Compiles now.

Author: Slatye

makefiles/config_px4fmu-v1_APM.mk

@@ -0,0 +1,83 @@
+#
+# Makefile for the px4fmu-v1_APM configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(SKETCHBOOK)/mk/PX4/ROMFS
+
+MODULES		+= $(APM_MODULE_DIR)
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/px4io
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/boards/px4fmu-v1
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/l3gd20
+# MODULES		+= drivers/bma180
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/ll40ls
+MODULES		+= drivers/gps
+#MODULES		+= drivers/hil
+#MODULES		+= drivers/hott_telemetry
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/airspeed
+MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/meas_airspeed
+MODULES		+= drivers/mkblctrl
+#MODULES	+= modules/sensors
+
+#
+# System commands
+#
+MODULES		+= systemcmds/mtd
+MODULES		+= systemcmds/bl_update
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/i2c
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/nshterm
+MODULES         += systemcmds/auth
+
+#
+# Libraries
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+MODULES		+= lib/mathlib/math/filter
+MODULES	        += modules/libtomfastmath
+MODULES         += modules/libtomcrypt
+MODULES		+= lib/conversion
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -88,6 +88,8 @@
  */
 #define MIN_ACCURATE_DIFF_PRES_PA 0
 
+#define DIFF_PRES_SCALE_ETS 1 /* Default pressure scaling */
+
 /* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
 
@@ -106,6 +108,11 @@ class ETSAirspeed : public Airspeed
 	virtual int	measure();
 	virtual int	collect();
 
+	/**
+	* Get the default scaling for this sensor
+	*/
+	virtual float	get_default_scale();
+
 };
 
 /*
@@ -164,6 +171,10 @@ ETSAirspeed::collect()
 		log("zero value from sensor"); 
 		return -1;
         }
+	
+	// the ETS sensor outputs Pa directly, so scaling is never applied
+	// to its output. 
+	float diff_pres_pa = (float) diff_pres_pa_raw;
 
 	// The raw value still should be compensated for the known offset
 	diff_pres_pa_raw -= _diff_pres_offset;
@@ -256,6 +267,16 @@ ETSAirspeed::cycle()
 		   USEC2TICK(CONVERSION_INTERVAL));
 }
 
+
+/**
+* get default scale of the sensor
+*/
+float
+ETSAirspeed::get_default_scale() 
+{
+	return DIFF_PRES_SCALE_ETS;
+}
+
 /**
  * Local functions in support of the shell command.
  */

src/drivers/mb12xx/mb12xx.cpp

@@ -198,7 +198,6 @@ MB12XX::MB12XX(int bus, int address) :
 	_collect_phase(false),
 	_class_instance(-1),
 	_range_finder_topic(-1),
-	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows"))