] - fabs(roll))
+			gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL] - fabsf(roll))
 							/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
 		}
 		break;

flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c

@@ -66,16 +66,12 @@
 #include "velocitydesired.h"
 #include "velocityactual.h"
 #include "CoordinateConversions.h"
-
+#include <pios_math.h>
+#include <pios_constants.h>
 // Private constants
 #define MAX_QUEUE_SIZE 4
 #define STACK_SIZE_BYTES 1548
 #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
-#define F_PI 3.14159265358979323846f
-#define RAD2DEG (180.0f/F_PI)
-#define DEG2RAD (F_PI/180.0f)
-#define GEE 9.81f
-// Private types
 
 // Private variables
 static bool followerEnabled = false;
@@ -293,7 +289,7 @@ static void updatePathVelocity()
 			break;
 	}
 	// make sure groundspeed is not zero
-	if (groundspeed<1e-2) groundspeed=1e-2;
+	if (groundspeed<1e-2f) groundspeed=1e-2f;
 	
 	// calculate velocity - can be zero if waypoints are too close
 	VelocityDesiredData velocityDesired;
@@ -313,8 +309,8 @@ static void updatePathVelocity()
 	// difference between correction_direction and velocityactual >90 degrees and
 	// difference between path_direction and velocityactual >90 degrees  ( 4th sector, facing away from eerything )
 	// fix: ignore correction, steer in path direction until the situation has become better (condition doesn't apply anymore)
-	float angle1=RAD2DEG * ( atan2f(progress.path_direction[1],progress.path_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
-	float angle2=RAD2DEG * ( atan2f(progress.correction_direction[1],progress.correction_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
+	float angle1=RAD2DEG( atan2f(progress.path_direction[1],progress.path_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
+	float angle2=RAD2DEG( atan2f(progress.correction_direction[1],progress.correction_direction[0]) - atan2f(velocityActual.East,velocityActual.North));
 	if (angle1<-180.0f) angle1+=360.0f;
 	if (angle1>180.0f) angle1-=360.0f;
 	if (angle2<-180.0f) angle2+=360.0f;
@@ -470,7 +466,7 @@ static uint8_t updateFixedDesiredAttitude()
 		result = 0;
 	}
 	
-	if (indicatedAirspeedActual<1e-6) {
+	if (indicatedAirspeedActual<1e-6f) {
 		// prevent division by zero, abort without controlling anything. This guidance mode is not suited for takeoff or touchdown, or handling stationary planes
 		// also we cannot handle planes flying backwards, lets just wait until the nose drops
 		fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWSPEED] = 1;
@@ -583,8 +579,8 @@ static uint8_t updateFixedDesiredAttitude()
 	/**
 	 * Compute desired roll command
 	 */
-	if (groundspeedDesired> 1e-6) {
-		bearingError = RAD2DEG * (atan2f(velocityDesired.East,velocityDesired.North) - atan2f(velocityActual.East,velocityActual.North));
+	if (groundspeedDesired> 1e-6f) {
+		bearingError = RAD2DEG(atan2f(velocityDesired.East,velocityDesired.North) - atan2f(velocityActual.East,velocityActual.North));
 	} else {
 		// if we are not supposed to move, run in a circle
 		bearingError = -90.0f;

flight/Modules/OPLink/inc/oplinkmod.h

@@ -2,12 +2,12 @@
  ******************************************************************************
  * @addtogroup OpenPilotModules OpenPilot Modules
  * @{ 
- * @addtogroup PipXtremeModule PipXtreme Module
+ * @addtogroup OPLinkModule OPLink Module
  * @{ 
  *
- * @file       pipxtrememod.h
+ * @file       oplinkmod.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      The PipXtreme system module
+ * @brief      The OPLink system module
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -27,9 +27,9 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef PIPXTREMEMOD_H
-#define PIPXTREMEMOD_H
+#ifndef OPLINKMOD_H
+#define OPLINKMOD_H
 
-int32_t PipXtremeModInitialize(void);
+int32_t OPLinkModInitialize(void);
 
-#endif // PIPXTREMEMOD_H
+#endif // OPLINKMOD_H

flight/Modules/OPLink/oplinkmod.c

@@ -2,20 +2,20 @@
  ******************************************************************************
  * @addtogroup OpenPilotModules OpenPilot Modules
  * @brief The OpenPilot Modules do the majority of the control in OpenPilot.  The
- * @ref PipXtremeModule The PipXtreme Module is the equivalanet of the System
- * Module for the PipXtreme modem.  it starts all the other modules.
+ * @ref OPLinkModule The OPLink Module is the equivalanet of the System
+ * Module for the OPLink modem.  it starts all the other modules.
  #  This is done through the @ref PIOS "PIOS Hardware abstraction layer",
  # which then contains hardware specific implementations
  * (currently only STM32 supported)
  *
  * @{ 
- * @addtogroup PipXtremeModule PipXtreme Module
+ * @addtogroup OPLinkModule OPLink Module
  * @brief Initializes PIOS and other modules runs monitoring
  * After initializing all the modules runs basic monitoring and
  * alarms.
  * @{ 
  *
- * @file       pipxtrememod.c
+ * @file       oplinkmod.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @brief      System module
  *
@@ -43,7 +43,6 @@
 #include <pios_rfm22b.h>
 #include <pios_board_info.h>
 #include <oplinksettings.h>
-#include "systemmod.h"
 
 // Private constants
 #define SYSTEM_UPDATE_PERIOD_MS 1000
@@ -72,13 +71,13 @@ static void systemTask(void *parameters);
  * Create the module task.
  * \returns 0 on success or -1 if initialization failed
  */
-int32_t PipXtremeModStart(void)
+int32_t OPLinkModStart(void)
 {
 	// Initialize vars
 	stackOverflow = false;
 	mallocFailed = false;
-	// Create pipxtreme system task
-	xTaskCreate(systemTask, (signed char *)"PipXtreme", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
+	// Create oplink system task
+	xTaskCreate(systemTask, (signed char *)"OPLink", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
 	// Register task
 	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
 
@@ -89,7 +88,7 @@ int32_t PipXtremeModStart(void)
  * Initialize the module, called on startup.
  * \returns 0 on success or -1 if initialization failed
  */
-int32_t PipXtremeModInitialize(void)
+int32_t OPLinkModInitialize(void)
 {
 
 	// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
@@ -111,12 +110,12 @@ int32_t PipXtremeModInitialize(void)
 	OPLinkStatusSet(&oplinkStatus);
 
 	// Call the module start function.
-	PipXtremeModStart();
+	OPLinkModStart();
 
 	return 0;
 }
 
-MODULE_INITCALL(PipXtremeModInitialize, 0)
+MODULE_INITCALL(OPLinkModInitialize, 0)
 
 /**
  * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
@@ -152,7 +151,7 @@ static void systemTask(void *parameters)
 		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 #endif	/* PIOS_LED_HEARTBEAT */
 
-		// Update the PipXstatus UAVO
+		// Update the OPLinkStatus UAVO
 		OPLinkStatusData oplinkStatus;
 		OPLinkStatusGet(&oplinkStatus);
 

flight/Modules/PathPlanner/pathplanner.c

@@ -334,7 +334,7 @@ static uint8_t conditionTimeOut() {
 		toWaypoint = waypointActive.Index;
 		toStarttime = PIOS_DELAY_GetRaw();
 	}
-	if (PIOS_DELAY_DiffuS(toStarttime) >= 1e6 * pathAction.ConditionParameters[0]) {
+	if (PIOS_DELAY_DiffuS(toStarttime) >= 1e6f * pathAction.ConditionParameters[0]) {
 		// make sure we reinitialize even if the same waypoint comes twice
 		toWaypoint = 0xFFFF;
 		return true;

flight/Modules/Sensors/sensors.c

@@ -46,20 +46,21 @@
  *
  */
 
-#include "openpilot.h"
+#include <openpilot.h>
 
-#include "homelocation.h"
-#include "magnetometer.h"
-#include "magbias.h"
-#include "accels.h"
-#include "gyros.h"
-#include "gyrosbias.h"
-#include "attitudeactual.h"
-#include "attitudesettings.h"
-#include "revocalibration.h"
-#include "flightstatus.h"
-#include "CoordinateConversions.h"
+#include <homelocation.h>
+#include <magnetometer.h>
+#include <magbias.h>
+#include <accels.h>
+#include <gyros.h>
+#include <gyrosbias.h>
+#include <attitudeactual.h>
+#include <attitudesettings.h>
+#include <revocalibration.h>
+#include <flightstatus.h>
+#include <CoordinateConversions.h>
 
+#include <pios_math.h>
 #include <pios_board_info.h>
 
 // Private constants
@@ -67,8 +68,6 @@
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
 #define SENSOR_PERIOD 2
 
-#define F_PI 3.14159265358979323846f
-#define PI_MOD(x) (fmodf(x + F_PI, F_PI * 2) - F_PI)
 // Private types
 
 
@@ -302,7 +301,7 @@ static void SensorsTask(void *parameters)
 			{
 				struct pios_mpu6000_data mpu6000_data;
 				xQueueHandle queue = PIOS_MPU6000_GetQueue();
-				
+
 				while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
 				{
 					gyro_accum[0] += mpu6000_data.gyro_x;
@@ -316,7 +315,7 @@ static void SensorsTask(void *parameters)
 					gyro_samples ++;
 					accel_samples ++;
 				}
-				
+
 				if (gyro_samples == 0) {
 					PIOS_MPU6000_ReadGyros(&mpu6000_data);
 					error = true;
@@ -498,8 +497,8 @@ static void magOffsetEstimation(MagnetometerData *mag)
 	B_e[1] = R[0][1] * mag->x + R[1][1] * mag->y + R[2][1] * mag->z;
 	B_e[2] = R[0][2] * mag->x + R[1][2] * mag->y + R[2][2] * mag->z;
 	
-	float cy = cosf(attitude.Yaw * M_PI / 180.0f);
-	float sy = sinf(attitude.Yaw * M_PI / 180.0f);
+	float cy = cosf(DEG2RAD(attitude.Yaw));
+	float sy = sinf(DEG2RAD(attitude.Yaw));
 	
 	xy[0] =  cy * B_e[0] + sy * B_e[1];
 	xy[1] = -sy * B_e[0] + cy * B_e[1];

flight/Modules/Stabilization/stabilization.c

@@ -305,7 +305,7 @@ static void stabilizationTask(void* parameters)
 					if (reinit)
 						pids[PID_RATE_ROLL + i].iAccumulator = 0;
 
-					if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
+					if(fabsf(attitudeDesiredAxis[i]) > max_axislock_rate) {
 						// While getting strong commands act like rate mode
 						rateDesiredAxis[i] = attitudeDesiredAxis[i];
 						axis_lock_accum[i] = 0;
@@ -494,7 +494,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	// update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this
 	// calculation
 	const float fakeDt = 0.0025;
-	if(settings.GyroTau < 0.0001)
+	if(settings.GyroTau < 0.0001f)
 		gyro_alpha = 0;   // not trusting this to resolve to 0
 	else
 		gyro_alpha = expf(-fakeDt  / settings.GyroTau);

flight/Modules/Stabilization/virtualflybar.c

@@ -55,7 +55,7 @@ int stabilization_virtual_flybar(float gyro, float command, float *output, float
 
 	// Command signal can indicate how much to disregard the gyro feedback (fast flips)
 	if (settings->VbarGyroSuppress > 0) {
-		gyro_gain = (1.0f - fabs(command) * settings->VbarGyroSuppress / 100.0f);
+		gyro_gain = (1.0f - fabsf(command) * settings->VbarGyroSuppress / 100.0f);
 		gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
 	}
 

flight/PiOS/Boards/STM3210E_OP.h

@@ -1,334 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotCore OpenPilot Core
- * @{
- * @file       pios_board.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-
-#ifndef STM3210E_OP_H_
-#define STM3210E_OP_H_
-
-
-
-//------------------------
-// Timers and Channels Used
-//------------------------
-/*
-Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
-------+-----------+-----------+-----------+----------
-TIM1  | RC In 3   | RC In 6   | RC In 5   |
-TIM2  | --------------- PIOS_DELAY -----------------
-TIM3  | RC In 7   | RC In 8   | RC In 1   | RC In 2
-TIM4  | Servo 1   | Servo 2   | Servo 3   | Servo 4
-TIM5  | RC In 4   |           |           |
-TIM6  | ----------- PIOS_PWM (Supervisor) ----------
-TIM7  |           |           |           |
-TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
-------+-----------+-----------+-----------+----------
-*/
-
-//------------------------
-// DMA Channels Used
-//------------------------
-/* Channel 1  - ADC                             */
-/* Channel 2  - SPI1 RX                         */
-/* Channel 3  - SPI1 TX                         */
-/* Channel 4  - SPI2 RX                         */
-/* Channel 5  - SPI2 TX                         */
-/* Channel 6  -                                 */
-/* Channel 7  -                                 */
-/* Channel 8  -                                 */
-/* Channel 9  -                                 */
-/* Channel 10 -                                 */
-/* Channel 11 -                                 */
-/* Channel 12 -                                 */
-
-//------------------------
-// BOOTLOADER_SETTINGS
-//------------------------
-#define BOARD_READABLE	TRUE
-#define BOARD_WRITABLE	TRUE
-#define MAX_DEL_RETRYS	3
-
-//------------------------
-// WATCHDOG_SETTINGS
-//------------------------
-#define PIOS_WATCHDOG_TIMEOUT 250
-#define PIOS_WDG_REGISTER BKP_DR4
-#define PIOS_WDG_ACTUATOR        0x0001
-#define PIOS_WDG_STABILIZATION   0x0002
-#define PIOS_WDG_AHRS            0x0004
-#define PIOS_WDG_MANUAL          0x0008
-
-//------------------------
-// TELEMETRY 
-//------------------------
-#define TELEM_QUEUE_SIZE         20
-#define PIOS_TELEM_STACK_SIZE    624
-
-//------------------------
-// PIOS_LED
-//------------------------
-#define PIOS_LED_HEARTBEAT	0
-#define PIOS_LED_ALARM		1
-
-//------------------------
-// PIOS_SPI
-// See also pios_board.c
-//------------------------
-#define PIOS_SPI_MAX_DEVS                       2
-
-//------------------------
-// PIOS_I2C
-// See also pios_board.c
-//------------------------
-#define PIOS_I2C_MAX_DEVS			1
-extern uint32_t pios_i2c_main_adapter_id;
-#define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_main_adapter_id)
-#define PIOS_I2C_ESC_ADAPTER			(pios_i2c_main_adapter_id)
-#define PIOS_I2C_BMP085_ADAPTER			(pios_i2c_main_adapter_id)
-
-//------------------------
-// PIOS_BMP085
-//------------------------
-#define PIOS_BMP085_HAS_GPIOS
-#define PIOS_BMP085_EOC_GPIO_PORT               GPIOC
-#define PIOS_BMP085_EOC_GPIO_PIN                GPIO_Pin_15
-#define PIOS_BMP085_EOC_PORT_SOURCE             GPIO_PortSourceGPIOC
-#define PIOS_BMP085_EOC_PIN_SOURCE              GPIO_PinSource15
-#define PIOS_BMP085_EOC_CLK                     RCC_APB2Periph_GPIOC
-#define PIOS_BMP085_EOC_EXTI_LINE               EXTI_Line15
-#define PIOS_BMP085_EOC_IRQn                    EXTI15_10_IRQn
-#define PIOS_BMP085_EOC_PRIO                    PIOS_IRQ_PRIO_LOW
-#define PIOS_BMP085_XCLR_GPIO_PORT              GPIOC        // Not actually connected on OP mainboard
-#define PIOS_BMP085_XCLR_GPIO_PIN               GPIO_Pin_14  // Not actually connected on OP mainboard
-//#define PIOS_BMP085_OVERSAMPLING                2
-#define PIOS_BMP085_OVERSAMPLING                3
-
-//-------------------------
-// PIOS_USART
-//
-// See also pios_board.c
-//-------------------------
-#define PIOS_USART_MAX_DEVS             3
-
-//-------------------------
-// PIOS_COM
-//
-// See also pios_board.c
-//-------------------------
-#define PIOS_COM_MAX_DEVS               4
-
-extern uint32_t pios_com_telem_rf_id;
-#define PIOS_COM_TELEM_RF               (pios_com_telem_rf_id)
-
-extern uint32_t pios_com_gps_id;
-#define PIOS_COM_GPS                    (pios_com_gps_id)
-
-extern uint32_t pios_com_telem_usb_id;
-#define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
-
-#ifdef PIOS_ENABLE_AUX_UART
-extern uint32_t pios_com_aux_id;
-#define PIOS_COM_AUX                    (pios_com_aux_id)
-#define PIOS_COM_DEBUG                  PIOS_COM_AUX
-#endif
-
-//-------------------------
-// System Settings
-//-------------------------
-#define PIOS_MASTER_CLOCK                       72000000
-#define PIOS_PERIPHERAL_CLOCK                   (PIOS_MASTER_CLOCK / 2)
-
-//-------------------------
-// Interrupt Priorities
-//-------------------------
-#define PIOS_IRQ_PRIO_LOW                       12              // lower than RTOS
-#define PIOS_IRQ_PRIO_MID                       8               // higher than RTOS
-#define PIOS_IRQ_PRIO_HIGH                      5               // for SPI, ADC, I2C etc...
-#define PIOS_IRQ_PRIO_HIGHEST                   4               // for USART etc...
-
-//------------------------
-// PIOS_RCVR
-// See also pios_board.c
-//------------------------
-#define PIOS_RCVR_MAX_DEVS			1
-#define PIOS_RCVR_MAX_CHANNELS			12
-
-//-------------------------
-// Receiver PPM input
-//-------------------------
-#define PIOS_PPM_MAX_DEVS			1
-#define PIOS_PPM_NUM_INPUTS                     12
-
-//-------------------------
-// Receiver PWM input
-//-------------------------
-#define PIOS_PWM_MAX_DEVS			1
-#define PIOS_PWM_NUM_INPUTS                     8
-
-//-------------------------
-// Receiver DSM input
-//-------------------------
-#define PIOS_DSM_MAX_DEVS			1
-#define PIOS_DSM_NUM_INPUTS			12
-
-//-------------------------
-// Receiver S.Bus input
-//-------------------------
-#define PIOS_SBUS_MAX_DEVS			0
-#define PIOS_SBUS_NUM_INPUTS			(16+2)
-
-//-------------------------
-// Servo outputs
-//-------------------------
-#define PIOS_SERVO_UPDATE_HZ                    50
-#define PIOS_SERVOS_INITIAL_POSITION            0 /* dont want to start motors, have no pulse till settings loaded */
-
-//--------------------------
-// Timer controller settings
-//--------------------------
-#define PIOS_TIM_MAX_DEVS			3
-
-//-------------------------
-// ADC
-// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
-// PIOS_ADC_PinGet(1) = Power Sensor (Current)
-// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
-// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
-// PIOS_ADC_PinGet(4) = Auxiliary Input 1
-// PIOS_ADC_PinGet(5) = Auxiliary Input 2
-// PIOS_ADC_PinGet(6) = Auxiliary Input 3
-//-------------------------
-//#define PIOS_ADC_OVERSAMPLING_RATE            1
-#define PIOS_ADC_USE_TEMP_SENSOR                1
-#define PIOS_ADC_TEMP_SENSOR_ADC                ADC1
-#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL        1
-#define PIOS_ADC_PIN1_GPIO_PORT                 GPIOA                   // PA1 (Power Sense - Voltage)
-#define PIOS_ADC_PIN1_GPIO_PIN                  GPIO_Pin_1              // ADC123_IN1
-#define PIOS_ADC_PIN1_GPIO_CHANNEL              ADC_Channel_1
-#define PIOS_ADC_PIN1_ADC                       ADC1
-#define PIOS_ADC_PIN1_ADC_NUMBER                2
-#define PIOS_ADC_PIN2_GPIO_PORT                 GPIOC                   // PC3 (Power Sense - Current)
-#define PIOS_ADC_PIN2_GPIO_PIN                  GPIO_Pin_3              // ADC123_IN13
-#define PIOS_ADC_PIN2_GPIO_CHANNEL              ADC_Channel_13
-#define PIOS_ADC_PIN2_ADC                       ADC2
-#define PIOS_ADC_PIN2_ADC_NUMBER                1
-#define PIOS_ADC_PIN3_GPIO_PORT                 GPIOC                   // PC5 (Onboard 5v Sensor) PC5
-#define PIOS_ADC_PIN3_GPIO_PIN                  GPIO_Pin_5              // ADC12_IN15
-#define PIOS_ADC_PIN3_GPIO_CHANNEL              ADC_Channel_15
-#define PIOS_ADC_PIN3_ADC                       ADC2
-#define PIOS_ADC_PIN3_ADC_NUMBER                2
-#define PIOS_ADC_PIN4_GPIO_PORT                 GPIOC                   // PC0 (AUX 1)
-#define PIOS_ADC_PIN4_GPIO_PIN                  GPIO_Pin_0              // ADC123_IN10
-#define PIOS_ADC_PIN4_GPIO_CHANNEL              ADC_Channel_10
-#define PIOS_ADC_PIN4_ADC                       ADC1
-#define PIOS_ADC_PIN4_ADC_NUMBER                3
-#define PIOS_ADC_PIN5_GPIO_PORT                 GPIOC                   // PC1 (AUX 2)
-#define PIOS_ADC_PIN5_GPIO_PIN                  GPIO_Pin_1              // ADC123_IN11
-#define PIOS_ADC_PIN5_GPIO_CHANNEL              ADC_Channel_11
-#define PIOS_ADC_PIN5_ADC                       ADC2
-#define PIOS_ADC_PIN5_ADC_NUMBER                3
-#define PIOS_ADC_PIN6_GPIO_PORT                 GPIOC                   // PC2 (AUX 3)
-#define PIOS_ADC_PIN6_GPIO_PIN                  GPIO_Pin_2              // ADC123_IN12
-#define PIOS_ADC_PIN6_GPIO_CHANNEL              ADC_Channel_12
-#define PIOS_ADC_PIN6_ADC                       ADC1
-#define PIOS_ADC_PIN6_ADC_NUMBER                4
-#define PIOS_ADC_NUM_PINS                       6
-#define PIOS_ADC_PORTS                          { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT }
-#define PIOS_ADC_PINS                           { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN }
-#define PIOS_ADC_CHANNELS                       { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL }
-#define PIOS_ADC_MAPPING                        { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC }
-#define PIOS_ADC_CHANNEL_MAPPING                { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER }
-#define PIOS_ADC_NUM_CHANNELS                   (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
-#define PIOS_ADC_NUM_ADC_CHANNELS               2
-#define PIOS_ADC_USE_ADC2                       1
-#define PIOS_ADC_CLOCK_FUNCTION                 RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
-#define PIOS_ADC_ADCCLK                         RCC_PCLK2_Div8
-                                                /* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
-                                                /* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
-                                                /* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
-                                                /* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
-#define PIOS_ADC_SAMPLE_TIME                    ADC_SampleTime_239Cycles5
-                                                /* Sample time: */
-                                                /* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
-                                                /* Tconv = 239.5 + 12.5 = 252 cycles = 18?s */
-                                                /* (1 / (ADCCLK / CYCLES)) = Sample Time (?S) */
-#define PIOS_ADC_IRQ_PRIO                       PIOS_IRQ_PRIO_LOW
-#define PIOS_ADC_MAX_OVERSAMPLING               10
-#define PIOS_ADC_RATE                           (72.0e6 / 1 / 8 / 252 / (PIOS_ADC_NUM_ADC_CHANNELS >> PIOS_ADC_USE_ADC2))
-
-//-------------------------
-// GPIO
-//-------------------------
-#define PIOS_GPIO_1_PORT                        GPIOC
-#define PIOS_GPIO_1_PIN                         GPIO_Pin_0
-#define PIOS_GPIO_1_GPIO_CLK                    RCC_APB2Periph_GPIOC
-#define PIOS_GPIO_2_PORT                        GPIOC
-#define PIOS_GPIO_2_PIN                         GPIO_Pin_1
-#define PIOS_GPIO_2_GPIO_CLK                    RCC_APB2Periph_GPIOC
-#define PIOS_GPIO_3_PORT                        GPIOC
-#define PIOS_GPIO_3_PIN                         GPIO_Pin_2
-#define PIOS_GPIO_3_GPIO_CLK                    RCC_APB2Periph_GPIOC
-#define PIOS_GPIO_4_PORT                        GPIOD
-#define PIOS_GPIO_4_PIN                         GPIO_Pin_2
-#define PIOS_GPIO_4_GPIO_CLK                    RCC_APB2Periph_GPIOD
-#define PIOS_GPIO_PORTS                         { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
-#define PIOS_GPIO_PINS                          { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
-#define PIOS_GPIO_CLKS                          { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
-#define PIOS_GPIO_NUM                           4
-
-//-------------------------
-// USB
-//-------------------------
-#define PIOS_USB_ENABLED                        1
-#define PIOS_USB_DETECT_GPIO_PORT               GPIOC
-#define PIOS_USB_MAX_DEVS                       1
-#define PIOS_USB_HID_MAX_DEVS                   1
-#define PIOS_USB_DETECT_GPIO_PIN                GPIO_Pin_4
-
-/**
- * glue macros for file IO
- * STM32 uses DOSFS for file IO
- */
-#define PIOS_FOPEN_READ(filename,file)  DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK
-
-#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK
-
-#define PIOS_FREAD(file,bufferadr,length,resultadr)     DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK
-
-#define PIOS_FWRITE(file,bufferadr,length,resultadr)    DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length)
-
-#define PIOS_FCLOSE(file)               DFS_Close(&file)
-
-#define PIOS_FUNLINK(filename)          DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector)
-
-
-
-#endif /* STM3210E_OP_H_ */
-/**
- * @}
- * @}
- */

flight/PiOS/Boards/pios_board.h

@@ -1,24 +0,0 @@
-#ifndef PIOS_BOARD_H_
-#define PIOS_BOARD_H_
-
-#ifdef USE_STM3210E_OP
-#include "STM3210E_OP.h"
-#elif USE_STM32103CB_PIPXTREME
-#include "STM32103CB_PIPXTREME_Rev1.h"
-#elif USE_STM32103CB_CC_Rev1
-#include "STM32103CB_CC_Rev1.h"
-#elif USE_STM32F2xx_INS
-#include "STM32F2xx_INS.h"
-#elif USE_STM32F4xx_OP
-#include "STM32F4xx_Revolution.h"
-#elif USE_STM32F4xx_OSD
-#include "STM32F4xx_OSD.h"
-#elif USE_STM32F4xx_RM
-#include "STM32F4xx_RevoMini.h"
-#elif USE_SIM_POSIX
-#include "sim_posix.h"
-#else
-#error Board definition has not been provided.
-#endif
-
-#endif /* PIOS_BOARD_H_ */

flight/PiOS/Common/Libraries/FreeRTOS/Source/croutine.c

@@ -1,54 +1,75 @@
 /*
-    FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    Purchasing FreeRTOS documentation will not only help you, by       *
+     *    ensuring you get running as quickly as possible and with an        *
+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
+     *    the FreeRTOS project to continue with its mission of providing     *
+     *    professional grade, cross platform, de facto standard solutions    *
+     *    for microcontrollers - completely free of charge!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *                                                                       *
     ***************************************************************************
 
+
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    ***NOTE*** The exception to the GPL is included to allow you to distribute
-    a combined work that includes FreeRTOS without being obliged to provide the
-    source code for proprietary components outside of the FreeRTOS kernel.
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
-    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
+    distribute a combined work that includes FreeRTOS without being obliged to
+    provide the source code for proprietary components outside of the FreeRTOS
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems, who sell the code with commercial support,
+    indemnification and middleware, under the OpenRTOS brand.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
 */
 
 #include "FreeRTOS.h"
@@ -70,7 +91,7 @@ static xList xDelayedCoRoutineList1;									/*< Delayed co-routines. */
 static xList xDelayedCoRoutineList2;									/*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
 static xList * pxDelayedCoRoutineList;									/*< Points to the delayed co-routine list currently being used. */
 static xList * pxOverflowDelayedCoRoutineList;							/*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
-static xList xPendingReadyCoRoutineList;											/*< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
+static xList xPendingReadyCoRoutineList;								/*< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
 
 /* Other file private variables. --------------------------------*/
 corCRCB * pxCurrentCoRoutine = NULL;
@@ -94,7 +115,7 @@ static portTickType xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks =
 		uxTopCoRoutineReadyPriority = pxCRCB->uxPriority;															\
 	}																												\
 	vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) );	\
-}	
+}
 
 /*
  * Utility to ready all the lists used by the scheduler.  This is called
@@ -160,10 +181,10 @@ corCRCB *pxCoRoutine;
 		in a list. */
 		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
 		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
-	
+
 		/* Event lists are always in priority order. */
 		listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
-		
+
 		/* Now the co-routine has been initialised it can be added to the ready
 		list at the correct priority. */
 		prvAddCoRoutineToReadyQueue( pxCoRoutine );
@@ -171,11 +192,11 @@ corCRCB *pxCoRoutine;
 		xReturn = pdPASS;
 	}
 	else
-	{		
+	{
 		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
 	}
-	
-	return xReturn;	
+
+	return xReturn;
 }
 /*-----------------------------------------------------------*/
 
@@ -190,7 +211,7 @@ portTickType xTimeToWake;
 	/* We must remove ourselves from the ready list before adding
 	ourselves to the blocked list as the same list item is used for
 	both lists. */
-	vListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+	uxListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) );
 
 	/* The list item will be inserted in wake time order. */
 	listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
@@ -222,20 +243,20 @@ static void prvCheckPendingReadyList( void )
 	/* Are there any co-routines waiting to get moved to the ready list?  These
 	are co-routines that have been readied by an ISR.  The ISR cannot access
 	the	ready lists itself. */
-	while( !listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) )
+	while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
 	{
 		corCRCB *pxUnblockedCRCB;
 
 		/* The pending ready list can be accessed by an ISR. */
 		portDISABLE_INTERRUPTS();
-		{	
-			pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );			
-			vListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+		{
+			pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
+			uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
 		}
 		portENABLE_INTERRUPTS();
 
-		vListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
-		prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );	
+		uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
+		prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
 	}
 }
 /*-----------------------------------------------------------*/
@@ -263,13 +284,15 @@ corCRCB *pxCRCB;
 		}
 
 		/* See if this tick has made a timeout expire. */
-		while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL )
-		{	
-			if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )				
-			{			
-				/* Timeout not yet expired. */																			
-				break;																				
-			}																						
+		while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
+		{
+			pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
+
+			if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
+			{
+				/* Timeout not yet expired. */
+				break;
+			}
 
 			portDISABLE_INTERRUPTS();
 			{
@@ -278,18 +301,18 @@ corCRCB *pxCRCB;
 				have been moved to the pending ready list and the following
 				line is still valid.  Also the pvContainer parameter will have
 				been set to NULL so the following lines are also valid. */
-				vListRemove( &( pxCRCB->xGenericListItem ) );											
+				uxListRemove( &( pxCRCB->xGenericListItem ) );
 
-				/* Is the co-routine waiting on an event also? */												
-				if( pxCRCB->xEventListItem.pvContainer )													
-				{															
-					vListRemove( &( pxCRCB->xEventListItem ) );											
+				/* Is the co-routine waiting on an event also? */
+				if( pxCRCB->xEventListItem.pvContainer )
+				{
+					uxListRemove( &( pxCRCB->xEventListItem ) );
 				}
 			}
 			portENABLE_INTERRUPTS();
 
-			prvAddCoRoutineToReadyQueue( pxCRCB );													
-		}																									
+			prvAddCoRoutineToReadyQueue( pxCRCB );
+		}
 	}
 
 	xLastTickCount = xCoRoutineTickCount;
@@ -352,9 +375,10 @@ corCRCB *pxUnblockedCRCB;
 signed portBASE_TYPE xReturn;
 
 	/* This function is called from within an interrupt.  It can only access
-	event lists and the pending ready list. */
+	event lists and the pending ready list.  This function assumes that a
+	check has already been made to ensure pxEventList is not empty. */
 	pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
-	vListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+	uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
 	vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
 
 	if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )

flight/PiOS/Common/Libraries/FreeRTOS/Source/include/FreeRTOS.h

@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
-	
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef INC_FREERTOS_H
@@ -79,6 +87,12 @@
 /* Application specific configuration options. */
 #include "FreeRTOSConfig.h"
 
+/* configUSE_PORT_OPTIMISED_TASK_SELECTION must be defined before portable.h
+is included as it is used by the port layer. */
+#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#endif
+
 /* Definitions specific to the port being used. */
 #include "portable.h"
 
@@ -121,11 +135,11 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#error Missing definition:  INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
 #endif
 
-#ifndef INCLUDE_vTaskDelete		
+#ifndef INCLUDE_vTaskDelete
 	#error Missing definition:  INCLUDE_vTaskDelete		 should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
 #endif
 
-#ifndef INCLUDE_vTaskSuspend	
+#ifndef INCLUDE_vTaskSuspend
 	#error Missing definition:  INCLUDE_vTaskSuspend	 should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
 #endif
 
@@ -153,6 +167,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define INCLUDE_xQueueGetMutexHolder 0
 #endif
 
+#ifndef INCLUDE_xSemaphoreGetMutexHolder
+	#define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder
+#endif
+
 #ifndef INCLUDE_pcTaskGetTaskName
 	#define INCLUDE_pcTaskGetTaskName 0
 #endif
@@ -165,6 +183,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define INCLUDE_uxTaskGetStackHighWaterMark 0
 #endif
 
+#ifndef INCLUDE_eTaskGetState
+	#define INCLUDE_eTaskGetState 0
+#endif
+
 #ifndef configUSE_RECURSIVE_MUTEXES
 	#define configUSE_RECURSIVE_MUTEXES 0
 #endif
@@ -304,7 +326,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 
 #ifndef traceTASK_PRIORITY_DISINHERIT
 	/* Called when a task releases a mutex, the holding of which had resulted in
-	the task inheriting the priority of a higher priority task.  
+	the task inheriting the priority of a higher priority task.
 	pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the
 	mutex.  uxOriginalPriority is the task's configured (base) priority. */
 	#define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority )
@@ -336,7 +358,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define traceMOVED_TASK_TO_READY_STATE( pxTCB )
 #endif
 
-#ifndef traceQUEUE_CREATE	
+#ifndef traceQUEUE_CREATE
 	#define traceQUEUE_CREATE( pxNewQueue )
 #endif
 
@@ -518,5 +540,36 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree )
 #endif
 
+#ifndef portSUPPRESS_TICKS_AND_SLEEP
+	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )
+#endif
+
+#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP
+	#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2
+#endif
+
+#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2
+	#error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2
+#endif
+
+#ifndef configUSE_TICKLESS_IDLE
+	#define configUSE_TICKLESS_IDLE 0
+#endif
+
+#ifndef configPRE_SLEEP_PROCESSING
+	#define configPRE_SLEEP_PROCESSING( x )
+#endif
+
+#ifndef configPOST_SLEEP_PROCESSING
+	#define configPOST_SLEEP_PROCESSING( x )
+#endif
+
+#ifndef configUSE_QUEUE_SETS
+	#define configUSE_QUEUE_SETS 0
+#endif
+
+/* For backward compatability. */
+#define eTaskStateGet eTaskGetState
+
 #endif /* INC_FREERTOS_H */
 

flight/PiOS/Common/Libraries/FreeRTOS/Source/include/StackMacros.h

@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef STACK_MACROS_H

flight/PiOS/Common/Libraries/FreeRTOS/Source/include/croutine.h

@@ -1,6 +1,8 @@
 /*
-    FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
 
+    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
+    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
@@ -27,41 +29,47 @@
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
+
+    >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
     distribute a combined work that includes FreeRTOS without being obliged to
     provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+    details. You should have received a copy of the GNU General Public License
+    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
+    viewed here: http://www.freertos.org/a00114.html and also obtained by
+    writing to Real Time Engineers Ltd., contact details for whom are available
+    on the FreeRTOS WEB site.
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest information, 
-    license and contact details.
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions, 
+    license and Real Time Engineers Ltd. contact details.
+
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, and our new
+    fully thread aware and reentrant UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
+    Integrity Systems, who sell the code with commercial support, 
+    indemnification and middleware, under the OpenRTOS brand.
+    
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety 
+    engineered and independently SIL3 certified version for use in safety and 
+    mission critical applications that require provable dependability.
 */
 
 #ifndef CO_ROUTINE_H