.editorconfig

+# This file provide reference settings for the APM code conventions
+# There are plug-ins available for nearly every text editor to automatically
+# respect the conventions contained within this file.
+#
+# Please see editorconfig.org for complete information.
+#
+# If you find errors in this file, please send a pull-request with a fix.
+#
+root = true
+
+[*]
+indent_style = space
+indent_size = 4
+end_of_line = lf
+charset = utf-8
+trim_trailing_whitespace = false # These are the correct rules for APM coding standards, but fixing up old files causes git spam
+insert_final_newline = false
+
+[*.mk]
+indent_style = tab
+indent_size = 8
+
+[{makefile,Makefile}]
+indent_style = tab
+indent_size = 8

.gitignore

@@ -3,11 +3,14 @@
 *.d
 *.dll
 *.elf
+*.hex
+*.dfu
 *.exe
 *.lst
 *.o
 *.obj
 *.px4
+*.vrx
 *.pyc
 *.tlog
 *.tlog.raw
@@ -48,20 +51,25 @@
 /Tools/autotest/jsbsim/fgout.xml
 /Tools/autotest/jsbsim/rascal_test.xml
 ArduCopter/Debug/
+ArduCopter/terrain/*.DAT
 ArduCopter/test.ArduCopter/
 ArduCopter/test/*
+ArduPlane/terrain/*.DAT
 ArduPlane/test.ArduPlane/
 APMrover2/test.APMrover2/
+autotest.lck
 build
 Build.ArduCopter/*
 Build.ArduPlane/*
 Build.APMrover2/*
+Build.AntennaTracker/*
 cmake_install.cmake
 CMakeCache.txt
 CMakeFiles
 config.mk
 dataflash.bin
 eeprom.bin
+index.html
 LASTLOG.TXT
 Make.dep
 mav.log
@@ -71,3 +79,4 @@ serialsent.raw
 status.txt
 tags
 test.ArduCopter/*
+Thumbs.db

.pydevproject

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?eclipse-pydev version="1.0"?><pydev_project>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
+</pydev_project>

.travis.yml

+language: cpp
+
+before_install:
+  -  APMDIR=$(pwd) && pushd .. && $APMDIR/Tools/scripts/install-prereqs-ubuntu.sh -y && . ~/.profile && popd
+
+script: 
+  - Tools/scripts/build_all_travis.sh
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/e5e0b55e353e53945b4b
+    on_success: change  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+    on_start: false     # default: false

APMrover2/APMrover2.pde

 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduRover v2.45"
+#define THISFIRMWARE "ArduRover v2.47"
 /*
    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
@@ -62,6 +62,7 @@
 #include <AP_HAL.h>
 #include <AP_Menu.h>
 #include <AP_Param.h>
+#include <StorageManager.h>
 #include <AP_GPS.h>         // ArduPilot GPS library
 #include <AP_ADC.h>         // ArduPilot Mega Analog to Digital Converter Library
 #include <AP_ADC_AnalogSource.h>
@@ -72,6 +73,8 @@
 #include <AP_AHRS.h>         // ArduPilot Mega DCM Library
 #include <AP_NavEKF.h>
 #include <AP_Mission.h>     // Mission command library
+#include <AP_Rally.h>
+#include <AP_Terrain.h>
 #include <PID.h>            // PID library
 #include <RC_Channel.h>     // RC Channel Library
 #include <AP_RangeFinder.h>	// Range finder library
@@ -96,6 +99,7 @@
 #include <APM_Control.h>
 #include <AP_L1_Control.h>
 #include <AP_BoardConfig.h>
+#include <AP_Frsky_Telem.h>
 
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
@@ -108,6 +112,7 @@
 
 #include <AP_Notify.h>      // Notify library
 #include <AP_BattMonitor.h> // Battery monitor library
+#include <AP_OpticalFlow.h>     // Optical Flow library
 
 // Configuration
 #include "config.h"
@@ -127,7 +132,7 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 // must be the first AP_Param variable declared to ensure its
 // constructor runs before the constructors of the other AP_Param
 // variables
-AP_Param param_loader(var_info, MISSION_START_BYTE);
+AP_Param param_loader(var_info);
 
 ////////////////////////////////////////////////////////////////////////////////
 // the rate we run the main loop at
@@ -169,15 +174,8 @@ static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
 static DataFlash_APM1 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
 static DataFlash_APM2 DataFlash;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
-static DataFlash_File DataFlash("logs");
-//static DataFlash_SITL DataFlash;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
-static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-static DataFlash_File DataFlash("logs");
-#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
+#elif defined(HAL_BOARD_LOG_DIRECTORY)
+static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
 #else
 DataFlash_Empty DataFlash;
 #endif
@@ -203,61 +201,28 @@ static AP_GPS gps;
 // flight modes convenience array
 static AP_Int8		*modes = &g.mode1;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-static AP_ADC_ADS7844 adc;
-#endif
+static AP_Baro barometer;
 
-#if CONFIG_COMPASS == AP_COMPASS_PX4
+#if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;
-#elif CONFIG_COMPASS == AP_COMPASS_VRBRAIN
+#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
 static AP_Compass_VRBRAIN compass;
-#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
+#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
 static AP_Compass_HMC5843 compass;
-#elif CONFIG_COMPASS == AP_COMPASS_HIL
+#elif CONFIG_COMPASS == HAL_COMPASS_HIL
 static AP_Compass_HIL compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
+static AP_Compass_AK8963_MPU9250 compass;
 #else
  #error Unrecognized CONFIG_COMPASS setting
 #endif
 
-#if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
-AP_InertialSensor_MPU6000 ins;
-#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
-AP_InertialSensor_PX4 ins;
-#elif CONFIG_INS_TYPE == CONFIG_INS_VRBRAIN
-AP_InertialSensor_VRBRAIN ins;
-#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
-AP_InertialSensor_HIL ins;
-#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
-AP_InertialSensor_Flymaple ins;
-#elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D
-AP_InertialSensor_L3G4200D ins;
-#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
-AP_InertialSensor_Oilpan ins( &adc );
-#else
-  #error Unrecognised CONFIG_INS_TYPE setting.
-#endif // CONFIG_INS_TYPE
-
-
-#if CONFIG_BARO == AP_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == AP_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == AP_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == AP_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == AP_BARO_MS5611
- #if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
- static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
- #elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
- static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
- #else
- #error Unrecognized CONFIG_MS5611_SERIAL setting.
- #endif
-#else
- #error Unrecognized CONFIG_BARO setting
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+AP_ADC_ADS7844 apm1_adc;
 #endif
 
+AP_InertialSensor ins;
+
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
 AP_AHRS_NavEKF ahrs(ins, barometer, gps);
@@ -280,7 +245,9 @@ static AP_SteerController steerController(ahrs);
 static bool start_command(const AP_Mission::Mission_Command& cmd);
 static bool verify_command(const AP_Mission::Mission_Command& cmd);
 static void exit_mission();
-AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission, MISSION_START_BYTE, MISSION_END_BYTE);
+AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
+
+static OpticalFlow optflow;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 SITL sitl;
@@ -298,11 +265,8 @@ static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
 AP_HAL::AnalogSource *rssi_analog_source;
 
 ////////////////////////////////////////////////////////////////////////////////
-// SONAR selection
-////////////////////////////////////////////////////////////////////////////////
-//
-static AP_RangeFinder_analog sonar;
-static AP_RangeFinder_analog sonar2;
+// SONAR
+static RangeFinder sonar;
 
 // relay support
 AP_Relay relay;
@@ -446,6 +410,13 @@ static bool ch7_flag;
 ////////////////////////////////////////////////////////////////////////////////
 static AP_BattMonitor battery;
 
+////////////////////////////////////////////////////////////////////////////////
+// Battery Sensors
+////////////////////////////////////////////////////////////////////////////////
+#if FRSKY_TELEM_ENABLED == ENABLED
+static AP_Frsky_Telem frsky_telemetry(ahrs, battery);
+#endif
+
 ////////////////////////////////////////////////////////////////////////////////
 // Navigation control variables
 ////////////////////////////////////////////////////////////////////////////////
@@ -549,7 +520,10 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { gcs_failsafe_check,     5,    600 },
     { compass_accumulate,     1,    900 },
     { update_notify,          1,    300 },
-    { one_second_loop,       50,   3000 }
+    { one_second_loop,       50,   3000 },
+#if FRSKY_TELEM_ENABLED == ENABLED
+    { telemetry_send,        10,    100 }	
+#endif
 };
 
 
@@ -565,6 +539,7 @@ void setup() {
     // rover does not use arming nor pre-arm checks
     AP_Notify::flags.armed = true;
     AP_Notify::flags.pre_arm_check = true;
+    AP_Notify::flags.pre_arm_gps_check = true;
     AP_Notify::flags.failsafe_battery = false;
 
     notify.init(false);
@@ -585,9 +560,8 @@ void setup() {
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
-        return;
-    }
+    ins.wait_for_sample();
+
     uint32_t timer = hal.scheduler->micros();
 
     delta_us_fast_loop	= timer - fast_loopTimer_us;
@@ -623,6 +597,12 @@ static void ahrs_update()
 
     ahrs.update();
 
+    // if using the EKF get a speed update now (from accelerometers)
+    Vector3f velocity;
+    if (ahrs.get_velocity_NED(velocity)) {
+        ground_speed = pythagorous2(velocity.x, velocity.y);
+    }
+
     if (should_log(MASK_LOG_ATTITUDE_FAST))
         Log_Write_Attitude();
 
@@ -645,7 +625,7 @@ static void mount_update(void)
 
 static void update_alt()
 {
-    barometer.read();
+    barometer.update();
     if (should_log(MASK_LOG_IMU)) {
         Log_Write_Baro();
     }
@@ -782,13 +762,15 @@ static void one_second_loop(void)
 
 static void update_GPS_50Hz(void)
 {        
-    static uint32_t last_gps_reading;
+    static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
 	gps.update();
 
-    if (gps.last_message_time_ms() != last_gps_reading) {
-        last_gps_reading = gps.last_message_time_ms();
-        if (should_log(MASK_LOG_GPS)) {
-            DataFlash.Log_Write_GPS(gps, current_loc.alt);
+    for (uint8_t i=0; i<gps.num_sensors(); i++) {
+        if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
+            last_gps_reading[i] = gps.last_message_time_ms(i);
+            if (should_log(MASK_LOG_GPS)) {
+                DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
+            }
         }
     }
 }
@@ -822,7 +804,12 @@ static void update_GPS_10Hz(void)
 				ground_start_count = 0;
 			}
 		}
-        ground_speed   = gps.ground_speed();
+        Vector3f velocity;
+        if (ahrs.get_velocity_NED(velocity)) {
+            ground_speed = pythagorous2(velocity.x, velocity.y);
+        } else {
+            ground_speed   = gps.ground_speed();
+        }
 
 #if CAMERA == ENABLED
         if (camera.update_location(current_loc) == true) {

APMrover2/Log.pde

@@ -202,37 +202,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
     DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
 }
 
-struct PACKED log_Camera {
-    LOG_PACKET_HEADER;
-    uint32_t time_ms;
-    uint32_t gps_time;
-    uint16_t gps_week;
-    int32_t  latitude;
-    int32_t  longitude;
-    int16_t  roll;
-    int16_t  pitch;
-    uint16_t yaw;
-};
-
-// Write a Camera packet. Total length : 26 bytes
-static void Log_Write_Camera()
-{
-#if CAMERA == ENABLED
-    struct log_Camera pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
-        time_ms     : millis(),
-        gps_time    : gps.time_week_ms(),
-        gps_week    : gps.time_week(),
-        latitude    : current_loc.lat,
-        longitude   : current_loc.lng,
-        roll        : (int16_t)ahrs.roll_sensor,
-        pitch       : (int16_t)ahrs.pitch_sensor,
-        yaw         : (uint16_t)ahrs.yaw_sensor
-    };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
-#endif
-}
-
 struct PACKED log_Steering {
     LOG_PACKET_HEADER;
     uint32_t time_ms;
@@ -350,7 +319,11 @@ static void Log_Write_Attitude()
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 #if AP_AHRS_NAVEKF_AVAILABLE
-    DataFlash.Log_Write_EKF(ahrs);
+ #if OPTFLOW == ENABLED
+    DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
+ #else
+    DataFlash.Log_Write_EKF(ahrs,false);
+ #endif
     DataFlash.Log_Write_AHRS2(ahrs);
 #endif
 }
@@ -399,8 +372,8 @@ static void Log_Write_Sonar()
         LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
         time_ms         : millis(),
         lateral_accel   : lateral_acceleration,
-        sonar1_distance : (uint16_t)sonar.distance_cm(),
-        sonar2_distance : (uint16_t)sonar2.distance_cm(),
+        sonar1_distance : (uint16_t)sonar.distance_cm(0),
+        sonar2_distance : (uint16_t)sonar.distance_cm(1),
         detected_count  : obstacle.detected_count,
         turn_angle      : (int8_t)obstacle.turn_angle,
         turn_time       : turn_time,
@@ -492,6 +465,27 @@ static void Log_Write_Compass()
         DataFlash.WriteBlock(&pkt2, sizeof(pkt2));
     }
 #endif
+#if COMPASS_MAX_INSTANCES > 2
+    if (compass.get_count() > 2) {
+        const Vector3f &mag3_offsets = compass.get_offsets(2);
+        const Vector3f &mag3_motor_offsets = compass.get_motor_offsets(2);
+        const Vector3f &mag3 = compass.get_field(2);
+        struct log_Compass pkt3 = {
+            LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
+            time_ms         : millis(),
+            mag_x           : (int16_t)mag3.x,
+            mag_y           : (int16_t)mag3.y,
+            mag_z           : (int16_t)mag3.z,
+            offset_x        : (int16_t)mag3_offsets.x,
+            offset_y        : (int16_t)mag3_offsets.y,
+            offset_z        : (int16_t)mag3_offsets.z,
+            motor_offset_x  : (int16_t)mag3_motor_offsets.x,
+            motor_offset_y  : (int16_t)mag3_motor_offsets.y,
+            motor_offset_z  : (int16_t)mag3_motor_offsets.z
+        };
+        DataFlash.WriteBlock(&pkt3, sizeof(pkt3));
+    }
+#endif
 }
 
 
@@ -512,8 +506,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "ATT", "IccC",        "TimeMS,Roll,Pitch,Yaw" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
       "PM",  "IIHIhhhBH", "TimeMS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr" },
-    { LOG_CAMERA_MSG, sizeof(log_Camera),                 
-      "CAM", "IIHLLeccC",   "TimeMS,GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
       "STRT", "IBH",        "TimeMS,SType,CTot" },
     { LOG_CTUN_MSG, sizeof(log_Control_Tuning),     

APMrover2/Parameters.h

@@ -51,6 +51,9 @@ public:
         // misc2
         k_param_log_bitmask = 40,
         k_param_gps,
+        k_param_serial0_baud,
+        k_param_serial1_baud,
+        k_param_serial2_baud,
 
 
         // 110: Telemetry control
@@ -59,12 +62,13 @@ public:
         k_param_gcs1,       // stream rates for uartC
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
-        k_param_serial0_baud,
-        k_param_serial1_baud,
+        k_param_serial0_baud_old,
+        k_param_serial1_baud_old,
         k_param_telem_delay,
         k_param_skip_gyro_cal,
         k_param_gcs2,       // stream rates for uartD
-        k_param_serial2_baud,
+        k_param_serial2_baud_old,
+        k_param_serial2_protocol,
 
         //
         // 130: Sensor parameters
@@ -126,12 +130,13 @@ public:
 
         // obstacle control
         k_param_sonar_enabled = 190, // deprecated, can be removed
-        k_param_sonar, // sonar object
+        k_param_sonar_old, // unused
         k_param_sonar_trigger_cm,
         k_param_sonar_turn_angle,
         k_param_sonar_turn_time,
-        k_param_sonar2, // sonar2 object
+        k_param_sonar2_old, // unused
         k_param_sonar_debounce,
+        k_param_sonar, // sonar object
         
         //
         // 210: driving modes
@@ -205,10 +210,11 @@ public:
 	//
 	AP_Int16    sysid_this_mav;
 	AP_Int16    sysid_my_gcs;
-    AP_Int8	    serial0_baud;
-    AP_Int8	    serial1_baud;
+    AP_Int16    serial0_baud;
+    AP_Int16    serial1_baud;
 #if MAVLINK_COMM_NUM_BUFFERS > 2
-    AP_Int8	    serial2_baud;
+    AP_Int16    serial2_baud;
+    AP_Int8     serial2_protocol;
 #endif
     AP_Int8     telem_delay;
     AP_Int8     skip_gyro_cal;

APMrover2/Parameters.pde

@@ -38,7 +38,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: RSSI_PIN
     // @DisplayName: Receiver RSSI sensing pin
     // @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
-    // @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
+    // @Values: -1:Disabled, 0:APM2 A0, 1:APM2 A1, 2:APM2 A2, 13:APM2 A13, 103:Pixhawk SBUS
     // @User: Standard
     GSCALAR(rssi_pin,            "RSSI_PIN",         -1),
 
@@ -58,26 +58,37 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: SERIAL0_BAUD
     // @DisplayName: USB Console Baud Rate
-    // @Description: The baud rate used on the USB console
-    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
+    // @Description: The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
+    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
     // @User: Standard
-	GSCALAR(serial0_baud,           "SERIAL0_BAUD",     115),
+    GSCALAR(serial0_baud,           "SERIAL0_BAUD",   SERIAL0_BAUD/1000),
 
     // @Param: SERIAL1_BAUD
     // @DisplayName: Telemetry Baud Rate
-    // @Description: The baud rate used on the first telemetry port
-    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
+    // @Description: The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
+    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
     // @User: Standard
-	GSCALAR(serial1_baud,           "SERIAL1_BAUD",     57),
+    GSCALAR(serial1_baud,           "SERIAL1_BAUD",   SERIAL1_BAUD/1000),
 
 #if MAVLINK_COMM_NUM_BUFFERS > 2
     // @Param: SERIAL2_BAUD
     // @DisplayName: Telemetry Baud Rate
-    // @Description: The baud rate used on the second telemetry port (where available)
-    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
+    // @Description: The baud rate used on the second telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
+    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200,500:500000,921:921600,1500:1500000
     // @User: Standard
-	GSCALAR(serial2_baud,           "SERIAL2_BAUD",     57),
-#endif
+    GSCALAR(serial2_baud,           "SERIAL2_BAUD",   SERIAL2_BAUD/1000),
+
+#if FRSKY_TELEM_ENABLED == ENABLED
+    // @Param: SERIAL2_PROTOCOL
+    // @DisplayName: SERIAL2 protocol selection
+    // @Description: Control what protocol telemetry 2 port should be used for
+    // @Values: 1:GCS Mavlink,2:Frsky D-PORT
+    // @User: Standard
+    GSCALAR(serial2_protocol,        "SERIAL2_PROTOCOL", SERIAL2_MAVLINK),
+#endif // FRSKY_TELEM_ENABLED
+
+#endif // MAVLINK_COMM_NUM_BUFFERS
+
 
     // @Param: TELEM_DELAY
     // @DisplayName: Telemetry startup delay 
@@ -270,12 +281,12 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: THR_SLEWRATE
     // @DisplayName: Throttle slew rate
-    // @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit.
+    // @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout.
     // @Units: Percent
     // @Range: 0 100
     // @Increment: 1
     // @User: Standard
-	GSCALAR(throttle_slewrate,      "THR_SLEWRATE",     0),
+	GSCALAR(throttle_slewrate,      "THR_SLEWRATE",     100),
 
     // @Param: SKID_STEER_OUT
     // @DisplayName: Skid steering output
@@ -327,40 +338,40 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
 	GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE",   0),
 
-	// @Param: SONAR_TRIGGER_CM
-	// @DisplayName: Sonar trigger distance
-	// @Description: The distance from an obstacle in centimeters at which the sonar triggers a turn to avoid the obstacle
+	// @Param: RNGFND_TRIGGR_CM
+	// @DisplayName: Rangefinder trigger distance
+	// @Description: The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle
 	// @Units: centimeters
     // @Range: 0 1000
     // @Increment: 1
 	// @User: Standard
-	GSCALAR(sonar_trigger_cm,   "SONAR_TRIGGER_CM",    100),
+	GSCALAR(sonar_trigger_cm,   "RNGFND_TRIGGR_CM",    100),
 
-	// @Param: SONAR_TURN_ANGLE
-	// @DisplayName: Sonar trigger angle
-	// @Description: The course deviation in degrees to apply while avoiding an obstacle detected with the sonar. A positive number means to turn right, and a negative angle means to turn left.
+	// @Param: RNGFND_TURN_ANGL
+	// @DisplayName: Rangefinder trigger angle
+	// @Description: The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left.
 	// @Units: centimeters
     // @Range: -45 45
     // @Increment: 1
 	// @User: Standard
-	GSCALAR(sonar_turn_angle,   "SONAR_TURN_ANGLE",    45),
+	GSCALAR(sonar_turn_angle,   "RNGFND_TURN_ANGL",    45),
 
-	// @Param: SONAR_TURN_TIME
-	// @DisplayName: Sonar turn time
-	// @Description: The amount of time in seconds to apply the SONAR_TURN_ANGLE after detecting an obstacle.
+	// @Param: RNGFND_TURN_TIME
+	// @DisplayName: Rangefinder turn time
+	// @Description: The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle.
 	// @Units: seconds
     // @Range: 0 100
     // @Increment: 0.1
 	// @User: Standard
-	GSCALAR(sonar_turn_time,    "SONAR_TURN_TIME",     1.0f),
+	GSCALAR(sonar_turn_time,    "RNGFND_TURN_TIME",     1.0f),
 
-	// @Param: SONAR_DEBOUNCE
-	// @DisplayName: Sonar debounce count
-	// @Description: The number of 50Hz sonar hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle.
+	// @Param: RNGFND_DEBOUNCE
+	// @DisplayName: Rangefinder debounce count
+	// @Description: The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle.
     // @Range: 1 100
     // @Increment: 1
 	// @User: Standard
-	GSCALAR(sonar_debounce,   "SONAR_DEBOUNCE",    2),
+	GSCALAR(sonar_debounce,   "RNGFND_DEBOUNCE",    2),
 
     // @Param: LEARN_CH
     // @DisplayName: Learning channel
@@ -482,13 +493,9 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
     GOBJECT(L1_controller,         "NAVL1_",   AP_L1_Control),
 
-    // @Group: SONAR_
-    // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
-    GOBJECT(sonar,                  "SONAR_", AP_RangeFinder_analog),
-
-    // @Group: SONAR2_
-    // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
-    GOBJECT(sonar2,                 "SONAR2_", AP_RangeFinder_analog),
+    // @Group: RNGFND
+    // @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
+    GOBJECT(sonar,                 "RNGFND", RangeFinder),
 
     // @Group: INS_
     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -518,7 +525,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Group: BATT_
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
-    GOBJECT(battery,                "BATT_",       AP_BattMonitor),
+    GOBJECT(battery,                "BATT", AP_BattMonitor),
 
     // @Group: BRD_
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp

APMrover2/Steering.pde

@@ -6,7 +6,7 @@
 static void throttle_slew_limit(int16_t last_throttle)
 {
     // if slew limit rate is set to zero then do not slew limit
-    if (g.throttle_slewrate) {                   
+    if (g.throttle_slewrate && last_throttle != 0) {                   
         // limit throttle change by the given percentage per second
         float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->radio_max - channel_throttle->radio_min);
         // allow a minimum change of 1 PWM per cycle
@@ -109,7 +109,7 @@ static void calc_throttle(float target_speed)
     
     if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
         // in auto-modes we reduce speed when approaching waypoints
-        float reduction2 = 1.0 - speed_turn_reduction*((g.speed_turn_dist - wp_distance)/g.speed_turn_dist);
+        float reduction2 = 1.0 - speed_turn_reduction;
         if (reduction2 < reduction) {
             reduction = reduction2;
         }
@@ -143,7 +143,7 @@ static void calc_throttle(float target_speed)
         float brake_gain = constrain_float(((-groundspeed_error)-g.braking_speederr)/g.braking_speederr, 0, 1);
         int16_t braking_throttle = g.throttle_max * (g.braking_percent * 0.01f) * brake_gain;
         channel_throttle->servo_out = constrain_int16(-braking_throttle, -g.throttle_max, -g.throttle_min);
-        
+
         // temporarily set us in reverse to allow the PWM setting to
         // go negative
         set_reverse(true);
@@ -208,13 +208,12 @@ static void calc_nav_steer()
 *****************************************/
 static void set_servos(void)
 {
-    int16_t last_throttle = channel_throttle->radio_out;
+    static int16_t last_throttle;
 
     // support a separate steering channel
     RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, channel_steer->pwm_to_angle_dz(0));
 
-	if ((control_mode == MANUAL || control_mode == LEARNING) &&
-        (g.skid_steer_out == g.skid_steer_in)) {
+	if (control_mode == MANUAL || control_mode == LEARNING) {
         // do a direct pass through of radio values
         channel_steer->radio_out       = channel_steer->read();
         channel_throttle->radio_out    = channel_throttle->read();
@@ -244,25 +243,28 @@ static void set_servos(void)
 
         // limit throttle movement speed
         throttle_slew_limit(last_throttle);
+    }
 
-        if (g.skid_steer_out) {
-            // convert the two radio_out values to skid steering values
-            /*
-              mixing rule:
-              steering = motor1 - motor2
-              throttle = 0.5*(motor1 + motor2)
-              motor1 = throttle + 0.5*steering
-              motor2 = throttle - 0.5*steering
-            */          
-            float steering_scaled = channel_steer->norm_output();
-            float throttle_scaled = channel_throttle->norm_output();
-            float motor1 = throttle_scaled + 0.5*steering_scaled;
-            float motor2 = throttle_scaled - 0.5*steering_scaled;
-            channel_steer->servo_out = 4500*motor1;
-            channel_throttle->servo_out = 100*motor2;
-            channel_steer->calc_pwm();
-            channel_throttle->calc_pwm();
-        }
+    // record last throttle before we apply skid steering
+    last_throttle = channel_throttle->radio_out;
+
+    if (g.skid_steer_out) {
+        // convert the two radio_out values to skid steering values
+        /*
+          mixing rule:
+          steering = motor1 - motor2
+          throttle = 0.5*(motor1 + motor2)
+          motor1 = throttle + 0.5*steering
+          motor2 = throttle - 0.5*steering
+        */          
+        float steering_scaled = channel_steer->norm_output();
+        float throttle_scaled = channel_throttle->norm_output();
+        float motor1 = throttle_scaled + 0.5*steering_scaled;
+        float motor2 = throttle_scaled - 0.5*steering_scaled;
+        channel_steer->servo_out = 4500*motor1;
+        channel_throttle->servo_out = 100*motor2;
+        channel_steer->calc_pwm();
+        channel_throttle->calc_pwm();
     }
 
 

APMrover2/commands.pde

@@ -82,5 +82,5 @@ static void restart_nav()
 {  
     g.pidSpeedThrottle.reset_I();
     prev_WP = current_loc;
-    mission.resume();
+    mission.start_or_resume();
 }

APMrover2/commands_logic.pde

@@ -96,12 +96,17 @@ start_command(const AP_Mission::Mission_Command& cmd)
 		// system to control the vehicle attitude and the attitude of various
 		// devices such as cameras.
 		//    |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
-		case MAV_CMD_DO_SET_ROI:
-#if 0
-            // not supported yet
-			camera_mount.set_roi_cmd(&cmd.content.location);
-#endif
-			break;
+        case MAV_CMD_DO_SET_ROI:
+            if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
+                // switch off the camera tracking if enabled
+                if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
+                    camera_mount.set_mode_to_default();
+                }
+            } else {
+                // send the command to the camera mount
+                camera_mount.set_roi_cmd(&cmd.content.location);
+            }
+            break;
 
 		case MAV_CMD_DO_MOUNT_CONFIGURE:	// Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
 			camera_mount.configure_cmd();
@@ -161,6 +166,10 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)
             break;
 
         default:
+            if (cmd.id > MAV_CMD_CONDITION_LAST) {
+                // this is a command that doesn't require verify
+                return true;
+            }
             gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command"));
             return true;
             break;
@@ -299,8 +308,9 @@ static void do_take_picture()
 {
 #if CAMERA == ENABLED
     camera.trigger_pic();
+    gcs_send_message(MSG_CAMERA_FEEDBACK);
     if (should_log(MASK_LOG_CAMERA)) {
-        Log_Write_Camera();
+        DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
     }
 #endif
 }

APMrover2/compat.h

@@ -2,9 +2,6 @@
 #ifndef __COMPAT_H__
 #define __COMPAT_H__
 
-#define OUTPUT GPIO_OUTPUT
-#define INPUT GPIO_INPUT
-
 #define HIGH 1
 #define LOW 0
 

APMrover2/config.h

@@ -49,70 +49,52 @@
 #define DISABLED		0
 
 //////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-// HARDWARE CONFIGURATION AND CONNECTIONS
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
+// sensor types
+
+#define CONFIG_BARO     HAL_BARO_DEFAULT
+#define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
+
+#ifdef HAL_SERIAL0_BAUD_DEFAULT
+# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
-// LED and IO Pins
-//
+// HIL_MODE                                 OPTIONAL
+
+#ifndef HIL_MODE
+ #define HIL_MODE        HIL_MODE_DISABLED
+#endif
+
+#if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
+ #undef CONFIG_BARO
+ #define CONFIG_BARO HAL_BARO_HIL
+ #undef  CONFIG_COMPASS
+ #define CONFIG_COMPASS HAL_COMPASS_HIL
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-# define CONFIG_INS_TYPE   CONFIG_INS_OILPAN
-# define CONFIG_COMPASS  AP_COMPASS_HMC5843
-# define CONFIG_BARO     AP_BARO_BMP085
 # define BATTERY_PIN_1	  0
 # define CURRENT_PIN_1	  1
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
-# define CONFIG_INS_TYPE   CONFIG_INS_MPU6000
-# define CONFIG_COMPASS  AP_COMPASS_HMC5843
-# ifdef APM2_BETA_HARDWARE
-#  define CONFIG_BARO     AP_BARO_BMP085
-# else // APM2 Production Hardware (default)
-#  define CONFIG_BARO          AP_BARO_MS5611
-#  define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
-# endif
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
-# define CONFIG_INS_TYPE CONFIG_INS_HIL
-# define CONFIG_COMPASS  AP_COMPASS_HIL
-# define CONFIG_BARO     AP_BARO_HIL
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
-# define CONFIG_INS_TYPE   CONFIG_INS_PX4
-# define CONFIG_COMPASS  AP_COMPASS_PX4
-# define CONFIG_BARO AP_BARO_PX4
 # define BATTERY_PIN_1	  -1
 # define CURRENT_PIN_1	  -1
 #elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
-# define CONFIG_INS_TYPE   CONFIG_INS_FLYMAPLE
-# define CONFIG_COMPASS  AP_COMPASS_HMC5843
-# define CONFIG_BARO AP_BARO_BMP085
 # define BATTERY_PIN_1     20
 # define CURRENT_PIN_1	   19
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-# define CONFIG_INS_TYPE   CONFIG_INS_L3G4200D
-# define CONFIG_COMPASS  AP_COMPASS_HMC5843
-# define CONFIG_BARO     AP_BARO_BMP085
 # define BATTERY_PIN_1     -1
 # define CURRENT_PIN_1	   -1
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-# define CONFIG_INS_TYPE   CONFIG_INS_VRBRAIN
-# define CONFIG_COMPASS  AP_COMPASS_VRBRAIN
-# define CONFIG_BARO AP_BARO_VRBRAIN
 # define BATTERY_PIN_1	  -1
 # define CURRENT_PIN_1	  -1
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// IMU Selection
-//
-#ifndef CONFIG_INS_TYPE
-# define CONFIG_INS_TYPE CONFIG_INS_OILPAN
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // HIL_MODE                                 OPTIONAL
 
@@ -120,13 +102,6 @@
 #define HIL_MODE	HIL_MODE_DISABLED
 #endif
 
-#if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
- #undef CONFIG_INS_TYPE
- #define CONFIG_INS_TYPE CONFIG_INS_HIL
- #undef  CONFIG_COMPASS
- #define CONFIG_COMPASS  AP_COMPASS_HIL
-#endif
-
 #ifndef MAV_SYSTEM_ID
 # define MAV_SYSTEM_ID		1
 #endif
@@ -144,6 +119,19 @@
 # define SERIAL2_BAUD			 57600
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// FrSky telemetry support
+//
+
+#ifndef FRSKY_TELEM_ENABLED
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
+ # define FRSKY_TELEM_ENABLED DISABLED
+#else
+ # define FRSKY_TELEM_ENABLED ENABLED
+#endif
+#endif
+
+
 #ifndef CH7_OPTION
 # define CH7_OPTION		          CH7_SAVE_WP
 #endif

APMrover2/defines.h

@@ -71,9 +71,9 @@ enum mode {
 #define LOG_ATTITUDE_MSG        0x08
 #define LOG_MODE_MSG            0x09
 #define LOG_COMPASS_MSG         0x0A
-#define LOG_CAMERA_MSG          0x0B
 #define LOG_COMPASS2_MSG        0x0C
 #define LOG_STEERING_MSG        0x0D
+#define LOG_COMPASS3_MSG        0x0E
 
 #define TYPE_AIRSTART_MSG		0x00
 #define TYPE_GROUNDSTART_MSG	0x01
@@ -117,9 +117,6 @@ enum mode {
 // Climb rate calculations
 #define	ALTITUDE_HISTORY_LENGTH 8	//Number of (time,altitude) points to regress a climb rate from
 
-#define RELAY_PIN 47
-
-
 // sonar
 #define MAX_SONAR_XL 0
 #define MAX_SONAR_LV 1
@@ -129,38 +126,16 @@ enum mode {
 
 #define SPEEDFILT 400			// centimeters/second; the speed below which a groundstart will be triggered
 
-
-// EEPROM addresses
-// parameters get the first 1KiB of EEPROM, remainder is for mission commands
-#define MISSION_START_BYTE  0x500
-#define MISSION_END_BYTE    HAL_STORAGE_SIZE_AVAILABLE
-
 // convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
 #define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
 
 // mark a function as not to be inlined
 #define NOINLINE __attribute__((noinline))
 
-// InertialSensor driver types
-#define CONFIG_INS_OILPAN  1
-#define CONFIG_INS_MPU6000 2
-#define CONFIG_INS_HIL     3
-#define CONFIG_INS_PX4     4
-#define CONFIG_INS_FLYMAPLE 5
-#define CONFIG_INS_L3G4200D 6
-#define CONFIG_INS_VRBRAIN 7
-
-// barometer driver types
-#define AP_BARO_BMP085   1
-#define AP_BARO_MS5611   2
-#define AP_BARO_PX4      3
-#define AP_BARO_HIL      4
-#define AP_BARO_VRBRAIN  5
-
-// compass driver types
-#define AP_COMPASS_HMC5843   1
-#define AP_COMPASS_PX4       2
-#define AP_COMPASS_HIL       3
-#define AP_COMPASS_VRBRAIN   4
+enum Serial2Protocol {
+    SERIAL2_MAVLINK     = 1,
+    SERIAL2_FRSKY_DPORT = 2,
+    SERIAL2_FRSKY_SPORT = 3 // not supported yet
+};
 
 #endif // _DEFINES_H

APMrover2/radio.pde

@@ -12,6 +12,10 @@ static void set_control_channels(void)
 	// set rc channel ranges
 	channel_steer->set_angle(SERVO_MAX);
 	channel_throttle->set_angle(100);
+
+    // setup correct scaling for ESCs like the UAVCAN PX4ESC which
+    // take a proportion of speed. 
+    hal.rcout->set_esc_scaling(channel_throttle->radio_min, channel_throttle->radio_max);
 }
 
 static void init_rc_in()
@@ -28,7 +32,10 @@ static void init_rc_out()
 {
     RC_Channel::rc_channel(CH_1)->enable_out();
     RC_Channel::rc_channel(CH_3)->enable_out();
-    RC_Channel::output_trim_all();
+    RC_Channel::output_trim_all();    
+
+    // setup PWM values to send if the FMU firmware dies
+    RC_Channel::setup_failsafe_trim_all();  
 }
 
 static void read_radio()

APMrover2/release-notes.txt

+Release 2.47, November 15th 2014
+--------------------------------
+
+The ardupilot development team is proud to announce the release of 
+version 2.47 of APM:Rover. This is a minor bug fix release.  The most 
+important change in this release is the fixing of the skid steering 
+support but there have been a number of fixes in other areas as well.
+
+Full changes list for this release:
+
+  - add support for controlling safety switch on Pixhawk from ground station
+
+  - prevent reports of failed AHRS during initialisation
+
+  - fixed skid steering that was broken in the last release
+
+  - report gyro unhealthy if gyro calibration failed
+
+  - fixed dual sonar support in CLI sonar test
+
+  - fixed Nuttx crash on Pixhawk with bad I2C cables
+
+  - added GPS_SBAS_MODE parameter - turns on/off satellite based augemtation system for GPS
+
+  - added GPS_MIN_ELEV parameter - specifiy the elevation mask for GPS satellites
+
+  - added RELAY_DEFAULT parameter to control default of relay on startup
+
+  - fixed bug in FRAM storage on Pixhawk that could cause parameters changes not to be saved
+
+  - better handling of compass errors in the EKF (Extended Kalman Filter)
+
+  - improved support for linux based autopilots
+
+  - added support for PulsedLight LIDAR as a range finder
+
+Many thanks to everyone who contributed to this release, especially
+Tom Coyle and Linus Penzlien for their excellent testing and feedback.
+
+Happy driving!
+
+
+
+Release 2.46, August 26th 2014
+------------------------------
+
+The ardupilot development team is proud to announce the release of
+version 2.46 of APM:Rover. This is a major release with a lot of new
+features and bug fixes.
+
+This release is based on a lot of development and testing that
+happened prior to the AVC competition where APM based vehicles
+performed very well.
+
+Full changes list for this release:
+
+  - added support for higher baudrates on telemetry ports, to make it
+    easier to use high rate telemetry to companion boards. Rates of up
+    to 1.5MBit are now supported to companion boards.
+
+  - new Rangefinder code with support for a wider range of rangefinder
+    types including a range of Lidars (thanks to Allyson Kreft)
+
+  - added logging of power status on Pixhawk
+
+  - added PIVOT_TURN_ANGLE parameter for pivot based turns on skid
+    steering rovers
+
+  - lots of improvements to the EKF support for Rover, thanks to Paul
+    Riseborough and testing from Tom Coyle. Using the EKF can greatly
+    improve navigation accuracy for fast rovers. Enable with
+    AHRS_EKF_USE=1. 
+
+  - improved support for dual GPS on Pixhawk. Using a 2nd GPS can
+    greatly improve performance when in an area with an obstructed
+    view of the sky
+
+  - support for up to 14 RC channels on Pihxawk
+
+  - added BRAKING_PERCENT and BRAKING_SPEEDERR parameters for better
+    breaking support when cornering
+
+  - added support for FrSky telemetry via SERIAL2_PROTOCOL parameter
+    (thanks to Matthias Badaire)
+
+  - added support for Linux based autopilots, initially with the PXF
+    BeagleBoneBlack cape and the Erle robotics board. Support for more
+    boards is expected in future releases. Thanks to Victor, Sid and
+    Anuj for their great work on the Linux port. 
+
+  - added StorageManager library, which expands available FRAM storage
+    on Pixhawk to 16 kByte. This allows for 724 waypoints, 50 rally
+    points and 84 fence points on Pixhawk.
+
+  - improved reporting of magnetometer and barometer errors to the GCS
+
+  - fixed a bug in automatic flow control detection for serial ports
+    in Pixhawk
+
+  - fixed use of FMU servo pins as digital inputs on Pixhawk
+
+  - imported latest updates for VRBrain boards (thanks to Emile
+    Castelnuovo and Luca Micheletti)
+
+  - updates to the Piksi GPS support (thanks to Niels Joubert)
+
+  - improved gyro estimate in DCM (thanks to Jon Challinger)
+
+  - improved position projection in DCM in wind (thanks to Przemek
+    Lekston)
+
+  - several updates to AP_NavEKF for more robust handling of errors
+    (thanks to Paul Riseborough)
+
+  - lots of small code cleanups thanks to Daniel Frenzel
+
+  - initial support for NavIO board from Mikhail Avkhimenia
+
+  - fixed logging of RCOU for up to 12 channels (thanks to Emile
+    Castelnuovo)
+
+  - code cleanups from Silvia Nunezrivero
+
+  - improved parameter download speed on radio links with no flow
+    control
+
+Many thanks to everyone who contributed to this release, especially
+Tom Coyle and Linus Penzlien for their excellent testing and feedback.
+
+Happy driving!

APMrover2/sensors.pde

@@ -9,13 +9,7 @@ static void init_barometer(void)
 
 static void init_sonar(void)
 {
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-    sonar.Init(&adc);
-    sonar2.Init(&adc);
-#else
-    sonar.Init(NULL);
-    sonar2.Init(NULL);
-#endif
+    sonar.init();
 }
 
 // read_battery - reads battery voltage and current and invokes failsafe
@@ -37,15 +31,17 @@ void read_receiver_rssi(void)
 // read the sonars
 static void read_sonars(void)
 {
-    if (!sonar.enabled()) {
+    sonar.update();
+
+    if (!sonar.healthy()) {
         // this makes it possible to disable sonar at runtime
         return;
     }
 
-    if (sonar2.enabled()) {
+    if (sonar.healthy(1)) {
         // we have two sonars
-        obstacle.sonar1_distance_cm = sonar.distance_cm();
-        obstacle.sonar2_distance_cm = sonar2.distance_cm();
+        obstacle.sonar1_distance_cm = sonar.distance_cm(0);
+        obstacle.sonar2_distance_cm = sonar.distance_cm(1);
         if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm &&
             obstacle.sonar2_distance_cm <= (uint16_t)obstacle.sonar2_distance_cm)  {
             // we have an object on the left
@@ -72,7 +68,7 @@ static void read_sonars(void)
         }
     } else {
         // we have a single sonar
-        obstacle.sonar1_distance_cm = sonar.distance_cm();
+        obstacle.sonar1_distance_cm = sonar.distance_cm(0);
         obstacle.sonar2_distance_cm = 0;
         if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm)  {
             // obstacle detected in front 

APMrover2/setup.pde

@@ -341,9 +341,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 				mode != AUTO &&
 				mode != RTL) 
 			{
-				if (mode < MANUAL)
-					mode = RTL;
-				else if (mode > RTL)
+				if (mode > RTL)
 					mode = MANUAL;
 				else
 					mode += radioInputSwitch;
@@ -445,7 +443,7 @@ setup_compass(uint8_t argc, const Menu::arg *argv)
 		g.compass_enabled = false;
 
 	} else if (!strcmp_P(argv[1].str, PSTR("reset"))) {
-		compass.set_offsets(0,0,0);
+		compass.set_and_save_offsets(0,0,0,0);
 
 	} else {
 		cliSerial->printf_P(PSTR("\nOptions:[on,off,reset]\n"));
@@ -467,9 +465,13 @@ static void report_batt_monitor()
     //print_blanks(2);
     cliSerial->printf_P(PSTR("Batt Mointor\n"));
     print_divider();
-    if(battery.monitoring() == AP_BATT_MONITOR_DISABLED) cliSerial->printf_P(PSTR("Batt monitoring disabled"));
-    if(battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_ONLY) cliSerial->printf_P(PSTR("Monitoring batt volts"));
-    if(battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) cliSerial->printf_P(PSTR("Monitoring volts and current"));
+    if (battery.num_instances() == 0) {
+        cliSerial->printf_P(PSTR("Batt monitoring disabled"));
+    } else if (!battery.has_current()) {
+        cliSerial->printf_P(PSTR("Monitoring batt volts"));
+    } else {
+        cliSerial->printf_P(PSTR("Monitoring volts and current"));
+    }
     print_blanks(2);
 }
 static void report_radio()
@@ -652,11 +654,8 @@ radio_input_switch(void)
 
 static void zero_eeprom(void)
 {
-	uint8_t b = 0;
 	cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
-	for (uint16_t i = 0; i < HAL_STORAGE_SIZE_AVAILABLE; i++) {
-		hal.storage->write_byte(i, b);
-	}
+    StorageManager::erase();
 	cliSerial->printf_P(PSTR("done\n"));
 }
 

APMrover2/system.pde

@@ -117,7 +117,7 @@ static void init_ardupilot()
     set_control_channels();
 
     // after parameter load setup correct baud rate on uartA
-    hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));
+    hal.uartA->begin(map_baudrate(g.serial0_baud));
 
     // keep a record of how many resets have happened. This can be
     // used to detect in-flight resets
@@ -135,14 +135,14 @@ static void init_ardupilot()
     check_usb_mux();
 
     // we have a 2nd serial port for telemetry
-    hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128);
-	gcs[1].init(hal.uartC);
+    gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, 128);
 
 #if MAVLINK_COMM_NUM_BUFFERS > 2
-    // we may have a 3rd serial port for telemetry
-    if (hal.uartD != NULL) {
-        hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128);
-        gcs[2].init(hal.uartD);
+    if (g.serial2_protocol == SERIAL2_FRSKY_DPORT || 
+        g.serial2_protocol == SERIAL2_FRSKY_SPORT) {
+        frsky_telemetry.init(hal.uartD, g.serial2_protocol);
+    } else {
+        gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, 128);
     }
 #endif
 
@@ -167,7 +167,7 @@ static void init_ardupilot()
     hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-    adc.Init();      // APM ADC library initialization
+    apm1_adc.Init();      // APM ADC library initialization
 #endif
 
 	if (g.compass_enabled==true) {
@@ -189,10 +189,6 @@ static void init_ardupilot()
 	// Do GPS init
 	gps.init(&DataFlash);
 
-	//mavlink_system.sysid = MAV_SYSTEM_ID;				// Using g.sysid_this_mav
-	mavlink_system.compid = 1;	//MAV_COMP_ID_IMU;   // We do not check for comp id
-	mavlink_system.type = MAV_TYPE_GROUND_ROVER;
-
     rc_override_active = hal.rcin->set_overrides(rc_override, 8);
 
 	init_rc_in();		// sets up rc channels from radio
@@ -262,6 +258,7 @@ static void startup_ground(void)
     mission.init();
 
     hal.uartA->set_blocking_writes(false);
+    hal.uartB->set_blocking_writes(false);
     hal.uartC->set_blocking_writes(false);
 
 	gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to drive."));
@@ -324,6 +321,24 @@ static void set_mode(enum mode mode)
     }
 }
 
+/*
+  set_mode() wrapper for MAVLink SET_MODE
+ */
+static bool mavlink_set_mode(uint8_t mode)
+{
+    switch (mode) {
+    case MANUAL:
+    case HOLD:
+    case LEARNING:
+    case STEERING:
+    case AUTO:
+    case RTL:
+        set_mode((enum mode)mode);
+        return true;
+    }
+    return false;
+}
+
 /*
   called to set/unset a failsafe event. 
  */
@@ -378,6 +393,7 @@ static void startup_INS_ground(bool force_accel_level)
 
     ahrs.init();
 	ahrs.set_fly_forward(true);
+    ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
 
     AP_InertialSensor::Start_style style;
     if (g.skip_gyro_cal && !force_accel_level) {
@@ -412,27 +428,6 @@ static void resetPerfData(void) {
 }
 
 
-/*
-  map from a 8 bit EEPROM baud rate to a real baud rate
- */
-static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
-{
-    switch (rate) {
-    case 1:    return 1200;
-    case 2:    return 2400;
-    case 4:    return 4800;
-    case 9:    return 9600;
-    case 19:   return 19200;
-    case 38:   return 38400;
-    case 57:   return 57600;
-    case 111:  return 111100;
-    case 115:  return 115200;
-    }
-    cliSerial->println_P(PSTR("Invalid baudrate"));
-    return default_baud;
-}
-
-
 static void check_usb_mux(void)
 {
     bool usb_check = hal.gpio->usb_connected();
@@ -451,7 +446,7 @@ static void check_usb_mux(void)
     if (usb_connected) {
         hal.uartA->begin(SERIAL0_BAUD);
     } else {
-        hal.uartA->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD));
+        hal.uartA->begin(map_baudrate(g.serial1_baud));
     }
 #endif
 }
@@ -495,7 +490,7 @@ static uint8_t check_digital_pin(uint8_t pin)
         return 0;
     }
     // ensure we are in input mode
-    hal.gpio->pinMode(dpin, GPIO_INPUT);
+    hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
 
     // enable pullup
     hal.gpio->write(dpin, 1);
@@ -536,3 +531,14 @@ static bool should_log(uint32_t mask)
     }
     return ret;
 }
+
+/*
+  send FrSky telemetry. Should be called at 5Hz by scheduler
+ */
+static void telemetry_send(void)
+{
+#if FRSKY_TELEM_ENABLED == ENABLED
+    frsky_telemetry.send_frames((uint8_t)control_mode, 
+                                (AP_Frsky_Telem::FrSkyProtocol)g.serial2_protocol.get());
+#endif
+}