Merge branch 'dev' into 4.0_beta

* rotorcrafts: additional motor arming options: #174
* rotorcrafts: easier setting/tuning of nominal hover throttle if adaptive filter is not used: #177
* rotorcrafts: some more fixed when changing vertical guidance modes
* bat_checker module
* updated some ADC stuff for lisa/m: #159
  You should now be able to use ADC_1, ADC_2, ADC_3 for the ADCs on the ANALOG1

conf/airframes/CDW/debug_i2c.xml

@@ -213,7 +213,6 @@
   <firmware name="rotorcraft">
 <!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
 <!--     <define name="USE_INS_NAV_INIT"/> -->
-     <define name="USE_ADAPT_HOVER"/>
      <define name="FAILSAFE_GROUND_DETECT"/>
      <define name="USE_GPS_ACC4R"/>
      <target name="ap" board="lisa_l_1.0">

conf/airframes/ENAC/quadrotor/blender.xml

@@ -11,7 +11,6 @@
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
-    <define name="USE_ADAPT_HOVER"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
     <target name="ap" board="booz_1.0">

conf/airframes/ENAC/quadrotor/booz2_g1.xml

@@ -15,7 +15,6 @@
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
-    <define name="USE_ADAPT_HOVER"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
     <target name="ap" board="booz_1.0">

conf/airframes/ENAC/quadrotor/navgo.xml

@@ -10,7 +10,6 @@
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
-    <define name="USE_ADAPT_HOVER"/>
     <define name="USE_ATTITUDE_REF" value="0"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
@@ -105,7 +104,6 @@
 
   <!-- Magnetic field for Toulouse (declination -16°) -->
   <section name="AHRS" prefix="AHRS_">
-    <define name="MAG_UPDATE_YAW_ONLY" value="1"/>
     <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.513081"/>
     <define name="H_Y" value="-0.00242783"/>

conf/airframes/NoVa_L.xml

@@ -242,7 +242,6 @@
   <firmware name="rotorcraft">
 <!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
 <!--     <define name="USE_INS_NAV_INIT"/> -->
-     <define name="USE_ADAPT_HOVER"/>
      <define name="FAILSAFE_GROUND_DETECT"/>
      <define name="USE_GPS_ACC4R"/>
      <target name="ap" board="lisa_l_1.0">

conf/airframes/Poine/booz2_a7.xml

@@ -214,7 +214,6 @@
   <firmware name="rotorcraft">
 <!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
 <!--     <define name="USE_INS_NAV_INIT"/> -->
-     <define name="USE_ADAPT_HOVER"/>
      <define name="FAILSAFE_GROUND_DETECT"/>
      <define name="USE_GPS_ACC4R"/>
      <target name="ap" board="lisa_l_1.0">

conf/airframes/fraser_lisa_m_rotorcraft.xml

@@ -15,6 +15,7 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
       <define name="USE_INS_NAV_INIT"/>
       <configure name="AHRS_ALIGNER_LED" value="3"/>
+      <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING"/>
     </target>
     <target name="sim" board="pc">
       <subsystem name="fdm"           type="nps"/>
@@ -107,39 +108,38 @@
 
   <section name="AHRS" prefix="AHRS_">
     <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="MAG_UPDATE_YAW_ONLY"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="3.3" integer="16"/>
+    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
     <!-- setpoints -->
-    <define name="SP_MAX_P" value="10000" />
-    <define name="SP_MAX_Q" value="10000" />
-    <define name="SP_MAX_R" value="10000" />
-    <define name="DEADBAND_P" value="0" />
-    <define name="DEADBAND_Q" value="0" />
-    <define name="DEADBAND_R" value="200" />
-    <define name="REF_TAU" value="4" />
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="0"/>
+    <define name="DEADBAND_Q" value="0"/>
+    <define name="DEADBAND_R" value="200"/>
+    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
-    <define name="GAIN_P" value="400" />
-    <define name="GAIN_Q" value="400" />
-    <define name="GAIN_R" value="350" />
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
 
-    <define name="IGAIN_P" value="75" />
-    <define name="IGAIN_Q" value="75" />
-    <define name="IGAIN_R" value="50" />
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
 
     <!-- feedforward -->
-    <define name="DDGAIN_P" value="300" />
-    <define name="DDGAIN_Q" value="300" />
-    <define name="DDGAIN_R" value="300" />
+    <define name="DDGAIN_P" value="300"/>
+    <define name="DDGAIN_Q" value="300"/>
+    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
@@ -203,7 +203,7 @@
     <define name="RC_CLIMB_COEF" value ="163"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-    <!--define name="INV_M" value ="0.21"/-->
+    <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">

conf/boards/lisa_m_2.0.makefile

@@ -2,11 +2,11 @@
 #
 # lisa_m_2.0.makefile
 #
-# http://paparazzi.enac.fr/wiki/Lisa/M
+# http://paparazzi.enac.fr/wiki/Lisa/M_v20
 #
 
 BOARD=lisa_m
-BOARD_VERSION=1.0
+BOARD_VERSION=2.0
 BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
 ARCH=stm32

conf/modules/bat_checker.xml

@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+     Battery checker module
+     @define BAT_CHECKER_DELAY Number of seconds the battery voltage has to be
+                               below LOW_BAT_LEVEL before the warning signal is
+                               activated.
+     @define BAT_CHECKER_LED   The LED to use for the warning signal.
+     -->
+<module name="bat_checker">
+  <header>
+    <file name="bat_checker.h"/>
+  </header>
+  <init fun="init_bat_checker()"/>
+  <periodic fun="bat_checker_periodic()" freq="2" autorun="TRUE"/>
+  <makefile>
+    <define name="bat_checker_periodic_FREQ" value="2"/>
+    <file name="bat_checker.c"/>
+  </makefile>
+</module>
+

conf/settings/settings_booz2.xml

@@ -43,6 +43,7 @@
       <dl_setting var="guidance_v_kd" min="0" step="1" max="600"   module="guidance/guidance_v" shortname="kd"/>
       <dl_setting var="guidance_v_ki" min="0" step="1" max="300"   module="guidance/guidance_v" shortname="ki" handler="SetKi" />
       <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
+      <dl_setting var="guidance_v_nominal_throttle" min="0.1" step="0.01" max="0.9" module="guidance/guidance_v" shortname="nominal_throttle" handler="SetNominalHoverThrottle" alt_unit="%" alt_unit_coef="0.000104167"/>
       <dl_setting var="ins_vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
    </dl_settings>
 

sw/airborne/arch/stm32/mcu_periph/i2c_arch.c

@@ -27,24 +27,30 @@ static inline void i2c_reset_init(struct i2c_periph *p);
 #endif
 
 #ifdef USE_I2C1
+#ifndef I2C1_BITRATE
+#define I2C1_BITRATE 200000
+#endif
 static I2C_InitTypeDef  I2C1_InitStruct = {
       .I2C_Mode = I2C_Mode_I2C,
       .I2C_DutyCycle = I2C_DutyCycle_2,
       .I2C_OwnAddress1 = 0x00,
       .I2C_Ack = I2C_Ack_Enable,
       .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-      .I2C_ClockSpeed = 200000
+      .I2C_ClockSpeed = I2C1_BITRATE
 };
 #endif
 
 #ifdef USE_I2C2
+#ifndef I2C2_BITRATE
+#define I2C2_BITRATE 300000
+#endif
 static I2C_InitTypeDef  I2C2_InitStruct = {
       .I2C_Mode = I2C_Mode_I2C,
       .I2C_DutyCycle = I2C_DutyCycle_2,
       .I2C_OwnAddress1 = 0x00,
       .I2C_Ack = I2C_Ack_Enable,
       .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-      .I2C_ClockSpeed = 300000
+      .I2C_ClockSpeed = I2C2_BITRATE
 };
 #endif
 

sw/airborne/boards/lisa_m_1.0.h

@@ -24,35 +24,68 @@
 #define LED_3_GPIO_PIN GPIO_Pin_2
 #define LED_3_AFIO_REMAP ((void)0)
 
+// GPIO pins
+#define LED_4_BANK
+#define LED_4_GPIO GPIOC
+#define LED_4_GPIO_CLK RCC_APB2Periph_GPIOC
+#define LED_4_GPIO_PIN GPIO_Pin_12
+#define LED_4_AFIO_REMAP ((void)0)
+
+#define LED_5_BANK
+#define LED_5_GPIO GPIOC
+#define LED_5_GPIO_CLK RCC_APB2Periph_GPIOC
+#define LED_5_GPIO_PIN GPIO_Pin_10
+#define LED_5_AFIO_REMAP ((void)0)
+
 
 /* configuration for aspirin - and more generaly IMUs */
 #define IMU_ACC_DRDY_RCC_GPIO         RCC_APB2Periph_GPIOB
 #define IMU_ACC_DRDY_GPIO             GPIOB
 #define IMU_ACC_DRDY_GPIO_PORTSOURCE  GPIO_PortSourceGPIOB
 
-/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
-#ifndef ADC_CHANNEL_VSUPPLY
-#define ADC_CHANNEL_VSUPPLY 2
-#endif
+
+
 #define DefaultVoltageOfAdc(adc) (0.00485*adc)
 
 /* Onboard ADCs */
 /*
-   ADC1 PC3/ADC13
-   ADC2 PA0/ADC0
-   ADC3 PC0/ADC10
-   ADC4 PC1/ADC11
-   ADC5 PC5/ADC15
-   ADC6 PA1/ADC1
-   ADC7 PC2/ADC12
-   BATT PC4/ADC14
+   ADC_1 PC3/ADC13
+   ADC_2 PC0/ADC10
+   ADC_3 PC1/ADC11
+   ADC_4 PC5/ADC15
+   ADC_6 PC2/ADC12
+   BATT  PC4/ADC14
 */
 #define BOARD_ADC_CHANNEL_1 ADC_Channel_13
-#define BOARD_ADC_CHANNEL_2 ADC_Channel_0
-// FIXME - removed for now and used for battery monitoring
-//#define BOARD_ADC_CHANNEL_3 ADC_Channel_10
-#define BOARD_ADC_CHANNEL_3 ADC_Channel_14
-#define BOARD_ADC_CHANNEL_4 ADC_Channel_11
+#define BOARD_ADC_CHANNEL_2 ADC_Channel_10
+#define BOARD_ADC_CHANNEL_3 ADC_Channel_11
+// we can only use ADC1,2,3; the last channel is for bat monitoring
+#define BOARD_ADC_CHANNEL_4 ADC_Channel_14
+
+/* provide defines that can be used to access the ADC_x in the code or airframe file
+ * these directly map to the index number of the 4 adc channels defined above
+ * 4th (index 3) is used for bat monitoring by default
+ */
+#define ADC_1 0
+#define ADC_2 1
+#define ADC_3 2
+
+/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
+#ifndef ADC_CHANNEL_VSUPPLY
+#define ADC_CHANNEL_VSUPPLY 3
+#endif
+
+/* GPIO mapping for ADC1 pins, overwrites the default in arch/stm32/mcu_periph/adc_arch.c */
+// FIXME, this is not very nice, is also stm lib specific
+#ifdef USE_AD1
+#define ADC1_GPIO_INIT(gpio) {                  \
+    (gpio).GPIO_Pin  = GPIO_Pin_3 | GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_4; \
+    (gpio).GPIO_Mode = GPIO_Mode_AIN;           \
+    GPIO_Init(GPIOC, (&gpio));                  \
+  }
+#endif // USE_AD1
+
+
 
 #define BOARD_HAS_BARO 1