Merge remote-tracking branch 'origin/next' into ins

flight/Libraries/ahrs_comm_objects.c

@@ -79,6 +79,7 @@ CREATEHANDLE(10, FirmwareIAPObj);
 static void ObjectUpdatedCb(UAVObjEvent * ev);
 
 #define ADDHANDLE(idx,obj) {\
+		obj##Initialize();\
 		int n = idx;\
 		objectHandles[n].data = &obj;\
 		objectHandles[n].uavHandle = obj##Handle();\

flight/Modules/Guidance/guidance.c

@@ -100,8 +100,6 @@ int32_t GuidanceInitialize()
 
 	GuidanceSettingsInitialize();
 	PositionDesiredInitialize();
-	ManualControlCommandInitialize();
-	FlightStatusInitialize();
 	NedAccelInitialize();
 	VelocityDesiredInitialize();
 

flight/Modules/ManualControl/manualcontrol.c

@@ -117,8 +117,7 @@ int32_t ManualControlInitialize()
 	FlightStatusInitialize();
 	StabilizationDesiredInitialize();
 
-	// ManualControlSettingsInitialize(); // this is initialized in
+	ManualControlSettingsInitialize();
-	// pios_board.c
 
 	return 0;
 }

flight/Modules/System/systemmod.c

@@ -244,6 +244,11 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
 				retval = UAVObjDeleteMetaobjects();
 			}
+		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
+			retval = -1;
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+			retval = PIOS_FLASHFS_Format();
+#endif
 		}
 		if(retval == 0) { 
 			objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;

flight/OpenPilot/System/inc/pios_config.h

@@ -60,6 +60,7 @@
 //#define PIOS_INCLUDE_HCSR04
 #define PIOS_INCLUDE_OPAHRS
 #define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_GPS
 #define PIOS_INCLUDE_SDCARD
 #define PIOS_INCLUDE_SETTINGS
 #define PIOS_INCLUDE_FREERTOS

flight/OpenPilot/System/pios_board.c

@@ -525,6 +525,7 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = {
 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
 
 #define PIOS_COM_GPS_RX_BUF_LEN 96
+#define PIOS_COM_GPS_TX_BUF_LEN 96
 
 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
@@ -1074,10 +1075,12 @@ void PIOS_Board_Init(void) {
 			PIOS_Assert(0);
 		}
 		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
+		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN);
 		PIOS_Assert(rx_buffer);
+		PIOS_Assert(tx_buffer);
 		if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
 				  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
-				  NULL, 0)) {
+				  tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) {
 			PIOS_Assert(0);
 		}
 	}

flight/OpenPilot/System/pios_board_posix.c

@@ -30,6 +30,7 @@
 #include <uavobjectsinit.h>
 
 #include "attituderaw.h"
+#include "attitudeactual.h"
 #include "positionactual.h"
 #include "velocityactual.h"
 
@@ -177,6 +178,7 @@ void PIOS_Board_Init(void) {
 
 	// Initialize these here as posix has no AHRSComms
 	AttitudeRawInitialize();
+	AttitudeActualInitialize();
 	VelocityActualInitialize();
 	PositionActualInitialize();
 

flight/PiOS.posix/posix/pios_debug.c

@@ -79,8 +79,15 @@ void PIOS_DEBUG_Panic(const char *msg)
 	PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr);
 #endif
 
-	// Stay put
+	// tell the user whats going on on commandline too
-	while (1) ;
+	fprintf(stderr,"CRITICAL ERROR: %s\n",msg);
+
+	// this helps debugging: causing a div by zero allows a backtrace
+	// and/or ends execution
+	int b = 0;
+	int a = (2/b);
+	b=a;
+
 }
 
 /**

flight/PiOS/Common/pios_flashfs_objlist.c

@@ -116,6 +116,19 @@ int32_t PIOS_FLASHFS_Init()
 	return 0;
 }
 
+/**
+ * @brief Erase the whole flash chip and create the file system
+ * @return 0 if successful, -1 if not
+ */
+int32_t PIOS_FLASHFS_Format() 
+{
+	if(PIOS_Flash_W25X_EraseChip() != 0)
+		return -1;
+	if(PIOS_FLASHFS_ClearObjectTableHeader() != 0)
+		return -1;
+	return 0;
+}
+
 /**
  * @brief Erase the headers for all objects in the flash chip
  * @return 0 if successful, -1 if not

flight/PiOS/inc/pios_flashfs_objlist.h

@@ -32,6 +32,7 @@
 #include "uavobjectmanager.h"
 
 int32_t PIOS_FLASHFS_Init();
+int32_t PIOS_FLASHFS_Format();
 int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
 int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
 int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

ground/openpilotgcs/src/plugins/config/configplugin.cpp

@@ -30,7 +30,7 @@
 #include <QStringList>
 #include <QTimer>
 #include <extensionsystem/pluginmanager.h>
-
+#include "objectpersistence.h"
 
 ConfigPlugin::ConfigPlugin()
 {
@@ -58,7 +58,7 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
                                           "ConfigPlugin.EraseAll",
                                           QList<int>() <<
                                           Core::Constants::C_GLOBAL_ID);
-  cmd->action()->setText("Erase all settings from board...");
+  cmd->action()->setText(tr("Erase all settings from board..."));
 
   ac->menu()->addSeparator();
   ac->appendGroup("Utilities");
@@ -80,6 +80,17 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
    return true;
 }
 
+/**
+  * @brief Return handle to object manager
+  */
+UAVObjectManager * ConfigPlugin::getObjectManager()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objMngr);
+    return objMngr;
+}
+
 void ConfigPlugin::extensionsInitialized()
 {
     cmd->action()->setEnabled(false);
@@ -122,18 +133,19 @@ void ConfigPlugin::eraseAllSettings()
             return;
 
     settingsErased = false;
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
-    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(objMngr);
-    ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME) );
     Q_ASSERT(objper);
+
     connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
-    ObjectPersistence::DataFields data;
+
-    data.Operation = ObjectPersistence::OPERATION_DELETE;
+    ObjectPersistence::DataFields data = objper->getData();
-    data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
+    data.Operation = ObjectPersistence::OPERATION_FULLERASE;
+
+    // No need for manual updated event, this is triggered by setData
+    // based on UAVO meta data
     objper->setData(data);
     objper->updated();
-    QTimer::singleShot(1500,this,SLOT(eraseFailed()));
+    QTimer::singleShot(6000,this,SLOT(eraseFailed()));
 
 }
 
@@ -141,37 +153,47 @@ void ConfigPlugin::eraseFailed()
 {
     if (settingsErased)
         return;
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+
-    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
+    ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
-    Q_ASSERT(objMngr);
+
-    ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME));
+    ObjectPersistence::DataFields data = objper->getData();
-    disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
+    if(data.Operation == ObjectPersistence::OPERATION_FULLERASE) {
-    QMessageBox msgBox;
+        // First attempt via flash erase failed.  Fall back on erase all settings
-    msgBox.setText(tr("Error trying to erase settings."));
+        data.Operation = ObjectPersistence::OPERATION_DELETE;
-    msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent."));
+        data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
-    msgBox.setStandardButtons(QMessageBox::Ok);
+        objper->setData(data);
-    msgBox.setDefaultButton(QMessageBox::Ok);
+        objper->updated();
-    msgBox.exec();
+        QTimer::singleShot(1500,this,SLOT(eraseFailed()));
+    } else {
+        disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
+        QMessageBox msgBox;
+        msgBox.setText(tr("Error trying to erase settings."));
+        msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent."));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+    }
 }
 
 void ConfigPlugin::eraseDone(UAVObject * obj)
 {
     QMessageBox msgBox;
-    ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>(sender());
+    ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
-    Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
+    ObjectPersistence::DataFields data = objper->getData();
-    QString tmp = obj->getField("Operation")->getValue().toString();
+    Q_ASSERT(obj->getInstID() == objper->getInstID());
-    if (obj->getField("Operation")->getValue().toString().compare(QString("Delete")) == 0 ) {
+
+    if(data.Operation != ObjectPersistence::OPERATION_COMPLETED) {
         return;
     }
 
     disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
-    if (obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0) {
+    if (data.Operation == ObjectPersistence::OPERATION_COMPLETED) {
         settingsErased = true;
         msgBox.setText(tr("Settings are now erased."));
         msgBox.setInformativeText(tr("Please now power-cycle your board to complete reset."));
     } else {
         msgBox.setText(tr("Error trying to erase settings."));
-        msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent."));
+        msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent."));
     }
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.setDefaultButton(QMessageBox::Ok);

ground/openpilotgcs/src/plugins/config/configplugin.h

@@ -48,6 +48,7 @@ public:
     ConfigPlugin();
     ~ConfigPlugin();
 
+    UAVObjectManager * getObjectManager();
     void extensionsInitialized();
     bool initialize(const QStringList & arguments, QString * errorString);
     void shutdown();

shared/uavobjectdefinition/objectpersistence.xml

@@ -1,7 +1,7 @@
 <xml>
     <object name="ObjectPersistence" singleinstance="true" settings="false">
         <description>Someone who knows please enter this</description>
-        <field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,Completed"/>
+        <field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed"/>
         <field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
         <field name="ObjectID" units="" type="uint32" elements="1"/>
         <field name="InstanceID" units="" type="uint32" elements="1"/>