.travis.yml

 language: cpp
 
 before_install:
-  - cd .. && ./ardupilot/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile
+  -  APMDIR=$(pwd) && pushd .. && $APMDIR/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile && popd
 
 script: 
-  - cd ./ardupilot && Tools/scripts/build_all_travis.sh
+  - Tools/scripts/build_all_travis.sh
 
 notifications:
   webhooks:

APMrover2/APMrover2.pde

@@ -201,21 +201,7 @@ static AP_GPS gps;
 // flight modes convenience array
 static AP_Int8		*modes = &g.mode1;
 
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;
@@ -639,7 +625,7 @@ static void mount_update(void)
 
 static void update_alt()
 {
-    barometer.read();
+    barometer.update();
     if (should_log(MASK_LOG_IMU)) {
         Log_Write_Baro();
     }

AntennaTracker/AntennaTracker.pde

@@ -117,21 +117,7 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...);
 ////////////////////////////////////////////////////////////////////////////////
 static AP_GPS gps;
 
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;

AntennaTracker/sensors.pde

@@ -10,7 +10,7 @@ static void init_barometer(void)
 // read the barometer and return the updated altitude in meters
 static void update_barometer(void)
 {
-    barometer.read();
+    barometer.update();
 }
 
 

ArduCopter/ArduCopter.pde

@@ -259,21 +259,8 @@ static GPS_Glitch gps_glitch(gps);
 // flight modes convenience array
 static AP_Int8 *flight_modes = &g.flight_mode1;
 
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
+
 static Baro_Glitch baro_glitch(barometer);
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
@@ -462,13 +449,6 @@ static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.si
 static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4);
 #endif
 
-////////////////////////////////////////////////////////////////////////////////
-// PIDs
-////////////////////////////////////////////////////////////////////////////////
-// This is used to hold radio tuning values for in-flight CH6 tuning
-float tuning_value;
-
-
 ////////////////////////////////////////////////////////////////////////////////
 // GPS variables
 ////////////////////////////////////////////////////////////////////////////////
@@ -1129,8 +1109,8 @@ static void three_hz_loop()
 
     update_events();
 
-    if(g.radio_tuning > 0)
-        tuning();
+    // update ch6 in flight tuning
+    tuning();
 }
 
 // one_hz_loop - runs at 1Hz
@@ -1353,197 +1333,5 @@ static void update_altitude()
     }
 }
 
-static void tuning(){
-
-    // exit immediately when radio failsafe is invoked so tuning values are not set to zero
-    if (failsafe.radio || failsafe.radio_counter != 0) {
-        return;
-    }
-
-    tuning_value = (float)g.rc_6.control_in / 1000.0f;
-    g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);                   // 0 to 1
-
-    switch(g.radio_tuning) {
-
-    // Roll, Pitch tuning
-    case CH6_STABILIZE_ROLL_PITCH_KP:
-        g.p_stabilize_roll.kP(tuning_value);
-        g.p_stabilize_pitch.kP(tuning_value);
-        break;
-
-    case CH6_RATE_ROLL_PITCH_KP:
-        g.pid_rate_roll.kP(tuning_value);
-        g.pid_rate_pitch.kP(tuning_value);
-        break;
-
-    case CH6_RATE_ROLL_PITCH_KI:
-        g.pid_rate_roll.kI(tuning_value);
-        g.pid_rate_pitch.kI(tuning_value);
-        break;
-
-    case CH6_RATE_ROLL_PITCH_KD:
-        g.pid_rate_roll.kD(tuning_value);
-        g.pid_rate_pitch.kD(tuning_value);
-        break;
-
-    // Yaw tuning
-    case CH6_STABILIZE_YAW_KP:
-        g.p_stabilize_yaw.kP(tuning_value);
-        break;
-
-    case CH6_YAW_RATE_KP:
-        g.pid_rate_yaw.kP(tuning_value);
-        break;
-
-    case CH6_YAW_RATE_KD:
-        g.pid_rate_yaw.kD(tuning_value);
-        break;
-
-    // Altitude and throttle tuning
-    case CH6_ALTITUDE_HOLD_KP:
-        g.p_alt_hold.kP(tuning_value);
-        break;
-
-    case CH6_THROTTLE_RATE_KP:
-        g.p_throttle_rate.kP(tuning_value);
-        break;
-
-    case CH6_THROTTLE_ACCEL_KP:
-        g.pid_throttle_accel.kP(tuning_value);
-        break;
-
-    case CH6_THROTTLE_ACCEL_KI:
-        g.pid_throttle_accel.kI(tuning_value);
-        break;
-
-    case CH6_THROTTLE_ACCEL_KD:
-        g.pid_throttle_accel.kD(tuning_value);
-        break;
-
-    // Loiter and navigation tuning
-    case CH6_LOITER_POSITION_KP:
-        g.p_loiter_pos.kP(tuning_value);
-        break;
-
-    case CH6_LOITER_RATE_KP:
-        g.pid_loiter_rate_lon.kP(tuning_value);
-        g.pid_loiter_rate_lat.kP(tuning_value);
-        break;
-
-    case CH6_LOITER_RATE_KI:
-        g.pid_loiter_rate_lon.kI(tuning_value);
-        g.pid_loiter_rate_lat.kI(tuning_value);
-        break;
-
-    case CH6_LOITER_RATE_KD:
-        g.pid_loiter_rate_lon.kD(tuning_value);
-        g.pid_loiter_rate_lat.kD(tuning_value);
-        break;
-
-    case CH6_WP_SPEED:
-        // set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
-        wp_nav.set_speed_xy(g.rc_6.control_in);
-        break;
-
-    // Acro roll pitch gain
-    case CH6_ACRO_RP_KP:
-        g.acro_rp_p = tuning_value;
-        break;
-
-    // Acro yaw gain
-    case CH6_ACRO_YAW_KP:
-        g.acro_yaw_p = tuning_value;
-        break;
-
-#if FRAME_CONFIG == HELI_FRAME
-    case CH6_HELI_EXTERNAL_GYRO:
-        motors.ext_gyro_gain(g.rc_6.control_in);
-        break;
-
-    case CH6_RATE_PITCH_FF:
-        g.pid_rate_pitch.ff(tuning_value);
-        break;
-        
-    case CH6_RATE_ROLL_FF:
-        g.pid_rate_roll.ff(tuning_value);
-        break;
-        
-    case CH6_RATE_YAW_FF:
-        g.pid_rate_yaw.ff(tuning_value);
-        break;        
-#endif
-
-    case CH6_AHRS_YAW_KP:
-        ahrs._kp_yaw.set(tuning_value);
-        break;
-
-    case CH6_AHRS_KP:
-        ahrs._kp.set(tuning_value);
-        break;
-
-    case CH6_DECLINATION:
-        // set declination to +-20degrees
-        compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false);     // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
-        break;
-
-    case CH6_CIRCLE_RATE:
-        // set circle rate
-        circle_nav.set_rate(g.rc_6.control_in/25-20);   // allow approximately 45 degree turn rate in either direction
-        break;
-
-    case CH6_SONAR_GAIN:
-        // set sonar gain
-        g.sonar_gain.set(tuning_value);
-        break;
-
-#if 0
-        // disabled for now - we need accessor functions
-    case CH6_EKF_VERTICAL_POS:
-        // EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
-        ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
-        break;
-
-    case CH6_EKF_HORIZONTAL_POS:
-        // EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
-        ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
-        break;
-
-    case CH6_EKF_ACCEL_NOISE:
-        // EKF's accel noise (lower means trust accels more, gps & baro less)
-        ahrs.get_NavEKF()._accNoise = tuning_value;
-        break;
-#endif
-
-    case CH6_RC_FEEL_RP:
-        // roll-pitch input smoothing
-        g.rc_feel_rp = g.rc_6.control_in / 10;
-        break;
-    
-    case CH6_RATE_PITCH_KP:
-        g.pid_rate_pitch.kP(tuning_value);
-        break;
-        
-    case CH6_RATE_PITCH_KI:
-        g.pid_rate_pitch.kI(tuning_value);
-        break;
-        
-    case CH6_RATE_PITCH_KD:
-        g.pid_rate_pitch.kD(tuning_value);
-        break;
-        
-    case CH6_RATE_ROLL_KP:
-        g.pid_rate_roll.kP(tuning_value);
-        break;
-        
-    case CH6_RATE_ROLL_KI:
-        g.pid_rate_roll.kI(tuning_value);
-        break;
-        
-    case CH6_RATE_ROLL_KD:
-        g.pid_rate_roll.kD(tuning_value);
-        break;
-    }
-}
-
 AP_HAL_MAIN();
 

ArduCopter/GCS_Mavlink.pde

@@ -194,7 +194,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
                                                          MAV_SYS_STATUS_SENSOR_3D_MAG |
                                                          MAV_SYS_STATUS_SENSOR_GPS |
                                                          MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
-    if (barometer.healthy()) {
+    if (barometer.all_healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
     }
     if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {

ArduCopter/ReleaseNotes.txt

 ArduCopter Release Notes:
 ------------------------------------------------------------------
-ArduCopter 3.2.1-rc1 08-Jan-2014
+ArduCopter 3.2.1-rc1 08-Jan-2015
 Changes from 3.2
 1) Enhancements:
     a) reduced twitch when passing Spline waypoints

ArduCopter/control_drift.pde

@@ -5,7 +5,10 @@
  */
 
 #ifndef DRIFT_SPEEDGAIN
- # define DRIFT_SPEEDGAIN 14.0f
+ # define DRIFT_SPEEDGAIN 8.0f
+#endif
+#ifndef DRIFT_SPEEDLIMIT
+ # define DRIFT_SPEEDLIMIT 560.0f
 #endif
 
 #ifndef DRIFT_THR_ASSIST_GAIN
@@ -38,6 +41,7 @@ static bool drift_init(bool ignore_checks)
 static void drift_run()
 {
     static float breaker = 0.0;
+    static float roll_input = 0.0;
     int16_t target_roll, target_pitch;
     float target_yaw_rate;
     int16_t pilot_throttle_scaled;
@@ -63,16 +67,21 @@ static void drift_run()
     float roll_vel =  vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
     float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
 
-    float pitch_vel2 = min(fabs(pitch_vel), 800);
+    // gain sceduling for Yaw
+    float pitch_vel2 = min(fabs(pitch_vel), 2000);
+    target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
 
-    // simple gain scheduling for yaw input
-    target_yaw_rate = (float)(target_roll/2.0f) * (1.0f - (pitch_vel2 / 2400.0f)) * g.acro_yaw_p;
+    roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
+    pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
+    
+    roll_input = roll_input * .96 + (float)g.rc_4.control_in * .04;
 
-    roll_vel = constrain_float(roll_vel, -322, 322);
-    pitch_vel = constrain_float(pitch_vel, -322, 322);
+    //convert user input into desired roll velocity
+    float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
 
-    // always limit roll
-    target_roll = roll_vel * -DRIFT_SPEEDGAIN;
+    // Roll velocity is feed into roll acceleration to minimize slip
+    target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
+    target_roll = constrain_int16(target_roll, -4500, 4500);
 
     // If we let go of sticks, bring us to a stop
     if(target_pitch == 0){

ArduCopter/control_land.pde

 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-// counter to verify landings
-static uint16_t land_detector = LAND_DETECTOR_TRIGGER;  // we assume we are landed
 static bool land_with_gps;
 
 static uint32_t land_start_time;
@@ -198,46 +196,6 @@ static float get_land_descent_speed()
     }
 }
 
-// land_complete_maybe - return true if we may have landed (used to reset loiter targets during landing)
-static bool land_complete_maybe()
-{
-    return (ap.land_complete || ap.land_complete_maybe);
-}
-
-// update_land_detector - checks if we have landed and updates the ap.land_complete flag
-// called at 50hz
-static void update_land_detector()
-{
-    // detect whether we have landed by watching for low climb rate, motors hitting their lower limit, overall low throttle and low rotation rate
-    if ((abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) &&
-        (abs(baro_climbrate) < LAND_DETECTOR_BARO_CLIMBRATE_MAX) &&
-        motors.limit.throttle_lower &&
-#if FRAME_CONFIG != HELI_FRAME
-        (motors.get_throttle_out() < get_non_takeoff_throttle()) &&
-#endif
-        (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX)) {
-        if (!ap.land_complete) {
-            // increase counter until we hit the trigger then set land complete flag
-            if( land_detector < LAND_DETECTOR_TRIGGER) {
-                land_detector++;
-            }else{
-                set_land_complete(true);
-                land_detector = LAND_DETECTOR_TRIGGER;
-            }
-        }
-    } else {
-        // we've sensed movement up or down so reset land_detector
-        land_detector = 0;
-        // if throttle output is high then clear landing flag
-        if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
-            set_land_complete(false);
-        }
-    }
-
-    // set land maybe flag
-    set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
-}
-
 // land_do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch
 //  called during GPS failsafe to ensure that if we were already in LAND mode that we do not use the GPS
 //  has no effect if we are not already in LAND mode

ArduCopter/land_detector.pde

+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// counter to verify landings
+static uint16_t land_detector = LAND_DETECTOR_TRIGGER;  // we assume we are landed
+
+// land_complete_maybe - return true if we may have landed (used to reset loiter targets during landing)
+static bool land_complete_maybe()
+{
+    return (ap.land_complete || ap.land_complete_maybe);
+}
+
+// update_land_detector - checks if we have landed and updates the ap.land_complete flag
+// called at 50hz
+static void update_land_detector()
+{
+    bool climb_rate_low = (abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) && (abs(baro_climbrate) < LAND_DETECTOR_BARO_CLIMBRATE_MAX);
+    bool target_climb_rate_low = !pos_control.is_active_z() || (pos_control.get_desired_velocity().z < LAND_SPEED);
+    bool motor_at_lower_limit = motors.limit.throttle_lower;
+    bool throttle_low = (FRAME_CONFIG == HELI_FRAME) || (motors.get_throttle_out() < get_non_takeoff_throttle());
+    bool not_rotating_fast = (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX);
+
+    if (climb_rate_low && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
+        if (!ap.land_complete) {
+            // increase counter until we hit the trigger then set land complete flag
+            if( land_detector < LAND_DETECTOR_TRIGGER) {
+                land_detector++;
+            }else{
+                set_land_complete(true);
+                land_detector = LAND_DETECTOR_TRIGGER;
+            }
+        }
+    } else {
+        // we've sensed movement up or down so reset land_detector
+        land_detector = 0;
+        // if throttle output is high then clear landing flag
+        if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
+            set_land_complete(false);
+        }
+    }
+
+    // set land maybe flag
+    set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
+}

ArduCopter/motors.pde

@@ -232,7 +232,7 @@ static void pre_arm_checks(bool display_failure)
     // check Baro
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
         // barometer health check
-        if(!barometer.healthy()) {
+        if(!barometer.all_healthy()) {
             if (display_failure) {
                 gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Barometer not healthy"));
             }

ArduCopter/sensors.pde

@@ -16,7 +16,7 @@ static void init_barometer(bool full_calibration)
 // return barometric altitude in centimeters
 static void read_barometer(void)
 {
-    barometer.read();
+    barometer.update();
     if (should_log(MASK_LOG_IMU)) {
         Log_Write_Baro();
     }

ArduCopter/tuning.pde

+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/*
+ * tuning.pde - function to update various parameters in flight using the ch6 tuning knob
+ *      This should not be confused with the AutoTune feature which can bve found in control_autotune.pde
+ */
+
+// tuning - updates parameters based on the ch6 tuning knob's position
+//  should be called at 3.3hz
+static void tuning() {
+
+    // exit immediately if not tuning of when radio failsafe is invoked so tuning values are not set to zero
+    if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0) {
+        return;
+    }
+
+    float tuning_value = (float)g.rc_6.control_in / 1000.0f;
+    g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);
+
+    switch(g.radio_tuning) {
+
+    // Roll, Pitch tuning
+    case CH6_STABILIZE_ROLL_PITCH_KP:
+        g.p_stabilize_roll.kP(tuning_value);
+        g.p_stabilize_pitch.kP(tuning_value);
+        break;
+
+    case CH6_RATE_ROLL_PITCH_KP:
+        g.pid_rate_roll.kP(tuning_value);
+        g.pid_rate_pitch.kP(tuning_value);
+        break;
+
+    case CH6_RATE_ROLL_PITCH_KI:
+        g.pid_rate_roll.kI(tuning_value);
+        g.pid_rate_pitch.kI(tuning_value);
+        break;
+
+    case CH6_RATE_ROLL_PITCH_KD:
+        g.pid_rate_roll.kD(tuning_value);
+        g.pid_rate_pitch.kD(tuning_value);
+        break;
+
+    // Yaw tuning
+    case CH6_STABILIZE_YAW_KP:
+        g.p_stabilize_yaw.kP(tuning_value);
+        break;
+
+    case CH6_YAW_RATE_KP:
+        g.pid_rate_yaw.kP(tuning_value);
+        break;
+
+    case CH6_YAW_RATE_KD:
+        g.pid_rate_yaw.kD(tuning_value);
+        break;
+
+    // Altitude and throttle tuning
+    case CH6_ALTITUDE_HOLD_KP:
+        g.p_alt_hold.kP(tuning_value);
+        break;
+
+    case CH6_THROTTLE_RATE_KP:
+        g.p_throttle_rate.kP(tuning_value);
+        break;
+
+    case CH6_THROTTLE_ACCEL_KP:
+        g.pid_throttle_accel.kP(tuning_value);
+        break;
+
+    case CH6_THROTTLE_ACCEL_KI:
+        g.pid_throttle_accel.kI(tuning_value);
+        break;
+
+    case CH6_THROTTLE_ACCEL_KD:
+        g.pid_throttle_accel.kD(tuning_value);
+        break;
+
+    // Loiter and navigation tuning
+    case CH6_LOITER_POSITION_KP:
+        g.p_loiter_pos.kP(tuning_value);
+        break;
+
+    case CH6_LOITER_RATE_KP:
+        g.pid_loiter_rate_lon.kP(tuning_value);
+        g.pid_loiter_rate_lat.kP(tuning_value);
+        break;
+
+    case CH6_LOITER_RATE_KI:
+        g.pid_loiter_rate_lon.kI(tuning_value);
+        g.pid_loiter_rate_lat.kI(tuning_value);
+        break;
+
+    case CH6_LOITER_RATE_KD:
+        g.pid_loiter_rate_lon.kD(tuning_value);
+        g.pid_loiter_rate_lat.kD(tuning_value);
+        break;
+
+    case CH6_WP_SPEED:
+        // set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
+        wp_nav.set_speed_xy(g.rc_6.control_in);
+        break;
+
+    // Acro roll pitch gain
+    case CH6_ACRO_RP_KP:
+        g.acro_rp_p = tuning_value;
+        break;
+
+    // Acro yaw gain
+    case CH6_ACRO_YAW_KP:
+        g.acro_yaw_p = tuning_value;
+        break;
+
+#if FRAME_CONFIG == HELI_FRAME
+    case CH6_HELI_EXTERNAL_GYRO:
+        motors.ext_gyro_gain(g.rc_6.control_in);
+        break;
+
+    case CH6_RATE_PITCH_FF:
+        g.pid_rate_pitch.ff(tuning_value);
+        break;
+
+    case CH6_RATE_ROLL_FF:
+        g.pid_rate_roll.ff(tuning_value);
+        break;
+
+    case CH6_RATE_YAW_FF:
+        g.pid_rate_yaw.ff(tuning_value);
+        break;
+#endif
+
+    case CH6_AHRS_YAW_KP:
+        ahrs._kp_yaw.set(tuning_value);
+        break;
+
+    case CH6_AHRS_KP:
+        ahrs._kp.set(tuning_value);
+        break;
+
+    case CH6_DECLINATION:
+        // set declination to +-20degrees
+        compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false);     // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
+        break;
+
+    case CH6_CIRCLE_RATE:
+        // set circle rate
+        circle_nav.set_rate(g.rc_6.control_in/25-20);   // allow approximately 45 degree turn rate in either direction
+        break;
+
+    case CH6_SONAR_GAIN:
+        // set sonar gain
+        g.sonar_gain.set(tuning_value);
+        break;
+
+#if 0
+        // disabled for now - we need accessor functions
+    case CH6_EKF_VERTICAL_POS:
+        // EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
+        ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
+        break;
+
+    case CH6_EKF_HORIZONTAL_POS:
+        // EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
+        ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
+        break;
+
+    case CH6_EKF_ACCEL_NOISE:
+        // EKF's accel noise (lower means trust accels more, gps & baro less)
+        ahrs.get_NavEKF()._accNoise = tuning_value;
+        break;
+#endif
+
+    case CH6_RC_FEEL_RP:
+        // roll-pitch input smoothing
+        g.rc_feel_rp = g.rc_6.control_in / 10;
+        break;
+
+    case CH6_RATE_PITCH_KP:
+        g.pid_rate_pitch.kP(tuning_value);
+        break;
+
+    case CH6_RATE_PITCH_KI:
+        g.pid_rate_pitch.kI(tuning_value);
+        break;
+
+    case CH6_RATE_PITCH_KD:
+        g.pid_rate_pitch.kD(tuning_value);
+        break;
+
+    case CH6_RATE_ROLL_KP:
+        g.pid_rate_roll.kP(tuning_value);
+        break;
+
+    case CH6_RATE_ROLL_KI:
+        g.pid_rate_roll.kI(tuning_value);
+        break;
+
+    case CH6_RATE_ROLL_KD:
+        g.pid_rate_roll.kD(tuning_value);
+        break;
+    }
+}

ArduPlane/ArduPlane.pde

 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduPlane V3.2.1alpha"
+#define THISFIRMWARE "ArduPlane V3.2.1alpha2"
 /*
    Lead developer: Andrew Tridgell
  
@@ -154,7 +154,6 @@ static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
 ////////////////////////////////////////////////////////////////////////////////
 // DataFlash
 ////////////////////////////////////////////////////////////////////////////////
-#if LOGGING_ENABLED == ENABLED
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 static DataFlash_APM1 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
@@ -165,7 +164,6 @@ static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
 // no dataflash driver
 DataFlash_Empty DataFlash;
 #endif
-#endif
 
 // has a log download started?
 static bool in_log_download;
@@ -193,21 +191,7 @@ static AP_GPS gps;
 // flight modes convenience array
 static AP_Int8          *flight_modes = &g.flight_mode1;
 
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;
@@ -1511,7 +1495,7 @@ static void set_flight_stage(AP_SpdHgtControl::FlightStage fs)
 
 static void update_alt()
 {
-    barometer.read();
+    barometer.update();
     if (should_log(MASK_LOG_IMU)) {
         Log_Write_Baro();
     }

ArduPlane/GCS_Mavlink.pde

@@ -229,7 +229,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
     }
 
-    if (barometer.healthy()) {
+    if (barometer.all_healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
     }
     if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
@@ -1084,7 +1084,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 // run pre_arm_checks and arm_checks and display failures
                 if (arming.arm(AP_Arming::MAVLINK)) {
                     //only log if arming was successful
-                    channel_throttle->enable_out();                        
+                    channel_throttle->enable_out();
                     Log_Arm_Disarm();
                     result = MAV_RESULT_ACCEPTED;
                 } else {

ArduPlane/Log.pde

@@ -654,9 +654,11 @@ static void Log_Write_IMU() {}
 static void Log_Write_RC() {}
 static void Log_Write_Airspeed(void) {}
 static void Log_Write_Baro(void) {}
+static void Log_Write_Sonar() {}
 #if OPTFLOW == ENABLED
 static void Log_Write_Optflow() {}
 #endif
+static void Log_Arm_Disarm() {}
 
 static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
     return 0;

ArduPlane/system.pde

@@ -672,7 +672,9 @@ static bool should_log(uint32_t mask)
         // we have to set in_mavlink_delay to prevent logging while
         // writing headers
         in_mavlink_delay = true;
+        #if LOGGING_ENABLED == ENABLED
         start_logging();
+        #endif
         in_mavlink_delay = false;
     }
     return ret;

ArduPlane/test.pde

@@ -577,7 +577,7 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
 
     while(1) {
         hal.scheduler->delay(100);
-        barometer.read();
+        barometer.update();
 
         if (!barometer.healthy()) {
             cliSerial->println_P(PSTR("not healthy"));

Tools/Linux_HAL_Essentials/BB-BONE-PRU-05-00A0.dts

@@ -20,7 +20,7 @@
 		/* the pin header uses */
        	//	"P9.27",	/* pru0: pr1_pru0_pru_r30_5 */
 
-		"P8.15",	/* pru0: pr1_pru0_pru_r30_15 */
+		"P8.15",	/* pru0: pr1_pru0_pru_r30_15, PPM-sum, SBUS, DSM */
 	//	"P8.12",	/* pru0: pr1_pru0_pru_r30_14 */
 	//	"P9.25",	/* pru0: pr1_pru0_pru_r30_7 */
 	//	"P9.41",	/* pru0: pr1_pru0_pru_r30_6 */
@@ -39,18 +39,18 @@
 		//"P8.20",	/* pru1: pr1_pru1_pru_r30_13 */
 
 		//"P8.21",	/* pru1: pr1_pru1_pru_r30_12 */
-		"P8.27",	/* pru1: pr1_pru1_pru_r30_8 */
-		"P8.28",	/* pru1: pr1_pru1_pru_r30_10 */
-		"P8.29",	/* pru1: pr1_pru1_pru_r30_9 */
-		"P8.30",	/* pru1: pr1_pru1_pru_r30_11 */
-		"P8.39",	/* pru1: pr1_pru1_pru_r30_6 */
-		"P8.40",	/* pru1: pr1_pru1_pru_r30_7 */
-		"P8.41",	/* pru1: pr1_pru1_pru_r30_4 */
-		"P8.42",	/* pru1: pr1_pru1_pru_r30_5 */
-		"P8.43",	/* pru1: pr1_pru1_pru_r30_2 */
-		"P8.44",	/* pru1: pr1_pru1_pru_r30_3 */
-		"P8.45",	/* pru1: pr1_pru1_pru_r30_0 */
-		"P8.46",	/* pru1: pr1_pru1_pru_r30_1 */
+		"P8.27",	/* pru1: pr1_pru1_pru_r30_8, CH_2 */
+		"P8.28",	/* pru1: pr1_pru1_pru_r30_10, CH_1 */
+		"P8.29",	/* pru1: pr1_pru1_pru_r30_9, CH_4 */
+		"P8.30",	/* pru1: pr1_pru1_pru_r30_11, CH_3 */
+		"P8.39",	/* pru1: pr1_pru1_pru_r30_6, CH_6 */
+		"P8.40",	/* pru1: pr1_pru1_pru_r30_7, CH_5 */
+		"P8.41",	/* pru1: pr1_pru1_pru_r30_4, CH_8 */
+		"P8.42",	/* pru1: pr1_pru1_pru_r30_5, CH_7 */
+		"P8.43",	/* pru1: pr1_pru1_pru_r30_2, CH_10 */
+		"P8.44",	/* pru1: pr1_pru1_pru_r30_3, CH_9 */
+		"P8.45",	/* pru1: pr1_pru1_pru_r30_0, CH_12 */
+		"P8.46",	/* pru1: pr1_pru1_pru_r30_1, CH_11 */
 				/* pru1: pr1_pru1_pru_r30_14 is on UART0_RXD */
 				/* pru1: pr1_pru1_pru_r30_15 is on UART0_TXD */
 		/* the hardware IP uses */
@@ -70,7 +70,7 @@
 			pru_pru_pins: pinmux_pru_pru_pins {
 				pinctrl-single,pins = <
 				//	0x1a4 0x25	/* mcasp0_fsr.pr1_pru0_pru_r30_5, MODE5 | OUTPUT | PRU */
-					0x03c 0x2E	/* gpmc_ad13.pr1_pru0_pru_r30_15, MODE6 | INPUT | PRU */
+					0x03c 0x2E	/* gpmc_ad13.pr1_pru0_pru_r30_15, MODE6 | INPUT | PRU, PPM-sum, SBUS, DSM */
 				//	0x030 0x26	/* gpmc_ad12.pr1_pru0_pru_r30_14, MODE6 | OUTPUT | PRU */
 				//	0x1ac 0x25	/* mcasp0_ahclkx.pr1_pru0_pru_r30_7, MODE5 | OUTPUT | PRU */
 				//	0x1a8 0x25	/* mcasp0_axr1.pr1_pru0_pru_r30_6, MODE5 | OUTPUT | PRU */
@@ -82,18 +82,18 @@
 
 					//0x084 0x25	/* gpmc_csn2.pr1_pru1_pru_r30_13, MODE5 | OUTPUT | PRU */
 					//0x080 0x25	/* gpmc_csn1.pr1_pru1_pru_r30_12, MODE5 | OUTPUT | PRU */
-					0x0e0 0x25	/* lcd_vsync.pr1_pru1_pru_r30_8, MODE5 | OUTPUT | PRU */
-					0x0e8 0x25	/* lcd_pclk.pr1_pru1_pru_r30_10, MODE5 | OUTPUT | PRU */
-					0x0e4 0x25	/* lcd_hsync.pr1_pru1_pru_r30_9, MODE5 | OUTPUT | PRU */
-					0x0ec 0x25	/* lcd_ac_bias_en.pr1_pru1_pru_r30_11, MODE5 | OUTPUT | PRU */
-					0x0b8 0x25	/* pr1_pru1_pru_r30_6, MODE5 | OUTPUT | PRU */
-					0x0bc 0x25	/* lcd_data7.pr1_pru1_pru_r30_7, MODE5 | OUTPUT | PRU */
-					0x0b0 0x25	/* lcd_data4.pr1_pru1_pru_r30_4, MODE5 | OUTPUT | PRU */
-					0x0b4 0x25	/* lcd_data5.pr1_pru1_pru_r30_5, MODE5 | OUTPUT | PRU */
-					0x0a8 0x25	/* pr1_pru1_pru_r31_2, MODE5 | OUTPUT | PRU */
-					0x0ac 0x25	/* lcd_data3.pr1_pru1_pru_r30_3, MODE5 | OUTPUT | PRU */
-					0x0a0 0x25	/* lcd_data0.pr1_pru1_pru_r30_0, MODE5 | OUTPUT | PRU */
-					0x0a4 0x25	/* lcd_data1.pr1_pru1_pru_r30_1, MODE5 | OUTPUT | PRU */
+					0x0e0 0x25	/* lcd_vsync.pr1_pru1_pru_r30_8, MODE5 | OUTPUT | PRU, CH_2 */
+					0x0e8 0x25	/* lcd_pclk.pr1_pru1_pru_r30_10, MODE5 | OUTPUT | PRU, CH_1 */
+					0x0e4 0x25	/* lcd_hsync.pr1_pru1_pru_r30_9, MODE5 | OUTPUT | PRU, CH_4 */
+					0x0ec 0x25	/* lcd_ac_bias_en.pr1_pru1_pru_r30_11, MODE5 | OUTPUT | PRU, CH_3 */
+					0x0b8 0x25	/* lcd_data6.pr1_pru1_pru_r30_6, MODE5 | OUTPUT | PRU, CH_6 */
+					0x0bc 0x25	/* lcd_data7.pr1_pru1_pru_r30_7, MODE5 | OUTPUT | PRU, CH_5 */
+					0x0b0 0x25	/* lcd_data4.pr1_pru1_pru_r30_4, MODE5 | OUTPUT | PRU, CH_8 */
+					0x0b4 0x25	/* lcd_data5.pr1_pru1_pru_r30_5, MODE5 | OUTPUT | PRU, CH_7 */
+					0x0a8 0x25	/* lcd_data2.pr1_pru1_pru_r30_2, MODE5 | OUTPUT | PRU, CH_10 */
+					0x0ac 0x25	/* lcd_data3.pr1_pru1_pru_r30_3, MODE5 | OUTPUT | PRU, CH_9 */
+					0x0a0 0x25	/* lcd_data0.pr1_pru1_pru_r30_0, MODE5 | OUTPUT | PRU, CH_12 */
+					0x0a4 0x25	/* lcd_data1.pr1_pru1_pru_r30_1, MODE5 | OUTPUT | PRU, CH_11 */
 				>;
 			};
 		};

Tools/Linux_HAL_Essentials/BB-PXF-01-00A0.dts

@@ -18,22 +18,24 @@
 	/* state the resources this cape uses */
 	exclusive-use =
 		/* the pin header uses */
-	        /* PRU */
+
+		/* PRU RCInput */
 		"P8.11",	/* pru0: pr1_pru0_pru_r30_15 */
-		"P8.15",	/* pru0: pr1_pru0_pru_r31_15*/
+		"P8.15",	/* pru0: pr1_pru0_pru_r31_15, PPM-sum, SBUS, DSM */
 	
-		"P8.27",	/* pru1: pr1_pru1_pru_r30_8 */
-		"P8.28",	/* pru1: pr1_pru1_pru_r30_10 */
-		"P8.29",	/* pru1: pr1_pru1_pru_r30_9 */
-		"P8.30",	/* pru1: pr1_pru1_pru_r30_11 */
-		"P8.39",	/* pru1: pr1_pru1_pru_r30_6 */
-		"P8.40",	/* pru1: pr1_pru1_pru_r30_7 */
-		"P8.41",	/* pru1: pr1_pru1_pru_r30_4 */
-		"P8.42",	/* pru1: pr1_pru1_pru_r30_5 */
-		"P8.43",	/* pru1: pr1_pru1_pru_r30_2 */
-		"P8.44",	/* pru1: pr1_pru1_pru_r30_3 */
-		"P8.45",	/* pru1: pr1_pru1_pru_r30_0 */
-		"P8.46",	/* pru1: pr1_pru1_pru_r30_1 */
+        /* PRU RCOutput */
+		"P8.27",	/* pru1: pr1_pru1_pru_r30_8, CH_2 */
+		"P8.28",	/* pru1: pr1_pru1_pru_r30_10, CH_1 */
+		"P8.29",	/* pru1: pr1_pru1_pru_r30_9, CH_4 */
+		"P8.30",	/* pru1: pr1_pru1_pru_r30_11, CH_3 */
+		"P8.39",	/* pru1: pr1_pru1_pru_r30_6, CH_6 */
+		"P8.40",	/* pru1: pr1_pru1_pru_r30_7, CH_5 */
+		"P8.41",	/* pru1: pr1_pru1_pru_r30_4, CH_8 */
+		"P8.42",	/* pru1: pr1_pru1_pru_r30_5, CH_7 */
+		"P8.43",	/* pru1: pr1_pru1_pru_r30_2, CH_10 */
+		"P8.44",	/* pru1: pr1_pru1_pru_r30_3, CH_9 */
+		"P8.45",	/* pru1: pr1_pru1_pru_r30_0, CH_12 */
+		"P8.46",	/* pru1: pr1_pru1_pru_r30_1, CH_11 */
 
 		/* SPI0 */
 		"P9.22",	/* SPI0_SCLK */
@@ -74,20 +76,20 @@
 			pru_pru_pins: pinmux_pru_pru_pins {
 				pinctrl-single,pins = <
 					0x034 0x26	/* gpmc_ad13.pr1_pru0_pru_r30_15, MODE6 | OUTPUT | PRU */
-					0x03c 0x2e	/* gpmc_ad15.pr1_pru0_pru_r30_15, MODE 6 | INPUT | PRU */
-
-					0x0e0 0x25	/* lcd_vsync.pr1_pru1_pru_r30_8, MODE5 | OUTPUT | PRU */
-					0x0e8 0x25	/* lcd_pclk.pr1_pru1_pru_r30_10, MODE5 | OUTPUT | PRU */
-					0x0e4 0x25	/* lcd_hsync.pr1_pru1_pru_r30_9, MODE5 | OUTPUT | PRU */
-					0x0ec 0x25	/* lcd_ac_bias_en.pr1_pru1_pru_r30_11, MODE5 | OUTPUT | PRU */
-					0x0b8 0x25	/* pr1_pru1_pru_r30_6, MODE5 | OUTPUT | PRU */
-					0x0bc 0x25	/* lcd_data7.pr1_pru1_pru_r30_7, MODE5 | OUTPUT | PRU */
-					0x0b0 0x25	/* lcd_data4.pr1_pru1_pru_r30_4, MODE5 | OUTPUT | PRU */
-					0x0b4 0x25	/* lcd_data5.pr1_pru1_pru_r30_5, MODE5 | OUTPUT | PRU */
-					0x0a8 0x25	/* pr1_pru1_pru_r31_2, MODE5 | OUTPUT | PRU */
-					0x0ac 0x25	/* lcd_data3.pr1_pru1_pru_r30_3, MODE5 | OUTPUT | PRU */
-					0x0a0 0x25	/* lcd_data0.pr1_pru1_pru_r30_0, MODE5 | OUTPUT | PRU */
-					0x0a4 0x25	/* lcd_data1.pr1_pru1_pru_r30_1, MODE5 | OUTPUT | PRU */
+					0x03c 0x2e	/* gpmc_ad15.pr1_pru0_pru_r31_15, MODE6 | INPUT | PRU, PPM-sum, SBUS, DSM  */
+
+					0x0e0 0x25	/* lcd_vsync.pr1_pru1_pru_r30_8, MODE5 | OUTPUT | PRU, CH_2 */
+					0x0e8 0x25	/* lcd_pclk.pr1_pru1_pru_r30_10, MODE5 | OUTPUT | PRU, CH_1 */
+					0x0e4 0x25	/* lcd_hsync.pr1_pru1_pru_r30_9, MODE5 | OUTPUT | PRU, CH_4 */
+					0x0ec 0x25	/* lcd_ac_bias_en.pr1_pru1_pru_r30_11, MODE5 | OUTPUT | PRU, CH_3 */
+					0x0b8 0x25	/* lcd_data6.pr1_pru1_pru_r30_6, MODE5 | OUTPUT | PRU, CH_6 */
+					0x0bc 0x25	/* lcd_data7.pr1_pru1_pru_r30_7, MODE5 | OUTPUT | PRU, CH_5 */
+					0x0b0 0x25	/* lcd_data4.pr1_pru1_pru_r30_4, MODE5 | OUTPUT | PRU, CH_8 */
+					0x0b4 0x25	/* lcd_data5.pr1_pru1_pru_r30_5, MODE5 | OUTPUT | PRU, CH_7 */
+					0x0a8 0x25	/* lcd_data2.pr1_pru1_pru_r30_2, MODE5 | OUTPUT | PRU, CH_10 */
+					0x0ac 0x25	/* lcd_data3.pr1_pru1_pru_r30_3, MODE5 | OUTPUT | PRU, CH_9 */
+					0x0a0 0x25	/* lcd_data0.pr1_pru1_pru_r30_0, MODE5 | OUTPUT | PRU, CH_12 */
+					0x0a4 0x25	/* lcd_data1.pr1_pru1_pru_r30_1, MODE5 | OUTPUT | PRU, CH_11 */
 				>;
 			};
 			spi0_pins_s0: spi0_pins_s0 {