Merge fixes from branch 'v3.9'

* fix 3d plotting in calibration script to also work with matplotlib versions < 1.0
* turntable airframe files
* baro_bmp module hack to updated fw alt_kalman
* tunable nav_catapult
* logger led colors

conf/airframes/ENAC/fixed-wing/weasel.xml

@@ -146,14 +146,14 @@
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="0.159999996424"/> <!-- -0.024 -->
     <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="5."/>
+    <define name="ALTITUDE_MAX_CLIMB" value="5." unit="m/s"/>
 
     <!-- Cruise throttle + limits -->
     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="20." unit="deg"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-20." unit="deg"/>
 
     <!-- Climb loop (throttle) -->
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
@@ -175,11 +175,11 @@
     <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
     <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="30"/>
-    <define name="AIRSPEED_MIN" value="10"/>
+    <define name="AIRSPEED_MAX" value="30" unit="m/s"/>
+    <define name="AIRSPEED_MIN" value="10" unit="m/s"/>
 
     <!-- groundspeed control -->
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
+    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15" unit="m/s"/>
     <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
     <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
 

conf/airframes/examples/microjet_lisa_m.xml

@@ -12,9 +12,11 @@
     <target name="sim" 	board="pc"/>
     <target name="ap"   board="lisa_m_1.0"/>
 
-    <define name="AGR_CLIMB" />
-    <define name="LOITER_TRIM" />
-    <define name="ALT_KALMAN" />
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="USE_BARO_BMP"/>
+
 
     <subsystem name="radio_control" type="ppm"/>
 
@@ -32,6 +34,10 @@
 
   <modules>
     <load name="sys_mon.xml"/>
+    <load name="baro_bmp.xml">
+      <define name="BMP_I2C_DEV" value="i2c2"/>
+      <define name="USE_I2C2"/>
+    </load>
   </modules>
 
   <servos>

conf/airframes/Poine/turntable.xml → conf/airframes/turntable.xml

@@ -1,4 +1,4 @@
-<airframe name="MOTOR_BENCH">
+<airframe name="Turntable">
 
   <makefile>
 ARCH=lpc21
@@ -9,6 +9,9 @@ MB=firmwares/motor_bench
 
 main.ARCHDIR = $(ARCH)
 
+# uncomment the next line to set the number of steps the encoder has (default 256)
+#main.CFLAGS += -DNB_STEP=256
+
 main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" -I$(MB)
 main.CFLAGS += -DPERIPHERALS_AUTO_INIT
 main.srcs = $(MB)/main_turntable.c
@@ -20,24 +23,13 @@ main.CFLAGS += -DUSE_LED
 main.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 main.srcs += mcu_periph/sys_time.c $(MB)/turntable_systime.c
 
-#main.CFLAGS += -DUSE_USB_SERIAL
-#main.srcs += $(SRC_ARCH)/usb_ser_hw.c
-#main.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
-#main.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-#main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
-
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
 main.srcs += mcu_periph/uart.c
 main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 
 main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 
-main.CFLAGS += -DMB_TACHO
-main.srcs += $(MB)/mb_tacho.c
-
-
-
   </makefile>
 
 </airframe>

conf/airframes/turntable_usb.xml

@@ -0,0 +1,36 @@
+<airframe name="TurntableUsb">
+
+  <makefile>
+ARCH=lpc21
+
+FLASH_MODE = IAP
+
+MB=firmwares/motor_bench
+
+main.ARCHDIR = $(ARCH)
+
+# uncomment the next line to set the number of steps the encoder has (default 256)
+#main.CFLAGS += -DNB_STEP=256
+
+main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" -I$(MB)
+main.CFLAGS += -DPERIPHERALS_AUTO_INIT
+main.srcs = $(MB)/main_turntable.c
+main.srcs += $(SRC_ARCH)/armVIC.c
+main.srcs += mcu.c
+main.srcs += $(SRC_ARCH)/mcu_arch.c
+
+main.CFLAGS += -DUSE_LED
+main.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
+main.srcs += mcu_periph/sys_time.c $(MB)/turntable_systime.c
+
+main.CFLAGS += -DUSE_USB_SERIAL
+main.srcs += $(SRC_ARCH)/usb_ser_hw.c
+main.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
+main.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
+main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
+
+main.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+
+  </makefile>
+
+</airframe>

conf/firmwares/subsystems/fixedwing/ins_xsens.makefile

@@ -31,14 +31,17 @@ ifeq ($(TARGET), ap)
 #  </makefile>
 
 # ImuEvent -> XSensEvent
-ap.CFLAGS += -DUSE_AHRS
+ap.CFLAGS += -DUSE_AHRS -DUSE_INS
 ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_xsens.h\"
 
 # AHRS Results
-ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_xsens.h\"
 ap.CFLAGS += -DINS_MODULE_H=\"modules/ins/ins_xsens.h\"
+ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_xsens.h\"
 ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
 
+#B230400
+#B115200
+
 ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
 ap.CFLAGS += -DINS_LINK=Uart$(XSENS_UART_NR)
 ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=B230400

conf/modules/baro_bmp.xml

@@ -18,7 +18,7 @@
   <init fun="baro_bmp_init()"/>
   <periodic fun="baro_bmp_periodic()" freq="8"/>
   <event fun="baro_bmp_event()"/>
-  <makefile target="ap">
+  <makefile>
     <file name="baro_bmp.c"/>
   </makefile>
 </module>

conf/settings/control/nav_catapult.xml

@@ -0,0 +1,13 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<settings>
+  <dl_settings name="control">
+    <dl_settings name="catapult">
+      <dl_setting max="250" min="1" step="1" module="nav/nav_catapult" var="nav_catapult_motor_delay" shortname="Motor Delay" param="NAV_CATAPULT_MOTOR_DELAY" unit="step" />
+      <dl_setting max="3.0" min="-3.0" step="0.1" var="nav_catapult_acceleration_threshold" shortname="G-Threshold" param="NAV_CATAPULT_ACCELERATION_THRESHOLD" unit="g" />
+      <dl_setting max="600" min="15" step="15" var="nav_catapult_heading_delay" shortname="Heading-Delay" param="NAV_CATAPULT_HEADING_DELAY" unit="step" />
+      <dl_setting max="1.0" min="-0.5" step="0.01" var="nav_catapult_initial_pitch" shortname="TO Pitch" param="NAV_CATAPULT_INITIAL_PITCH" unit="rad" />
+      <dl_setting max="1.0" min="0.0" step="0.01" var="nav_catapult_initial_throttle" shortname="TO Gas" param="NAV_CATAPULT_INITIAL_THROTTLE" unit="percent" />
+    </dl_settings>
+  </dl_settings>
+</settings>

sw/airborne/estimator.c

@@ -113,7 +113,6 @@ bool_t alt_kalman_enabled;
 #endif
 
 #define GPS_SIGMA2 1.
-
 #define GPS_DT 0.25
 #define GPS_R 2.
 
@@ -150,6 +149,12 @@ void alt_kalman(float gps_z) {
     R = baro_ets_r;
     SIGMA2 = baro_ets_sigma2;
   } else
+#elif USE_BARO_BMP
+  if (baro_bmp_enabled) {
+    DT = BARO_BMP_DT;
+    R = baro_bmp_r;
+    SIGMA2 = baro_bmp_sigma2;
+  } else
 #endif
   {
     DT = GPS_DT;
@@ -205,7 +210,7 @@ void estimator_update_state_gps( void ) {
   gps_north -= nav_utm_north0;
 
   EstimatorSetPosXY(gps_east, gps_north);
-#ifndef USE_BARO_ETS
+#if !USE_BARO_BMP && !USE_BARO_ETS && !USE_BARO_MS5534A
   float falt = gps.hmsl / 1000.;
   EstimatorSetAlt(falt);
 #endif
@@ -217,4 +222,3 @@ void estimator_update_state_gps( void ) {
   // Heading estimation now in ahrs_infrared
 
 }
-

sw/airborne/estimator.h

@@ -40,6 +40,10 @@
 #include "modules/sensors/baro_ets.h"
 #endif
 
+#if USE_BARO_BMP
+#include "modules/sensors/baro_bmp.h"
+#endif
+
 /* position in meters, ENU frame, relative to reference */
 extern float estimator_x; ///< east position in meters
 extern float estimator_y; ///< north position in meters
@@ -92,7 +96,7 @@ extern void alt_kalman( float );
 #ifdef ALT_KALMAN
 #define EstimatorSetPosXY(x, y) { estimator_x = x; estimator_y = y; }
 
-#if USE_BARO_MS5534A || USE_BARO_ETS
+#if USE_BARO_MS5534A || USE_BARO_ETS || USE_BARO_BMP
 /* Kalman filter cannot be disabled in this mode (no z_dot) */
 #define EstimatorSetAlt(z) alt_kalman(z)
 #else /* USE_BARO_x */

sw/airborne/firmwares/logger/main_logger.c

@@ -92,6 +92,9 @@
 #include "max11040.h"
 #endif
 
+#include "LPC21xx.h"
+
+
 #ifndef FALSE
 #define FALSE 0
 #endif
@@ -326,7 +329,7 @@ void log_xbee(unsigned char c, unsigned char source)
 #ifndef USE_MAX11040
     log_payload(xbeel_payload_len-XBEE_RFDATA_OFFSET, source, xbeel_timestamp);
 #endif
-    LED_TOGGLE(3);
+    LED_TOGGLE(LED_GREEN);
     goto restart;
   }
   return;
@@ -380,7 +383,7 @@ void log_pprz(unsigned char c, unsigned char source)
 #ifndef USE_MAX11040
     log_payload(pprzl_payload_len, source, pprzl_timestamp);
 #endif
-    LED_TOGGLE(3);
+    LED_TOGGLE(LED_GREEN);
     goto restart;
   }
   return;
@@ -422,7 +425,7 @@ int do_log(void)
 #ifdef USE_MAX11040
       if ((max11040_data == MAX11040_DATA_AVAILABLE) &&
           (max11040_buf_in != max11040_buf_out)) {
-//        LED_TOGGLE(3);
+//        LED_TOGGLE(LED_GREEN);
         int i;
 
         max11040_data = MAX11040_IDLE;
@@ -450,7 +453,7 @@ int do_log(void)
         temp = 0;
         while (Uart0ChAvailable() && (temp++ < 128))
         {
-//			LED_TOGGLE(3);
+//			LED_TOGGLE(LED_GREEN);
 			inc = Uart0Getch();
 #ifdef LOG_XBEE
             log_xbee(inc, LOG_SOURCE_UART0);
@@ -467,7 +470,7 @@ int do_log(void)
         temp = 0;
         while (Uart1ChAvailable() && (temp++ < 128))
         {
-//			LED_TOGGLE(3);
+//			LED_TOGGLE(LED_GREEN);
 			inc = Uart1Getch();
 #ifdef LOG_XBEE
             log_xbee(inc, LOG_SOURCE_UART1);
@@ -481,7 +484,7 @@ int do_log(void)
         }
 #endif
     }
-    LED_OFF(3);
+    LED_OFF(LED_GREEN);
 
     file_fclose( &filew );
     fs_umount( &efs.myFs ) ;
@@ -528,11 +531,52 @@ int main(void)
 #endif
 
 
+#ifdef _DEBUG_BOARD_
+  while(1)
+  {
+    if (IO0PIN & (1 << LOG_STOP_KEY))
+    {
+      LED_ON(LED_YELLOW);
+    }
+    else
+    {
+      LED_OFF(LED_YELLOW);
+    }
+
+    if (IO1PIN & (1 << CARD_DETECT_PIN))
+    {
+      LED_OFF(LED_GREEN);
+    }
+    else
+    {
+      LED_ON(LED_GREEN);
+    }
+
+    if (IO0PIN & (1 << POWER_DETECT_PIN))
+//    if (IO0PIN & (1 << VBUS_PIN))
+    {
+      LED_ON(LED_RED);
+    }
+    else
+    {
+      LED_OFF(LED_RED);
+    }
+  }
+#endif
+
+  // Direct SD Reader Mode
+  if ((IO0PIN & _BV(VBUS_PIN))>>VBUS_PIN)
+  {
+    LED_OFF(LED_YELLOW);
+    LED_ON(LED_RED);
+    main_mass_storage();
+  }
+
   while(1)
   {
-    LED_ON(2);
+    LED_ON(LED_YELLOW);
     do_log();
-    LED_OFF(2);
+    LED_OFF(LED_YELLOW);
 
     waitloop = 0;
     ledcount = 0;
@@ -544,9 +588,9 @@ int main(void)
       {
         if (ledcount++ > 9) {
           ledcount=0;
-          LED_ON(2);
+          LED_ON(LED_YELLOW);
         } else {
-          LED_OFF(2);
+          LED_OFF(LED_YELLOW);
         }
         if (((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY) == 1) {
           waitloop=0;
@@ -557,12 +601,12 @@ int main(void)
 
       if ((IO0PIN & _BV(VBUS_PIN))>>VBUS_PIN)
       {
-        LED_OFF(2);
-        LED_ON(1);
+        LED_OFF(LED_YELLOW);
+        LED_ON(LED_RED);
         main_mass_storage();
       }
     }
-    LED_ON(2);
+    LED_ON(LED_YELLOW);
     while (((IO0PIN & _BV(LOG_STOP_KEY))>>LOG_STOP_KEY) == 0);
   }
 
@@ -574,12 +618,15 @@ static inline void main_init( void ) {
   sys_time_init();
   led_init();
 
+
 #ifdef USE_MAX11040
   max11040_init_ssp();
   max11040_init();
 #endif
 
   mcu_int_enable();
+
+  PINSEL2 = ~ (0x0c);
 }
 
 static inline void main_periodic_task( void ) {