.gitattributes

@@ -0,0 +1,6 @@
+
+# bash gets confused if you pass in .sh files from windows
+# This breaks Vagrant for some users.
+*.sh text eol=lf
+
+

.gitignore

@@ -54,6 +54,7 @@ ArduCopter/Debug/
 ArduCopter/terrain/*.DAT
 ArduCopter/test.ArduCopter/
 ArduCopter/test/*
+ArduPlane/test/*
 ArduPlane/terrain/*.DAT
 ArduPlane/test.ArduPlane/
 APMrover2/test.APMrover2/
@@ -80,3 +81,4 @@ status.txt
 tags
 test.ArduCopter/*
 Thumbs.db
+!mk/PX4/ROMFS/firmware/*.bin

.travis.yml

@@ -1,15 +1,56 @@
 language: cpp
-
+sudo: false
+addons:
+  apt:
+    sources:
+    - ubuntu-toolchain-r-test
+    - george-edison55-precise-backports
+    packages:
+    - build-essential
+    - gawk
+    - ccache
+    - genromfs
+    - libc6-i386
+    - python-pip
+    - python-dev
+    - zlib1g-dev
+    - gcc-4.9
+    - g++-4.9
+    - cmake
+    - cmake-data
+cache:
+  ccache: true
+  directories:
+  - $HOME/opt
 before_install:
-  -  APMDIR=$(pwd) && pushd .. && $APMDIR/Tools/scripts/install-travis-env.sh -y && . ~/.profile && popd
-
-script: 
-  - Tools/scripts/build_all_travis.sh
-
+- Tools/scripts/configure-ci.sh
+script:
+- pushd ..
+- git clone https://github.com/3drobotics/PX4Firmware-solo.git
+- mv ./PX4Firmware-solo ./PX4Firmware
+- git clone https://github.com/3drobotics/PX4NuttX.git
+- popd
+- . ~/.profile
+- pushd ArduCopter
+- make configure
+- make px4-v2
+before_cache:
+- ccache -z
+compiler:
+- gcc
+deploy:
+  provider: releases
+  api_key:
+    secure: S3M/mXvbc5OcJsqhKmbMa9pvjJ8P/wph9iEFU/nVVCl/yCIW4nzyftK9UcHaCGJDLxdrKWGOZhwd+gTQNcFtTh8pHd5kXwqeF33//qlumHp4k1LPQFSmYea0yKHl3pTejeVxjS4yJ9lms3dIwLL+io/owKjMJY2j/4WGeo6UK7T5M2vn4tY+7A9IeA3DG3l36OsLGBCOAj/kObmNE8ru7lWQWl7EBIqn1EKwqU/TBWL4Z018uADB0GRAmoCHHMtB5dIj93tuS3fOD3dpEOH/cIjNN8AQ2/OK8qVNv+NZuxtjNECX6hMW22UXcJVSGIE5iTqpx2RQWEiQjTu8w6OIe6IauwTO1HCBzTBC2jrHkTEfTRs0jm/JJbjywCa0mZMxaSxf6BRuf3BgIIwes2Xw00eK9UtFvuevsYN6WJuXmYf83zRxZwPW6tChK4lDv9BDb2YMWu7OE0KOZQG7U2dNJxxnCkXl4xVmRC3yPpjtng5gIiIszpHSqa68pMNA+lwBpc9eDngKaRnyeRlEc0qXHn7o6JJmYxrBdNJJbxZqzhUazDo/xicOeEYiKLjuWtVUzuXyQRQMlWPKYExuoQadEmj7IpTqN4PPoWL7Moe5eozBwnMa4aROZQTLxDzl8y7M0L4eIZX/FwiXXisiO39D8eTnziGF20njYKr7KO5A8wQ=
+  file: 'ArduCopter-v2.px4'
+  skip_cleanup: true
+  on:
+    tags: true
+    all_branches: true
 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
+  slack:
+    rooms:
+      - 3dr:tT1PqGCjL6mimPYss3XRrVL7
+    on_failure: change
+    on_success: change
+

APMrover2/APMrover2.pde

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduRover v2.48"
+#define THISFIRMWARE "ArduRover v2.49"
 /*
    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
@@ -204,29 +204,21 @@ static AP_Int8		*modes = &g.mode1;
 
 static AP_Baro barometer;
 
-#if CONFIG_COMPASS == HAL_COMPASS_PX4
-static AP_Compass_PX4 compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
-static AP_Compass_VRBRAIN compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
-static AP_Compass_HMC5843 compass;
-#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
+Compass compass;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 apm1_adc;
 #endif
 
 AP_InertialSensor ins;
 
+////////////////////////////////////////////////////////////////////////////////
+// SONAR
+static RangeFinder sonar;
+
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-AP_AHRS_NavEKF ahrs(ins, barometer, gps);
+AP_AHRS_NavEKF ahrs(ins, barometer, gps, sonar);
 #else
 AP_AHRS_DCM ahrs(ins, barometer, gps);
 #endif
@@ -265,10 +257,6 @@ static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
 // is to take the 0 to 1024 range down to an 8 bit range for MAVLink
 AP_HAL::AnalogSource *rssi_analog_source;
 
-////////////////////////////////////////////////////////////////////////////////
-// SONAR
-static RangeFinder sonar;
-
 // relay support
 AP_Relay relay;
 
@@ -523,7 +511,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { update_notify,          1,    300 },
     { one_second_loop,       50,   3000 },
 #if FRSKY_TELEM_ENABLED == ENABLED
-    { telemetry_send,        10,    100 }	
+    { frsky_telemetry_send,  10,    100 }
 #endif
 };
 
@@ -537,17 +525,17 @@ void setup() {
     // load the default values of variables listed in var_info[]
     AP_Param::setup_sketch_defaults();
 
+    notify.init(false);
+
     // 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);
-
     rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
 
-	init_ardupilot();
+    init_ardupilot();
 
     // initialise the main loop scheduler
     scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
@@ -749,6 +737,8 @@ static void one_second_loop(void)
         }
         counter = 0;
     }
+
+    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
 }
 
 static void update_GPS_50Hz(void)

APMrover2/GCS_Mavlink.pde

@@ -177,11 +177,17 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     int16_t battery_current = -1;
     int8_t battery_remaining = -1;
 
-    if (battery.has_current()) {
+    if (battery.has_current() && battery.healthy()) {
         battery_remaining = battery.capacity_remaining_pct();
         battery_current = battery.current_amps() * 100;
     }
 
+    if (AP_Notify::flags.initialising) {
+        // while initialising the gyros and accels are not enabled
+        control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    }
+
     mavlink_msg_sys_status_send(
         chan,
         control_sensors_present,
@@ -321,29 +327,37 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
 
 static void NOINLINE send_rangefinder(mavlink_channel_t chan)
 {
-    if (!sonar.healthy()) {
+    if (!sonar.has_data(0) && !sonar.has_data(1)) {
         // no sonar to report
         return;
     }
 
+    float distance_cm = 0.0f;
+    float voltage = 0.0f;
+
     /*
-      report smaller distance of two sonars if more than one enabled
+      report smaller distance of two sonars
      */
-    float distance_cm, voltage;
-    if (!sonar.healthy(1)) {
-        distance_cm = sonar.distance_cm(0);
-        voltage = sonar.voltage_mv(0) * 0.001f;
+    if (sonar.has_data(0) && sonar.has_data(1)) {
+        if (sonar.distance_cm(0) <= sonar.distance_cm(1)) {
+            distance_cm = sonar.distance_cm(0);
+            voltage = sonar.voltage_mv(0);
+        } else {
+            distance_cm = sonar.distance_cm(1);
+            voltage = sonar.voltage_mv(1);
+        }
     } else {
-        float dist1 = sonar.distance_cm(0);
-        float dist2 = sonar.distance_cm(1);
-        if (dist1 <= dist2) {
-            distance_cm = dist1;
+        // only sonar 0 or sonar 1 has data
+        if (sonar.has_data(0)) {
+            distance_cm = sonar.distance_cm(0);
             voltage = sonar.voltage_mv(0) * 0.001f;
-        } else {
-            distance_cm = dist2;
+        }
+        if (sonar.has_data(1)) {
+            distance_cm = sonar.distance_cm(1);
             voltage = sonar.voltage_mv(1) * 0.001f;
         }
     }
+
     mavlink_msg_rangefinder_send(
         chan,
         distance_cm * 0.01f,
@@ -427,6 +441,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         send_location(chan);
         break;
 
+    case MSG_LOCAL_POSITION:
+        CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
+        send_local_position(ahrs);
+        break;
+
     case MSG_NAV_CONTROLLER_OUTPUT:
         if (control_mode != MANUAL) {
             CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
@@ -540,6 +559,13 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
 #endif
         break;
 
+    case MSG_EKF_STATUS_REPORT:
+#if AP_AHRS_NAVEKF_AVAILABLE
+        CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
+        ahrs.get_NavEKF().send_status_report(chan);
+#endif
+        break;
+
     case MSG_RETRY_DEFERRED:
     case MSG_TERRAIN:
     case MSG_OPTICAL_FLOW:
@@ -730,6 +756,7 @@ GCS_MAVLINK::data_stream_send(void)
     if (stream_trigger(STREAM_POSITION)) {
         // sent with GPS read
         send_message(MSG_LOCATION);
+        send_message(MSG_LOCAL_POSITION);
     }
 
     if (gcs_out_of_time) return;
@@ -767,6 +794,7 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_SYSTEM_TIME);
         send_message(MSG_BATTERY2);
         send_message(MSG_MOUNT_STATUS);
+        send_message(MSG_EKF_STATUS_REPORT);
     }
 }
 
@@ -841,15 +869,37 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
 
             case MAV_CMD_PREFLIGHT_CALIBRATION:
-                if ((packet.param1 == 1 ||
-                     packet.param2 == 1) &&
-                    packet.param3 == 0) {
-                    startup_INS_ground(true);
+                if (packet.param1 == 1) {
+                    ins.init_gyro();
+                    if (ins.gyro_calibrated_ok_all()) {
+                        ahrs.reset_gyro_drift();
+                        result = MAV_RESULT_ACCEPTED;
+                    } else {
+                        result = MAV_RESULT_FAILED;
+                    }
+                } else if (packet.param3 == 1) {
+                    init_barometer();
                     result = MAV_RESULT_ACCEPTED;
                 } else if (packet.param4 == 1) {
                     trim_radio();
                     result = MAV_RESULT_ACCEPTED;
-                } else {
+                } else if (packet.param5 == 1) {
+                    float trim_roll, trim_pitch;
+                    AP_InertialSensor_UserInteract_MAVLink interact(this);
+                    if (g.skip_gyro_cal) {
+                        // start with gyro calibration, otherwise if the user
+                        // has SKIP_GYRO_CAL=1 they don't get to do it
+                        ins.init_gyro();
+                    }
+                    if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
+                        // reset ahrs's trim to suggested values from calibration routine
+                        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
+                        result = MAV_RESULT_ACCEPTED;
+                    } else {
+                        result = MAV_RESULT_FAILED;
+                    }
+                }
+                else {
                     send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));
                 }
                 break;
@@ -1105,13 +1155,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #if CAMERA == ENABLED
     case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
     {
-        camera.configure_msg(msg);
         break;
     }
 
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
     {
         camera.control_msg(msg);
+        log_picture();
         break;
     }
 #endif // CAMERA == ENABLED
@@ -1157,8 +1207,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_SERIAL_CONTROL:
         handle_serial_control(msg, gps);
         break;
+
+    case MAVLINK_MSG_ID_GPS_INJECT_DATA:
+        handle_gps_inject(msg, gps);
+        break;
+
 #endif
 
+    case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
+        rover.DataFlash.remote_log_block_status_msg(chan, msg);
+        break;
+
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
         gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
         break;
@@ -1232,7 +1291,7 @@ static void gcs_update(void)
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
 #if CLI_ENABLED == ENABLED
-            gcs[i].update(run_cli);
+            gcs[i].update(g.cli_enabled==1?run_cli:NULL);
 #else
             gcs[i].update(NULL);
 #endif