From 5bf7a470c4cd8f0ff447a692069ecbc4d83deb3a Mon Sep 17 00:00:00 2001
From: Steveis <SteveAmor@users.noreply.github.com>
Date: Sat, 20 Jun 2015 09:33:01 +0100
Subject: [PATCH 01/23] Test for EOC allowing external I2C baro on acro boards

---
 src/main/drivers/barometer_bmp085.c | 56 +++++++++++++++++++++--------
 src/main/drivers/barometer_bmp085.h |  3 ++
 2 files changed, 44 insertions(+), 15 deletions(-)

diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c
index 2ec29464a..e255c47c2 100644
--- a/src/main/drivers/barometer_bmp085.c
+++ b/src/main/drivers/barometer_bmp085.c
@@ -34,9 +34,8 @@
 #ifdef BARO
 
 #if defined(BARO_EOC_GPIO)
-// BMP085, Standard address 0x77
 static bool isConversionComplete = false;
-static uint16_t bmp085ConversionOverrun = 0;
+static bool isEOCConnected = true;
 
 // EXTI14 for BMP085 End of Conversion Interrupt
 void BMP085_EOC_EXTI_Handler(void) {
@@ -106,6 +105,9 @@ typedef struct {
 #define SMD500_PARAM_MH     -7357        //calibration parameter
 #define SMD500_PARAM_MI      3791        //calibration parameter
 
+#define UT_DELAY    6000        // 1.5ms margin according to the spec (4.5ms T conversion time)
+#define UP_DELAY    27000       // 6000+21000=27000 1.5ms margin according to the spec (25.5ms P conversion time with OSS=3)
+
 static bmp085_t bmp085;
 static bool bmp085InitDone = false;
 static uint16_t bmp085_ut;  // static result of temperature measurement
@@ -133,7 +135,6 @@ void bmp085InitXCLRGpio(const bmp085Config_t *config) {
 
     RCC_APB2PeriphClockCmd(config->gpioAPB2Peripherals, ENABLE);
 
-    // PC13, PC14 (Barometer XCLR reset output, EOC input)
     gpio.pin = config->xclrGpioPin;
     gpio.speed = Speed_2MHz;
     gpio.mode = Mode_Out_PP;
@@ -163,7 +164,7 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
         bmp085InitXCLRGpio(config);
 
         gpio.pin = config->eocGpioPin;
-        gpio.mode = Mode_IN_FLOATING;
+        gpio.mode = Mode_IPD;
         gpioInit(config->eocGpioPort, &gpio);
         BMP085_ON;
 
@@ -201,18 +202,21 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
             bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
             bmp085_get_cal_param(); /* readout bmp085 calibparam structure */
             bmp085InitDone = true;
-            baro->ut_delay = 6000; // 1.5ms margin according to the spec (4.5ms T conversion time)
-            baro->up_delay = 27000; // 6000+21000=27000 1.5ms margin according to the spec (25.5ms P conversion time with OSS=3)
+            baro->ut_delay = UT_DELAY;
+            baro->up_delay = UP_DELAY;
             baro->start_ut = bmp085_start_ut;
             baro->get_ut = bmp085_get_ut;
             baro->start_up = bmp085_start_up;
             baro->get_up = bmp085_get_up;
             baro->calculate = bmp085_calculate;
+#if defined(BARO_EOC_GPIO)
+            isEOCConnected = bmp085TestEOCConnected(config);
+#endif
             return true;
         }
     }
 
-#ifdef BARO_EOC_GPIO
+#if defined(BARO_EOC_GPIO)
     EXTI_InitTypeDef EXTI_InitStructure;
     EXTI_StructInit(&EXTI_InitStructure);
     EXTI_InitStructure.EXTI_Line = EXTI_Line14;
@@ -293,9 +297,9 @@ static void bmp085_get_ut(void)
     uint8_t data[2];
 
 #if defined(BARO_EOC_GPIO)
-    if (!isConversionComplete) {
-        bmp085ConversionOverrun++;
-        return; // keep old value
+    // return old baro value if conversion time exceeds datasheet max when EOC is connected
+    if ((isEOCConnected) && (!isConversionComplete)) {
+        return;
     }
 #endif
 
@@ -324,11 +328,10 @@ static void bmp085_get_up(void)
 {
     uint8_t data[3];
 
-#if  defined(BARO_EOC_GPIO)
-    // wait in case of cockup
-    if (!isConversionComplete) {
-        bmp085ConversionOverrun++;
-        return; // keep old value
+#if defined(BARO_EOC_GPIO)
+    // return old baro value if conversion time exceeds datasheet max when EOC is connected
+    if ((isEOCConnected) && (!isConversionComplete)) {
+        return;
     }
 #endif
 
@@ -371,4 +374,27 @@ static void bmp085_get_cal_param(void)
     bmp085.cal_param.md = (data[20] << 8) | data[21];
 }
 
+#if defined(BARO_EOC_GPIO)
+bool bmp085TestEOCConnected(const bmp085Config_t *config)
+{
+    uint32_t baroDeadline = 0;
+    uint32_t currentTime = micros();
+
+    baroDeadline += (UT_DELAY * 2); // wait twice as long as normal, just to be sure
+    bmp085_start_ut();
+    baroDeadline += micros();
+
+    while ((int32_t)(currentTime - baroDeadline) < 0) {
+         currentTime = micros();
+    }
+
+    // conversion should have finished now so check if EOC is high
+    uint8_t status = GPIO_ReadInputDataBit(config->eocGpioPort, config->eocGpioPin);
+    if (status) {
+        return true;
+    }
+    return false; // assume EOC is not connected
+}
 #endif
+
+#endif /* BARO */
diff --git a/src/main/drivers/barometer_bmp085.h b/src/main/drivers/barometer_bmp085.h
index ede791c82..6f33c625c 100644
--- a/src/main/drivers/barometer_bmp085.h
+++ b/src/main/drivers/barometer_bmp085.h
@@ -27,3 +27,6 @@ typedef struct bmp085Config_s {
 
 bool bmp085Detect(const bmp085Config_t *config, baro_t *baro);
 void bmp085Disable(const bmp085Config_t *config);
+#if defined(BARO_EOC_GPIO)
+bool bmp085TestEOCConnected(const bmp085Config_t *config);
+#endif

From 75293f42316e102150184aa3de4f19b6cf10370c Mon Sep 17 00:00:00 2001
From: Steveis <SteveAmor@users.noreply.github.com>
Date: Sat, 20 Jun 2015 12:34:57 +0100
Subject: [PATCH 02/23] Refactored delay code in bmp085TestEOCConnected

---
 src/main/drivers/barometer_bmp085.c | 26 ++++++++++----------------
 1 file changed, 10 insertions(+), 16 deletions(-)

diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c
index e255c47c2..a6f3d37a1 100644
--- a/src/main/drivers/barometer_bmp085.c
+++ b/src/main/drivers/barometer_bmp085.c
@@ -201,7 +201,6 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
             bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */
             bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
             bmp085_get_cal_param(); /* readout bmp085 calibparam structure */
-            bmp085InitDone = true;
             baro->ut_delay = UT_DELAY;
             baro->up_delay = UP_DELAY;
             baro->start_ut = bmp085_start_ut;
@@ -212,6 +211,7 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
 #if defined(BARO_EOC_GPIO)
             isEOCConnected = bmp085TestEOCConnected(config);
 #endif
+            bmp085InitDone = true;
             return true;
         }
     }
@@ -377,22 +377,16 @@ static void bmp085_get_cal_param(void)
 #if defined(BARO_EOC_GPIO)
 bool bmp085TestEOCConnected(const bmp085Config_t *config)
 {
-    uint32_t baroDeadline = 0;
-    uint32_t currentTime = micros();
+    if (!bmp085InitDone) {
+        bmp085_start_ut();
+        delayMicroseconds(UT_DELAY * 2); // wait twice as long as normal, just to be sure
 
-    baroDeadline += (UT_DELAY * 2); // wait twice as long as normal, just to be sure
-    bmp085_start_ut();
-    baroDeadline += micros();
-
-    while ((int32_t)(currentTime - baroDeadline) < 0) {
-         currentTime = micros();
-    }
-
-    // conversion should have finished now so check if EOC is high
-    uint8_t status = GPIO_ReadInputDataBit(config->eocGpioPort, config->eocGpioPin);
-    if (status) {
-        return true;
-    }
+        // conversion should have finished now so check if EOC is high
+        uint8_t status = GPIO_ReadInputDataBit(config->eocGpioPort, config->eocGpioPin);
+        if (status) {
+            return true;
+        }
+    } 
     return false; // assume EOC is not connected
 }
 #endif

From a163613cf8dd51dd3ed67a5da2cf354abcc1ccd3 Mon Sep 17 00:00:00 2001
From: Phillip Jones <phillip@scionuas.com>
Date: Thu, 13 Aug 2015 22:13:02 -0600
Subject: [PATCH 03/23] This addresses issue #8 by adding unit tests for
 sensorsAlign().

The test file includes a simple independent implementation of
vector rotation. Each of the following sensor_align_e types are
tested:
 * CW0_DEG
 * CW90_DEG
 * CW180_DEG
 * CW270_DEG
 * CW0_DEG_FLIP
 * CW90_DEG_FLIP
 * CW180_DEG_FLIP
 * CW270_DEG_FLIP

For each test, three unit vectors and a random vector are tested.
 * {1, 0, 0}
 * {0, 1, 0}
 * {0, 0, 1}
 * {R, R, R} (where R is a random number)

The vector under test is rotated using the functions defined in the
test file. The output of the test function is compared to the
output of the sensorsAlign() function. The outputs match for all
test conditions.
---
 src/main/sensors/boardalignment.c     |   4 +-
 src/test/Makefile                     |   1 +
 src/test/unit/alignsensor_unittest.cc | 269 ++++++++++++++++++++++++++
 3 files changed, 272 insertions(+), 2 deletions(-)
 create mode 100644 src/test/unit/alignsensor_unittest.cc

diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index a455936e6..f927ba72f 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -44,9 +44,9 @@ void initBoardAlignment(boardAlignment_t *boardAlignment)
     standardBoardAlignment = false;
 
     fp_angles_t rotationAngles;
-    rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees);
+    rotationAngles.angles.roll  = degreesToRadians(boardAlignment->rollDegrees );
     rotationAngles.angles.pitch = degreesToRadians(boardAlignment->pitchDegrees);
-    rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees);
+    rotationAngles.angles.yaw   = degreesToRadians(boardAlignment->yawDegrees  );
 
     buildRotationMatrix(&rotationAngles, boardRotation);
 }
diff --git a/src/test/Makefile b/src/test/Makefile
index 582602d84..c4a6f5fca 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -111,6 +111,7 @@ LIBCLEANFLIGHT_SRC = \
 	io/serial.c \
 	rx/rx.c \
 	sensors/battery.c \
+	sensors/boardalignment.c \
 	telemetry/hott.c
 
 LIBCLEANFLIGHT_OBJ = $(LIBCLEANFLIGHT_SRC:%.c=$(OBJECT_DIR)/%.o)
diff --git a/src/test/unit/alignsensor_unittest.cc b/src/test/unit/alignsensor_unittest.cc
new file mode 100644
index 000000000..674ed9572
--- /dev/null
+++ b/src/test/unit/alignsensor_unittest.cc
@@ -0,0 +1,269 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "math.h"
+#include "stdint.h"
+#include "time.h"
+
+extern "C" {
+#include "common/axis.h"
+#include "sensors/boardalignment.h"
+#include "sensors/sensors.h"
+}
+
+#include "gtest/gtest.h"
+
+/*
+ * This test file contains an independent method of rotating a vector.
+ * The output of alignSensor() is compared to the output of the test
+ * rotation method.
+ * 
+ * For each alignment condition (CW0, CW90, etc) the source vector under
+ * test is set to a unit vector along each axis (x-axis, y-axis, z-axis) 
+ * plus one additional random vector is tested.
+ */
+
+#define DEG2RAD 0.01745329251
+
+static void rotateVector(int16_t mat[3][3], int16_t vec[3], int16_t *out)
+{
+    int16_t tmp[3];
+
+    for(int i=0; i<3; i++) {
+        tmp[i] = 0;
+        for(int j=0; j<3; j++) {
+            tmp[i] += mat[j][i] * vec[j];
+        }
+    }
+    
+    out[0]=tmp[0];
+    out[1]=tmp[1];
+    out[2]=tmp[2];
+
+}
+
+//static void initXAxisRotation(int16_t mat[][3], int16_t angle)
+//{
+//    mat[0][0] =  1;
+//    mat[0][1] =  0;
+//    mat[0][2] =  0;
+//    mat[1][0] =  0;
+//    mat[1][1] =  cos(angle*DEG2RAD);
+//    mat[1][2] = -sin(angle*DEG2RAD);
+//    mat[2][0] =  0;
+//    mat[2][1] =  sin(angle*DEG2RAD);
+//    mat[2][2] =  cos(angle*DEG2RAD);
+//}
+
+static void initYAxisRotation(int16_t mat[][3], int16_t angle)
+{
+    mat[0][0] =  cos(angle*DEG2RAD);
+    mat[0][1] =  0;
+    mat[0][2] =  sin(angle*DEG2RAD);
+    mat[1][0] =  0;
+    mat[1][1] =  1;
+    mat[1][2] =  0;
+    mat[2][0] = -sin(angle*DEG2RAD);
+    mat[2][1] =  0;
+    mat[2][2] =  cos(angle*DEG2RAD);
+}
+
+static void initZAxisRotation(int16_t mat[][3], int16_t angle)
+{
+    mat[0][0] =  cos(angle*DEG2RAD);
+    mat[0][1] = -sin(angle*DEG2RAD);
+    mat[0][2] =  0;
+    mat[1][0] =  sin(angle*DEG2RAD);
+    mat[1][1] =  cos(angle*DEG2RAD);
+    mat[1][2] =  0;
+    mat[2][0] =  0;
+    mat[2][1] =  0;
+    mat[2][2] =  1;
+}
+
+static void testCW(sensor_align_e rotation, int16_t angle)
+{
+    int16_t src[XYZ_AXIS_COUNT];
+    int16_t dest[XYZ_AXIS_COUNT];
+    int16_t test[XYZ_AXIS_COUNT];
+
+    // unit vector along x-axis
+    src[X] = 1;
+    src[Y] = 0;
+    src[Z] = 0;
+    
+    int16_t matrix[3][3];
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, src, test);
+
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along y-axis
+    src[X] = 0;
+    src[Y] = 1;
+    src[Z] = 0;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along z-axis
+    src[X] = 0;
+    src[Y] = 0;
+    src[Z] = 1;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // random vector to test
+    src[X] = rand() % 5;
+    src[Y] = rand() % 5;
+    src[Z] = rand() % 5;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+}
+
+/*
+ * Since the order of flip and rotation matters, these tests make the
+ * assumption that the 'flip' occurs first, followed by clockwise rotation
+ */
+static void testCWFlip(sensor_align_e rotation, int16_t angle)
+{
+    int16_t src[XYZ_AXIS_COUNT];
+    int16_t dest[XYZ_AXIS_COUNT];
+    int16_t test[XYZ_AXIS_COUNT];
+
+    // unit vector along x-axis
+    src[X] = 1;
+    src[Y] = 0;
+    src[Z] = 0;
+    
+    int16_t matrix[3][3];
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along y-axis
+    src[X] = 0;
+    src[Y] = 1;
+    src[Z] = 0;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along z-axis
+    src[X] = 0;
+    src[Y] = 0;
+    src[Z] = 1;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+     // random vector to test
+    src[X] = rand() % 5;
+    src[Y] = rand() % 5;
+    src[Z] = rand() % 5;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+}
+ 
+
+TEST(AlignSensorTest, ClockwiseZeroDegrees)
+{
+    srand(time(NULL));
+    testCW(CW0_DEG, 0);
+}
+
+TEST(AlignSensorTest, ClockwiseNinetyDegrees)
+{
+    testCW(CW90_DEG, 90);
+}
+
+TEST(AlignSensorTest, ClockwiseOneEightyDegrees)
+{
+    testCW(CW180_DEG, 180);
+}
+
+TEST(AlignSensorTest, ClockwiseTwoSeventyDegrees)
+{
+    testCW(CW270_DEG, 270);
+}
+
+TEST(AlignSensorTest, ClockwiseZeroDegreesFlip)
+{
+    testCWFlip(CW0_DEG_FLIP, 0);
+}
+
+TEST(AlignSensorTest, ClockwiseNinetyDegreesFlip)
+{
+    testCWFlip(CW90_DEG_FLIP, 90);
+}
+
+TEST(AlignSensorTest, ClockwiseOneEightyDegreesFlip)
+{
+    testCWFlip(CW180_DEG_FLIP, 180);
+}
+
+TEST(AlignSensorTest, ClockwiseTwoSeventyDegreesFlip)
+{
+    testCWFlip(CW270_DEG_FLIP, 270);
+}
+

From f239eb3f35148fa2451760f411163546da0787fe Mon Sep 17 00:00:00 2001
From: Phillip Jones <phillip@scionuas.com>
Date: Thu, 13 Aug 2015 22:13:02 -0600
Subject: [PATCH 04/23] This addresses issue #8 by adding unit tests for
 sensorsAlign().

The test file includes a simple independent implementation of
vector rotation. Each of the following sensor_align_e types are
tested:
 * CW0_DEG
 * CW90_DEG
 * CW180_DEG
 * CW270_DEG
 * CW0_DEG_FLIP
 * CW90_DEG_FLIP
 * CW180_DEG_FLIP
 * CW270_DEG_FLIP

For each test, three unit vectors and a random vector are tested.
 * {1, 0, 0}
 * {0, 1, 0}
 * {0, 0, 1}
 * {R, R, R} (where R is a random number)

The vector under test is rotated using the functions defined in the
test file. The output of the test function is compared to the
output of the sensorsAlign() function. The outputs match for all
test conditions.
---
 src/main/sensors/boardalignment.c     |   4 +-
 src/test/Makefile                     |   1 +
 src/test/unit/alignsensor_unittest.cc | 269 ++++++++++++++++++++++++++
 3 files changed, 272 insertions(+), 2 deletions(-)
 create mode 100644 src/test/unit/alignsensor_unittest.cc

diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index a455936e6..f927ba72f 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -44,9 +44,9 @@ void initBoardAlignment(boardAlignment_t *boardAlignment)
     standardBoardAlignment = false;
 
     fp_angles_t rotationAngles;
-    rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees);
+    rotationAngles.angles.roll  = degreesToRadians(boardAlignment->rollDegrees );
     rotationAngles.angles.pitch = degreesToRadians(boardAlignment->pitchDegrees);
-    rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees);
+    rotationAngles.angles.yaw   = degreesToRadians(boardAlignment->yawDegrees  );
 
     buildRotationMatrix(&rotationAngles, boardRotation);
 }
diff --git a/src/test/Makefile b/src/test/Makefile
index 582602d84..c4a6f5fca 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -111,6 +111,7 @@ LIBCLEANFLIGHT_SRC = \
 	io/serial.c \
 	rx/rx.c \
 	sensors/battery.c \
+	sensors/boardalignment.c \
 	telemetry/hott.c
 
 LIBCLEANFLIGHT_OBJ = $(LIBCLEANFLIGHT_SRC:%.c=$(OBJECT_DIR)/%.o)
diff --git a/src/test/unit/alignsensor_unittest.cc b/src/test/unit/alignsensor_unittest.cc
new file mode 100644
index 000000000..674ed9572
--- /dev/null
+++ b/src/test/unit/alignsensor_unittest.cc
@@ -0,0 +1,269 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "math.h"
+#include "stdint.h"
+#include "time.h"
+
+extern "C" {
+#include "common/axis.h"
+#include "sensors/boardalignment.h"
+#include "sensors/sensors.h"
+}
+
+#include "gtest/gtest.h"
+
+/*
+ * This test file contains an independent method of rotating a vector.
+ * The output of alignSensor() is compared to the output of the test
+ * rotation method.
+ * 
+ * For each alignment condition (CW0, CW90, etc) the source vector under
+ * test is set to a unit vector along each axis (x-axis, y-axis, z-axis) 
+ * plus one additional random vector is tested.
+ */
+
+#define DEG2RAD 0.01745329251
+
+static void rotateVector(int16_t mat[3][3], int16_t vec[3], int16_t *out)
+{
+    int16_t tmp[3];
+
+    for(int i=0; i<3; i++) {
+        tmp[i] = 0;
+        for(int j=0; j<3; j++) {
+            tmp[i] += mat[j][i] * vec[j];
+        }
+    }
+    
+    out[0]=tmp[0];
+    out[1]=tmp[1];
+    out[2]=tmp[2];
+
+}
+
+//static void initXAxisRotation(int16_t mat[][3], int16_t angle)
+//{
+//    mat[0][0] =  1;
+//    mat[0][1] =  0;
+//    mat[0][2] =  0;
+//    mat[1][0] =  0;
+//    mat[1][1] =  cos(angle*DEG2RAD);
+//    mat[1][2] = -sin(angle*DEG2RAD);
+//    mat[2][0] =  0;
+//    mat[2][1] =  sin(angle*DEG2RAD);
+//    mat[2][2] =  cos(angle*DEG2RAD);
+//}
+
+static void initYAxisRotation(int16_t mat[][3], int16_t angle)
+{
+    mat[0][0] =  cos(angle*DEG2RAD);
+    mat[0][1] =  0;
+    mat[0][2] =  sin(angle*DEG2RAD);
+    mat[1][0] =  0;
+    mat[1][1] =  1;
+    mat[1][2] =  0;
+    mat[2][0] = -sin(angle*DEG2RAD);
+    mat[2][1] =  0;
+    mat[2][2] =  cos(angle*DEG2RAD);
+}
+
+static void initZAxisRotation(int16_t mat[][3], int16_t angle)
+{
+    mat[0][0] =  cos(angle*DEG2RAD);
+    mat[0][1] = -sin(angle*DEG2RAD);
+    mat[0][2] =  0;
+    mat[1][0] =  sin(angle*DEG2RAD);
+    mat[1][1] =  cos(angle*DEG2RAD);
+    mat[1][2] =  0;
+    mat[2][0] =  0;
+    mat[2][1] =  0;
+    mat[2][2] =  1;
+}
+
+static void testCW(sensor_align_e rotation, int16_t angle)
+{
+    int16_t src[XYZ_AXIS_COUNT];
+    int16_t dest[XYZ_AXIS_COUNT];
+    int16_t test[XYZ_AXIS_COUNT];
+
+    // unit vector along x-axis
+    src[X] = 1;
+    src[Y] = 0;
+    src[Z] = 0;
+    
+    int16_t matrix[3][3];
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, src, test);
+
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along y-axis
+    src[X] = 0;
+    src[Y] = 1;
+    src[Z] = 0;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along z-axis
+    src[X] = 0;
+    src[Y] = 0;
+    src[Z] = 1;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // random vector to test
+    src[X] = rand() % 5;
+    src[Y] = rand() % 5;
+    src[Z] = rand() % 5;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+}
+
+/*
+ * Since the order of flip and rotation matters, these tests make the
+ * assumption that the 'flip' occurs first, followed by clockwise rotation
+ */
+static void testCWFlip(sensor_align_e rotation, int16_t angle)
+{
+    int16_t src[XYZ_AXIS_COUNT];
+    int16_t dest[XYZ_AXIS_COUNT];
+    int16_t test[XYZ_AXIS_COUNT];
+
+    // unit vector along x-axis
+    src[X] = 1;
+    src[Y] = 0;
+    src[Z] = 0;
+    
+    int16_t matrix[3][3];
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along y-axis
+    src[X] = 0;
+    src[Y] = 1;
+    src[Z] = 0;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along z-axis
+    src[X] = 0;
+    src[Y] = 0;
+    src[Z] = 1;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+     // random vector to test
+    src[X] = rand() % 5;
+    src[Y] = rand() % 5;
+    src[Z] = rand() % 5;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+}
+ 
+
+TEST(AlignSensorTest, ClockwiseZeroDegrees)
+{
+    srand(time(NULL));
+    testCW(CW0_DEG, 0);
+}
+
+TEST(AlignSensorTest, ClockwiseNinetyDegrees)
+{
+    testCW(CW90_DEG, 90);
+}
+
+TEST(AlignSensorTest, ClockwiseOneEightyDegrees)
+{
+    testCW(CW180_DEG, 180);
+}
+
+TEST(AlignSensorTest, ClockwiseTwoSeventyDegrees)
+{
+    testCW(CW270_DEG, 270);
+}
+
+TEST(AlignSensorTest, ClockwiseZeroDegreesFlip)
+{
+    testCWFlip(CW0_DEG_FLIP, 0);
+}
+
+TEST(AlignSensorTest, ClockwiseNinetyDegreesFlip)
+{
+    testCWFlip(CW90_DEG_FLIP, 90);
+}
+
+TEST(AlignSensorTest, ClockwiseOneEightyDegreesFlip)
+{
+    testCWFlip(CW180_DEG_FLIP, 180);
+}
+
+TEST(AlignSensorTest, ClockwiseTwoSeventyDegreesFlip)
+{
+    testCWFlip(CW270_DEG_FLIP, 270);
+}
+

From d857f33490cb3a4dc605da93406dc0b69f9998bc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Juan=20Gonz=C3=A1lez?= <opsi@opsiland.info>
Date: Fri, 21 Aug 2015 13:05:22 +0200
Subject: [PATCH 05/23] Update tests invocation in Development.md

---
 docs/development/Development.md | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/docs/development/Development.md b/docs/development/Development.md
index 873d5de25..d3efe8ce9 100755
--- a/docs/development/Development.md
+++ b/docs/development/Development.md
@@ -46,16 +46,15 @@ Note: Tests are written in C++ and linked with with firmware's C code.
 
 ### Running the tests.
 
-The tests and test build system is very simple and based of the googletest example files, it will be improved in due course.
+The tests and test build system is very simple and based of the googletest example files, it will be improved in due course. From the root folder of the project simply do:
 
 ```
-cd test
-make
+make test
 ```
 
-This will build a set of executable files, one for each `*_unittest.cc` file.
+This will build a set of executable files in the `obj/test` folder, one for each `*_unittest.cc` file.
 
-You can run them on the command line to execute the tests and to see the test report.
+After they have been executed by the make invocation, you can still run them on the command line to execute the tests and to see the test report.
 
 You can also step-debug the tests in eclipse and you can use the GoogleTest test runner to make building and re-running the tests simple.
 

From d48a6d5e325fc1e7c2770b91a49b7b9f52ca283d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Juan=20Gonz=C3=A1lez?= <opsi@opsiland.info>
Date: Fri, 21 Aug 2015 17:27:32 +0200
Subject: [PATCH 06/23] Fix little typo

---
 docs/development/Development.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/development/Development.md b/docs/development/Development.md
index d3efe8ce9..5cf9fbf96 100755
--- a/docs/development/Development.md
+++ b/docs/development/Development.md
@@ -46,7 +46,7 @@ Note: Tests are written in C++ and linked with with firmware's C code.
 
 ### Running the tests.
 
-The tests and test build system is very simple and based of the googletest example files, it will be improved in due course. From the root folder of the project simply do:
+The tests and test build system is very simple and based off the googletest example files, it will be improved in due course. From the root folder of the project simply do:
 
 ```
 make test

From cf8a6f8f8be7835186d49631c097ba060e79b075 Mon Sep 17 00:00:00 2001
From: Echelon9 <rhyskidd@gmail.com>
Date: Sat, 22 Aug 2015 14:23:55 +1000
Subject: [PATCH 07/23] Add command 'make cppcheck' and friend.

---
 Makefile | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/Makefile b/Makefile
index c4940a086..2ee87a465 100755
--- a/Makefile
+++ b/Makefile
@@ -72,6 +72,8 @@ VPATH		:= $(SRC_DIR):$(SRC_DIR)/startup
 USBFS_DIR	= $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
 USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
 
+CSOURCES        := $(shell find $(SRC_DIR) -name '*.c')
+
 ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 SPARKY ALIENWIIF3 COLIBRI_RACE))
 
 STDPERIPH_DIR	= $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
@@ -615,6 +617,11 @@ LDFLAGS		 = -lm \
 # No user-serviceable parts below
 ###############################################################################
 
+CPPCHECK         = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
+		   --std=c99 --inline-suppr --quiet --force \
+		   $(addprefix -I,$(INCLUDE_DIRS)) \
+		   -I/usr/include -I/usr/include/linux
+
 #
 # Things we will build
 #
@@ -684,6 +691,13 @@ unbrick_$(TARGET): $(TARGET_HEX)
 
 unbrick: unbrick_$(TARGET)
 
+## cppcheck    : run static analysis on C source code
+cppcheck: $(CSOURCES)
+	$(CPPCHECK)
+
+cppcheck-result.xml: $(CSOURCES)
+	$(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
+
 help:
 	@echo ""
 	@echo "Makefile for the $(FORKNAME) firmware"

From 4fe835ec0817e3b752b3b98f874ae9be6524dd72 Mon Sep 17 00:00:00 2001
From: sppnk <sppnk@users.noreply.github.com>
Date: Wed, 2 Sep 2015 16:31:41 +0200
Subject: [PATCH 08/23] Fix servo mixing tables

---
 docs/Mixer.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/docs/Mixer.md b/docs/Mixer.md
index 7f5edcc38..ac875a5db 100644
--- a/docs/Mixer.md
+++ b/docs/Mixer.md
@@ -98,6 +98,7 @@ Note: the `mmix` command may show a motor mix that is not active, custom motor m
 Custom servo mixing rules can be applied to each servo.  Rules are applied in the order they are defined.
 
 | id | Servo slot |
+|----|--------------|
 | 0  | GIMBAL PITCH |
 | 1  | GIMBAL ROLL |
 | 2  | FLAPS |
@@ -109,7 +110,7 @@ Custom servo mixing rules can be applied to each servo.  Rules are applied in th
 
 
 | id | Input sources |
-| -- | ------------- |
+|----|-----------------|
 | 0  | Stabilised ROLL |
 | 1  | Stabilised PITCH |
 | 2  | Stabilised YAW |

From 5ca5c2d161b23c2cd83a284dbc7367e9c3e2d61e Mon Sep 17 00:00:00 2001
From: ProDrone <me@prodrone.com>
Date: Sun, 6 Sep 2015 19:53:12 +0200
Subject: [PATCH 09/23] Adapted RX suspend & resume on EEPROM read & write

Modified to make mechanism use time instead of counters for call
frequency independency.
Skipping RC samples uses a counter for time independency.

Also LED and beeper patterns were changed by previous implementation.
Corrected with RX supend/resume feedback to failsafe system.
---
 src/main/flight/failsafe.c | 11 +++++++++++
 src/main/flight/failsafe.h |  2 ++
 src/main/rx/rx.c           | 18 ++++++++++++++----
 3 files changed, 27 insertions(+), 4 deletions(-)

diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index f02b318f8..037c42414 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -132,6 +132,17 @@ bool failsafeIsReceivingRxData(void)
     return (failsafeState.rxLinkState == FAILSAFE_RXLINK_UP);
 }
 
+void failsafeOnRxSuspend(uint32_t usSuspendPeriod)
+{
+    failsafeState.validRxDataReceivedAt += (usSuspendPeriod / 1000);    // / 1000 to convert micros to millis
+}
+
+void failsafeOnRxResume(void)
+{
+    failsafeState.validRxDataReceivedAt = millis();                     // prevent RX link down trigger, restart rx link up
+    failsafeState.rxLinkState = FAILSAFE_RXLINK_UP;                     // do so while rx link is up
+}
+
 void failsafeOnValidDataReceived(void)
 {
     failsafeState.validRxDataReceivedAt = millis();
diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h
index 4e2c4b52d..7d841dd11 100644
--- a/src/main/flight/failsafe.h
+++ b/src/main/flight/failsafe.h
@@ -73,6 +73,8 @@ failsafePhase_e failsafePhase();
 bool failsafeIsMonitoring(void);
 bool failsafeIsActive(void);
 bool failsafeIsReceivingRxData(void);
+void failsafeOnRxSuspend(uint32_t suspendPeriod);
+void failsafeOnRxResume(void);
 
 void failsafeOnValidDataReceived(void);
 void failsafeOnValidDataFailed(void);
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index ffd5b1754..67c184f9f 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -40,6 +40,7 @@
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
+#include "drivers/system.h"
 #include "rx/pwm.h"
 #include "rx/sbus.h"
 #include "rx/spektrum.h"
@@ -50,6 +51,7 @@
 
 #include "rx/rx.h"
 
+
 //#define DEBUG_RX_SIGNAL_LOSS
 
 void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
@@ -71,6 +73,7 @@ static bool rxFlightChannelsValid = false;
 
 static uint32_t rxUpdateAt = 0;
 static uint32_t needRxSignalBefore = 0;
+static uint32_t suspendRxSignalUntil = 0;
 static uint8_t  skipRxSamples = 0;
 
 int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT];     // interval [1000;2000]
@@ -80,8 +83,8 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];     // interval [1000;2000]
 
 #define DELAY_50_HZ (1000000 / 50)
 #define DELAY_10_HZ (1000000 / 10)
-#define SKIP_RC_SAMPLES_ON_SUSPEND 75               // approx. 1.5 seconds of samples at 50Hz
-#define SKIP_RC_SAMPLES_ON_RESUME  2                // flush 2 samples to drop wrong measurements
+#define SKIP_RC_ON_SUSPEND_PERIOD 1500000           // 1.5 second period in usec (call frequency independent)
+#define SKIP_RC_SAMPLES_ON_RESUME  2                // flush 2 samples to drop wrong measurements (timing independent)
 
 rxRuntimeConfig_t rxRuntimeConfig;
 static rxConfig_t *rxConfig;
@@ -266,12 +269,16 @@ static void resetRxSignalReceivedFlagIfNeeded(uint32_t currentTime)
 
 void suspendRxSignal(void)
 {
-    skipRxSamples = SKIP_RC_SAMPLES_ON_SUSPEND;
+    suspendRxSignalUntil = micros() + SKIP_RC_ON_SUSPEND_PERIOD;
+    skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
+    failsafeOnRxSuspend(SKIP_RC_ON_SUSPEND_PERIOD);
 }
 
 void resumeRxSignal(void)
 {
+    suspendRxSignalUntil = micros();
     skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
+    failsafeOnRxResume();
 }
 
 void updateRx(uint32_t currentTime)
@@ -481,8 +488,11 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
         }
     }
 
+    // only proceed when no more samples to skip and suspend period is over
     if (skipRxSamples) {
-        skipRxSamples--;
+        if (currentTime > suspendRxSignalUntil) {
+            skipRxSamples--;
+        }
         return;
     }
 

From ac9f93d47c1f1179c858509a4db0605186347485 Mon Sep 17 00:00:00 2001
From: Larry Davis <lazdnet@gmail.com>
Date: Mon, 7 Sep 2015 17:58:50 -0700
Subject: [PATCH 10/23] Correct failsafe_throttle default value, add
 descriptions for failsafe-related variables

---
 docs/Cli.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/Cli.md b/docs/Cli.md
index b8b9c9880..ff249e407 100644
--- a/docs/Cli.md
+++ b/docs/Cli.md
@@ -197,9 +197,9 @@ Re-apply any new defaults as desired.
 | `yaw_rate`                      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0             | Rate Profile | UINT8    |
 | `tpa_rate`                      | Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 | 0      | 100    | 0             | Rate Profile | UINT8    |
 | `tpa_breakpoint`                | See tpa_rate.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          | 1000   | 2000   | 1500          | Rate Profile | UINT16   |
-| `failsafe_delay`                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 10            | Profile      | UINT8    |
-| `failsafe_off_delay`            |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 200           | Profile      | UINT8    |
-| `failsafe_throttle`             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1000   | 2000   | 1200          | Profile      | UINT16   |
+| `failsafe_delay`                | Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  | 0      | 200    | 10            | Profile      | UINT8    |
+| `failsafe_off_delay`            | Time in deciseconds to wait before turning off motors when failsafe is activated. See [Failsafe documentation](Failsafe.md#failsafe_off_delay).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 200           | Profile      | UINT8    |
+| `failsafe_throttle`             | Throttle level used for landing when failsafe is enabled. See [Failsafe documentation](Failsafe.md#failsafe_throttle).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 | 1000   | 2000   | 1000          | Profile      | UINT16   |
 | `rx_min_usec`                   | Defines the shortest pulse width value used when ensuring the channel value is valid.  If the receiver gives a pulse value lower than this value then the channel will be marked as bad and will default to the value of `mid_rc`.                                                                                                                                                                                                                                                                                                                                                                                                                     | 100    | 2000   | 985           | Profile      | UINT16   |
 | `rx_max_usec`                   | Defines the longest pulse width value used when ensuring the channel value is valid.  If the receiver gives a pulse value higher than this value then the channel will be marked as bad and will default to the value of `mid_rc`.                                                                                                                                                                                                                                                                                                                                                                                                                     | 100    | 3000   | 2115          | Profile      | UINT16   |
 | `gimbal_mode`                  | When feature SERVO_TILT is enabled, this can be either 0=normal gimbal (default) or 1=tiltmix gimbal                                                                                                                                                                                                                                                                                                    | 0      | 1      | 0             | Profile      | UINT8    |

From 5f18ad6d48d3ce19ef07ff3bf07455ea67acac6d Mon Sep 17 00:00:00 2001
From: David Bieber <dbieber@princeton.edu>
Date: Mon, 7 Sep 2015 23:13:36 -0700
Subject: [PATCH 11/23] Fix spelling of declaration in
 docs/development/Development.md

---
 docs/development/Development.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/development/Development.md b/docs/development/Development.md
index 873d5de25..7f9e712de 100755
--- a/docs/development/Development.md
+++ b/docs/development/Development.md
@@ -13,7 +13,7 @@ This document is primarily for developers only.
 7. Don't be afraid of moving code to a new file - it helps to reduce test dependencies.
 8. Avoid noise-words in variable names, like 'data' or 'info'.  Think about what you're naming and name it well.  Don't be afraid to rename anything.
 9. Avoid comments that describe what the code is doing, the code should describe itself.  Comments are useful however for big-picture purposes and to document content of variables.
-10. If you need to document a variable do it at the declarion, don't copy the comment to the `extern` usage since it will lead to comment rot.
+10. If you need to document a variable do it at the declaration, don't copy the comment to the `extern` usage since it will lead to comment rot.
 11. Seek advice from other developers - know you can always learn more.
 12. Be professional - attempts at humor or slating existing code in the codebase itself is not helpful when you have to change/fix it.
 13. Know that there's always more than one way to do something and that code is never final - but it does have to work.

From 6fb181b600f92df6df4d987fc16f7590a0ab72f4 Mon Sep 17 00:00:00 2001
From: David Bieber <dbieber@princeton.edu>
Date: Mon, 7 Sep 2015 23:15:46 -0700
Subject: [PATCH 12/23] Fix spelling of go to in
 docs/development/Development.md

---
 docs/development/Development.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/development/Development.md b/docs/development/Development.md
index 7f9e712de..13176e742 100755
--- a/docs/development/Development.md
+++ b/docs/development/Development.md
@@ -75,7 +75,7 @@ https://help.github.com/articles/creating-a-pull-request/
 
 The main flow for a contributing is as follows:
 
-1. Login to github, goto the cleanflight repository and press `fork`.
+1. Login to github, go to the cleanflight repository and press `fork`.
 2. Then using the command line/terminal on your computer: `git clone <url to YOUR fork>`
 3. `cd cleanflight`
 4. `git checkout master`

From b2f9e603dfa9a790717ae77918435b6519e75923 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Wed, 9 Sep 2015 18:48:12 +0100
Subject: [PATCH 13/23]  STM32F3Discovery - correct default sensor alignment,
 closes #1289

 Also updated ChebuzzF3 variant.
---
 src/main/target/CHEBUZZF3/target.h        | 2 +-
 src/main/target/STM32F3DISCOVERY/target.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
index 8bca64d8d..fdb41f8f0 100644
--- a/src/main/target/CHEBUZZF3/target.h
+++ b/src/main/target/CHEBUZZF3/target.h
@@ -47,7 +47,7 @@
 #define L3GD20_CS_GPIO                  GPIOE
 #define L3GD20_CS_PIN                   GPIO_Pin_3
 
-#define GYRO_L3GD20_ALIGN CW90_DEG
+#define GYRO_L3GD20_ALIGN CW270_DEG
 #define GYRO_MPU6050_ALIGN CW0_DEG
 
 #define ACC
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index 3eccb8cee..886d33f27 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -47,7 +47,7 @@
 #define L3GD20_CS_GPIO                  GPIOE
 #define L3GD20_CS_PIN                   GPIO_Pin_3
 
-#define GYRO_L3GD20_ALIGN CW90_DEG
+#define GYRO_L3GD20_ALIGN CW270_DEG
 
 #define ACC
 #define USE_ACC_LSM303DLHC

From 5d5fd81b2eeed91acfc096367e72bcf32767b0ac Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Wed, 9 Sep 2015 19:25:08 +0100
Subject: [PATCH 14/23] Fix bug where PPM rx stops working on sparky or CC3D
 when using motor PWM rate > 500 (brushed motor mode).

Fix is the same as for OneShot since both brushed motors and oneshot use
an 8mhz timer.

Fixes #58
---
 src/main/drivers/pwm_mapping.c | 6 +++---
 src/main/drivers/pwm_mapping.h | 2 ++
 src/main/drivers/pwm_output.c  | 6 +++++-
 src/main/drivers/pwm_output.h  | 2 ++
 4 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 9ef45a964..309e933ff 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -580,12 +580,12 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
 
         if (type == MAP_TO_PPM_INPUT) {
 #ifdef CC3D
-            if (init->useOneshot) {
+            if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
                 ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
             }
 #endif
 #ifdef SPARKY
-            if (init->useOneshot) {
+            if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
                 ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
             }
 #endif
@@ -596,7 +596,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
             if (init->useOneshot) {
                 pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
-            } else if (init->motorPwmRate > 500) {
+            } else if (isMotorBrushed(init->motorPwmRate)) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
             } else {
                 pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index ad7c88b50..be663abfa 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -35,6 +35,8 @@
 
 #define PWM_TIMER_MHZ 1
 #define ONESHOT125_TIMER_MHZ 8
+#define PWM_BRUSHED_TIMER_MHZ 8
+
 
 typedef struct sonarGPIOConfig_s {
     GPIO_TypeDef *gpio;
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 52ada5f8e..4806f0df5 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -47,7 +47,6 @@ static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
 #ifdef USE_SERVOS
 static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
 #endif
-#define PWM_BRUSHED_TIMER_MHZ 8
 
 static uint8_t allocatedOutputPortCount = 0;
 
@@ -172,6 +171,11 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
     }
 }
 
+bool isMotorBrushed(uint16_t motorPwmRate)
+{
+    return (motorPwmRate > 500);
+}
+
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
 {
     uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 4475e8b0d..19c5aa820 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -22,3 +22,5 @@ void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
 
 void pwmWriteServo(uint8_t index, uint16_t value);
+
+bool isMotorBrushed(uint16_t motorPwmRate);

From 9ca456933ea0ffbd141a6f91c976d4d55137cd00 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Wed, 9 Sep 2015 20:14:20 +0100
Subject: [PATCH 15/23] Clarify usage of `servo` and `smix`.

---
 docs/Mixer.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/docs/Mixer.md b/docs/Mixer.md
index 144156e4e..5a5c4849d 100644
--- a/docs/Mixer.md
+++ b/docs/Mixer.md
@@ -42,6 +42,10 @@ You can also use the Command Line Interface (CLI) to set the mixer type:
 | CUSTOM AIRPLANE  | User-defined airplane     |                |                  |
 | CUSTOM TRICOPTER | User-defined tricopter    |                |                  |
 
+## Servo configuration
+
+The cli `servo` command defines the settings for the servo outputs. 
+The cli mixer `smix` command controllers how the mixer maps internal FC data (RC input, PID stabilisation output, channel forwarding, etc) to servo outputs.
 
 ## Servo filtering
 

From 45c82741e70bda22b1c5d21d6f223adc88f2ebbd Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Wed, 9 Sep 2015 21:02:42 +0100
Subject: [PATCH 16/23] Enable telemetry_inversion by default on STM32F30x
 targets because the hardware supports inversion natively.

---
 src/main/config/config.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index c84182165..c17e1ce00 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -803,6 +803,11 @@ void validateAndFixConfig(void)
     }
 #endif
 
+#ifdef STM32F303xC
+    // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
+    masterConfig.telemetryConfig.telemetry_inversion = 1;
+#endif
+
     /*
      * The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground.
      * The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled.

From f7b3914a91f8fc58f15f989fec1cd30f8999a737 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 10 Sep 2015 00:21:43 +0100
Subject: [PATCH 17/23] Fixing merge and build broken by
 3cf77579ba0cc728a32bdf3b1446d76c2656ec92

---
 src/main/drivers/barometer_bmp085.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c
index b796c5e82..a46b8f20c 100644
--- a/src/main/drivers/barometer_bmp085.c
+++ b/src/main/drivers/barometer_bmp085.c
@@ -110,7 +110,6 @@ STATIC_UNIT_TESTED bmp085_t bmp085;
 #define UT_DELAY    6000        // 1.5ms margin according to the spec (4.5ms T conversion time)
 #define UP_DELAY    27000       // 6000+21000=27000 1.5ms margin according to the spec (25.5ms P conversion time with OSS=3)
 
-static bmp085_t bmp085;
 static bool bmp085InitDone = false;
 STATIC_UNIT_TESTED uint16_t bmp085_ut;  // static result of temperature measurement
 STATIC_UNIT_TESTED uint32_t bmp085_up;  // static result of pressure measurement

From 4737f33b1959e72310592b295382f7f6ae853527 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 10 Sep 2015 01:36:25 +0100
Subject: [PATCH 18/23] revert "tests: simplify the build config by building as
 a library"

---
 src/test/Makefile | 443 ++++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 411 insertions(+), 32 deletions(-)

diff --git a/src/test/Makefile b/src/test/Makefile
index 582602d84..ef28bf22d 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -94,44 +94,423 @@ TEST_INCLUDE_DIRS := $(TEST_DIR) \
 
 TEST_CFLAGS	 = $(addprefix -I,$(TEST_INCLUDE_DIRS))
 
-LIBCLEANFLIGHT_SRC = \
-	common/encoding.c \
-	common/maths.c \
-	drivers/barometer_ms5611.c \
-	drivers/barometer_bmp085.c \
-	drivers/light_ws2811strip.c \
-	flight/altitudehold.c \
-	flight/failsafe.c \
-	flight/gps_conversion.c \
-	flight/imu.c \
-	flight/lowpass.c \
-	flight/mixer.c \
-	io/ledstrip.c \
-	io/rc_controls.c \
-	io/serial.c \
-	rx/rx.c \
-	sensors/battery.c \
-	telemetry/hott.c
+DEPS = $(TEST_BINARIES:%=%.d)
 
-LIBCLEANFLIGHT_OBJ = $(LIBCLEANFLIGHT_SRC:%.c=$(OBJECT_DIR)/%.o)
+$(OBJECT_DIR)/common/maths.o : \
+	$(USER_DIR)/common/maths.c \
+	$(USER_DIR)/common/maths.h \
+	$(GTEST_HEADERS)
 
-DEPS =	$(LIBCLEANFLIGHT_OBJ:%.o=%.d) \
-	$(TEST_BINARIES:%=%.d)
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
 
-LIBS = $(OBJECT_DIR)/libcleanflight.a $(OBJECT_DIR)/gtest_main.a
 
-$(OBJECT_DIR)/libcleanflight.a: $(LIBCLEANFLIGHT_OBJ)
-	$(AR) $(ARFLAGS) $@ $^
+$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
 
-# Build a module from the flight software.
-$(OBJECT_DIR)/%.o: $(USER_DIR)/%.c
-	mkdir -p $(@D)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $< -o $@
+$(OBJECT_DIR)/battery_unittest.o : \
+	$(TEST_DIR)/battery_unittest.cc \
+	$(USER_DIR)/sensors/battery.h \
+	$(GTEST_HEADERS)
 
-# Build the unit test executable.
-$(OBJECT_DIR)/%: $(TEST_DIR)/%.cc $(LIBS)
-	@mkdir -p $(@D)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -o $@ $< $(LIBS)
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $< -o $@
+
+$(OBJECT_DIR)/battery_unittest : \
+	$(OBJECT_DIR)/sensors/battery.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/battery_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $@
+
+$(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/encoding.c -o $@
+
+$(OBJECT_DIR)/encoding_unittest.o : \
+	$(TEST_DIR)/encoding_unittest.cc \
+	$(USER_DIR)/common/encoding.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/encoding_unittest.cc -o $@
+
+$(OBJECT_DIR)/encoding_unittest : \
+	$(OBJECT_DIR)/common/encoding.o \
+	$(OBJECT_DIR)/encoding_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/flight/imu.o : \
+	$(USER_DIR)/flight/imu.c \
+	$(USER_DIR)/flight/imu.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
+
+$(OBJECT_DIR)/flight_imu_unittest.o : \
+	$(TEST_DIR)/flight_imu_unittest.cc \
+	$(USER_DIR)/flight/imu.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
+
+$(OBJECT_DIR)/flight_imu_unittest : \
+	$(OBJECT_DIR)/flight/imu.o \
+	$(OBJECT_DIR)/flight/altitudehold.o \
+	$(OBJECT_DIR)/flight_imu_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/maths_unittest.o : \
+	$(TEST_DIR)/maths_unittest.cc \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/maths_unittest.cc -o $@
+
+$(OBJECT_DIR)/maths_unittest : \
+	$(OBJECT_DIR)/maths_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/flight/altitudehold.o : \
+	$(USER_DIR)/flight/altitudehold.c \
+	$(USER_DIR)/flight/altitudehold.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
+
+$(OBJECT_DIR)/altitude_hold_unittest.o : \
+	$(TEST_DIR)/altitude_hold_unittest.cc \
+	$(USER_DIR)/flight/altitudehold.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
+
+$(OBJECT_DIR)/altitude_hold_unittest : \
+	$(OBJECT_DIR)/flight/altitudehold.o \
+	$(OBJECT_DIR)/altitude_hold_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
+$(OBJECT_DIR)/flight/gps_conversion.o : \
+	$(USER_DIR)/flight/gps_conversion.c \
+	$(USER_DIR)/flight/gps_conversion.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
+
+$(OBJECT_DIR)/gps_conversion_unittest.o : \
+	$(TEST_DIR)/gps_conversion_unittest.cc \
+	$(USER_DIR)/flight/gps_conversion.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
+
+$(OBJECT_DIR)/gps_conversion_unittest : \
+	$(OBJECT_DIR)/flight/gps_conversion.o \
+	$(OBJECT_DIR)/gps_conversion_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
+
+$(OBJECT_DIR)/telemetry/hott.o : \
+	$(USER_DIR)/telemetry/hott.c \
+	$(USER_DIR)/telemetry/hott.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
+
+$(OBJECT_DIR)/telemetry_hott_unittest.o : \
+	$(TEST_DIR)/telemetry_hott_unittest.cc \
+	$(USER_DIR)/telemetry/hott.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
+
+$(OBJECT_DIR)/telemetry_hott_unittest : \
+	$(OBJECT_DIR)/telemetry/hott.o \
+	$(OBJECT_DIR)/telemetry_hott_unittest.o \
+	$(OBJECT_DIR)/flight/gps_conversion.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
+
+$(OBJECT_DIR)/io/rc_controls.o : \
+	$(USER_DIR)/io/rc_controls.c \
+	$(USER_DIR)/io/rc_controls.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
+
+$(OBJECT_DIR)/rc_controls_unittest.o : \
+	$(TEST_DIR)/rc_controls_unittest.cc \
+	$(USER_DIR)/io/rc_controls.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
+
+$(OBJECT_DIR)/rc_controls_unittest : \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/io/rc_controls.o \
+	$(OBJECT_DIR)/rc_controls_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
+$(OBJECT_DIR)/io/ledstrip.o : \
+	$(USER_DIR)/io/ledstrip.c \
+	$(USER_DIR)/io/ledstrip.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
+
+$(OBJECT_DIR)/ledstrip_unittest.o : \
+	$(TEST_DIR)/ledstrip_unittest.cc \
+	$(USER_DIR)/io/ledstrip.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
+
+$(OBJECT_DIR)/ledstrip_unittest : \
+	$(OBJECT_DIR)/io/ledstrip.o \
+	$(OBJECT_DIR)/ledstrip_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
+
+$(OBJECT_DIR)/drivers/light_ws2811strip.o : \
+	$(USER_DIR)/drivers/light_ws2811strip.c \
+	$(USER_DIR)/drivers/light_ws2811strip.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
+
+$(OBJECT_DIR)/ws2811_unittest.o : \
+	$(TEST_DIR)/ws2811_unittest.cc \
+	$(USER_DIR)/drivers/light_ws2811strip.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
+
+$(OBJECT_DIR)/ws2811_unittest : \
+	$(OBJECT_DIR)/drivers/light_ws2811strip.o \
+	$(OBJECT_DIR)/ws2811_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
+$(OBJECT_DIR)/flight/lowpass.o : \
+	$(USER_DIR)/flight/lowpass.c \
+	$(USER_DIR)/flight/lowpass.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/lowpass.c -o $@
+
+$(OBJECT_DIR)/lowpass_unittest.o : \
+	$(TEST_DIR)/lowpass_unittest.cc \
+	$(USER_DIR)/flight/lowpass.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/lowpass_unittest.cc -o $@
+
+$(OBJECT_DIR)/lowpass_unittest : \
+	$(OBJECT_DIR)/flight/lowpass.o \
+	$(OBJECT_DIR)/lowpass_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/flight/mixer.o : \
+	$(USER_DIR)/flight/mixer.c \
+	$(USER_DIR)/flight/mixer.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/mixer.c -o $@
+
+$(OBJECT_DIR)/flight_mixer_unittest.o : \
+	$(TEST_DIR)/flight_mixer_unittest.cc \
+	$(USER_DIR)/flight/mixer.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_mixer_unittest.cc -o $@
+
+$(OBJECT_DIR)/flight_mixer_unittest : \
+	$(OBJECT_DIR)/flight/mixer.o \
+	$(OBJECT_DIR)/flight_mixer_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/flight/failsafe.o : \
+	$(USER_DIR)/flight/failsafe.c \
+	$(USER_DIR)/flight/failsafe.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/failsafe.c -o $@
+
+$(OBJECT_DIR)/flight_failsafe_unittest.o : \
+	$(TEST_DIR)/flight_failsafe_unittest.cc \
+	$(USER_DIR)/flight/failsafe.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_failsafe_unittest.cc -o $@
+
+$(OBJECT_DIR)/flight_failsafe_unittest : \
+	$(OBJECT_DIR)/flight/failsafe.o \
+	$(OBJECT_DIR)/flight_failsafe_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/io/serial.o : \
+	$(USER_DIR)/io/serial.c \
+	$(USER_DIR)/io/serial.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/serial.c -o $@
+
+$(OBJECT_DIR)/io_serial_unittest.o : \
+	$(TEST_DIR)/io_serial_unittest.cc \
+	$(USER_DIR)/io/serial.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/io_serial_unittest.cc -o $@
+
+$(OBJECT_DIR)/io_serial_unittest : \
+	$(OBJECT_DIR)/io/serial.o \
+	$(OBJECT_DIR)/io_serial_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/rx/rx.o : \
+	$(USER_DIR)/rx/rx.c \
+	$(USER_DIR)/rx/rx.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/rx.c -o $@
+
+$(OBJECT_DIR)/rx_rx_unittest.o : \
+	$(TEST_DIR)/rx_rx_unittest.cc \
+	$(USER_DIR)/rx/rx.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_rx_unittest.cc -o $@
+
+$(OBJECT_DIR)/rx_rx_unittest : \
+	$(OBJECT_DIR)/rx/rx.o \
+	$(OBJECT_DIR)/rx_rx_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/rx_ranges_unittest.o : \
+	$(TEST_DIR)/rx_ranges_unittest.cc \
+	$(USER_DIR)/rx/rx.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_ranges_unittest.cc -o $@
+
+$(OBJECT_DIR)/rx_ranges_unittest : \
+	$(OBJECT_DIR)/rx/rx.o \
+	$(OBJECT_DIR)/rx_ranges_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/drivers/barometer_ms5611.o : \
+    $(USER_DIR)/drivers/barometer_ms5611.c \
+    $(USER_DIR)/drivers/barometer_ms5611.h \
+    $(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_ms5611.c -o $@
+
+$(OBJECT_DIR)/baro_ms5611_unittest.o : \
+	$(TEST_DIR)/baro_ms5611_unittest.cc \
+	$(USER_DIR)/drivers/barometer_ms5611.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_ms5611_unittest.cc -o $@
+
+$(OBJECT_DIR)/baro_ms5611_unittest : \
+	$(OBJECT_DIR)/drivers/barometer_ms5611.o \
+	$(OBJECT_DIR)/baro_ms5611_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/drivers/barometer_bmp085.o : \
+    $(USER_DIR)/drivers/barometer_bmp085.c \
+    $(USER_DIR)/drivers/barometer_bmp085.h \
+    $(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_bmp085.c -o $@
+
+$(OBJECT_DIR)/baro_bmp085_unittest.o : \
+	$(TEST_DIR)/baro_bmp085_unittest.cc \
+	$(USER_DIR)/drivers/barometer_bmp085.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_bmp085_unittest.cc -o $@
+
+$(OBJECT_DIR)/baro_bmp085_unittest : \
+	$(OBJECT_DIR)/drivers/barometer_bmp085.o \
+	$(OBJECT_DIR)/baro_bmp085_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 test: $(TESTS:%=test-%)
 

From 0070573420c2a89fa89c9c2bae63b844b8b77434 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 10 Sep 2015 01:50:04 +0100
Subject: [PATCH 19/23] Fix unit tests - the tests cannot use a common library
 of production since when compiling some test code the idea is to stub out
 production functionality rather than call production code.

---
 src/test/unit/baro_bmp085_unittest.cc | 4 ++--
 src/test/unit/platform.h              | 1 +
 src/test/unit/rc_controls_unittest.cc | 4 ++--
 src/test/unit/rx_rx_unittest.cc       | 8 ++++++--
 4 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/test/unit/baro_bmp085_unittest.cc b/src/test/unit/baro_bmp085_unittest.cc
index eb7d2c70b..60889ae50 100644
--- a/src/test/unit/baro_bmp085_unittest.cc
+++ b/src/test/unit/baro_bmp085_unittest.cc
@@ -182,8 +182,8 @@ TEST(baroBmp085Test, TestBmp085CalculateOss3Hot)
 
 extern "C" {
 
-    void gpioInit(){}
-    void RCC_APB2PeriphClockCmd(){}
+    void gpioInit() {}
+    void RCC_APB2PeriphClockCmd() {}
     void delay(uint32_t) {}
     void delayMicroseconds(uint32_t) {}
     bool i2cWrite(uint8_t, uint8_t, uint8_t) {
diff --git a/src/test/unit/platform.h b/src/test/unit/platform.h
index 9283fa845..e49b8dcf7 100644
--- a/src/test/unit/platform.h
+++ b/src/test/unit/platform.h
@@ -20,6 +20,7 @@
 #define MAG
 #define BARO
 #define GPS
+#define DISPLAY
 #define TELEMETRY
 #define LED_STRIP
 #define USE_SERVOS
diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc
index 073fed324..a5bad1c9d 100644
--- a/src/test/unit/rc_controls_unittest.cc
+++ b/src/test/unit/rc_controls_unittest.cc
@@ -693,9 +693,9 @@ void accSetCalibrationCycles(uint16_t) {}
 void gyroSetCalibrationCycles(uint16_t) {}
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
 void handleInflightCalibrationStickPosition(void) {}
+bool feature(uint32_t) { return false;}
+bool sensors(uint32_t) { return false;}
 void mwArm(void) {}
-void feature(uint32_t) {}
-void sensors(uint32_t) {}
 void mwDisarm(void) {}
 void displayDisablePageCycling() {}
 void displayEnablePageCycling() {}
diff --git a/src/test/unit/rx_rx_unittest.cc b/src/test/unit/rx_rx_unittest.cc
index db3e0f2f1..c654594ea 100644
--- a/src/test/unit/rx_rx_unittest.cc
+++ b/src/test/unit/rx_rx_unittest.cc
@@ -139,6 +139,12 @@ extern "C" {
     void failsafeOnValidDataFailed() {}
     void failsafeOnValidDataReceived() {}
 
+    void failsafeOnRxSuspend(uint32_t ) {}
+    void failsafeOnRxResume(void) {}
+
+    uint32_t micros(void) { return 0; }
+    uint32_t millis(void) { return 0; }
+
     bool feature(uint32_t mask) {
         UNUSED(mask);
         return false;
@@ -159,6 +165,4 @@ extern "C" {
     void rxMspInit(rxConfig_t *, rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
 
     void rxPwmInit(rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
-
-
 }

From c4680b3b3d034a4e4a0f1ef439611a432e19bdf5 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 10 Sep 2015 02:00:02 +0100
Subject: [PATCH 20/23] More test code cleanup.

---
 src/test/unit/rx_ranges_unittest.cc | 36 +++++++----------------------
 1 file changed, 8 insertions(+), 28 deletions(-)

diff --git a/src/test/unit/rx_ranges_unittest.cc b/src/test/unit/rx_ranges_unittest.cc
index d559d5269..427cabd8f 100755
--- a/src/test/unit/rx_ranges_unittest.cc
+++ b/src/test/unit/rx_ranges_unittest.cc
@@ -97,6 +97,12 @@ TEST(RxChannelRangeTest, TestRxChannelRanges)
 // stubs
 extern "C" {
 
+void failsafeOnRxSuspend(uint32_t ) {}
+void failsafeOnRxResume(void) {}
+
+uint32_t micros(void) { return 0; }
+uint32_t millis(void) { return 0; }
+
 void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 {
     UNUSED(rxRuntimeConfig);
@@ -143,20 +149,8 @@ bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadR
     return true;
 }
 
-void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
-{
-    UNUSED(modeActivationConditions);
-}
-
-void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig)
-{
-    UNUSED(index);
-    UNUSED(auxChannelIndex);
-    UNUSED(adjustmentConfig);
-}
-
-void feature(uint32_t)
-{
+bool feature(uint32_t) {
+    return false;
 }
 
 bool rxMspFrameComplete(void)
@@ -164,10 +158,6 @@ bool rxMspFrameComplete(void)
     return false;
 }
 
-void failsafeReset(void)
-{
-}
-
 bool isPPMDataBeingReceived(void)
 {
     return false;
@@ -182,10 +172,6 @@ void resetPPMDataReceivedState(void)
 {
 }
 
-void failsafeOnRxCycle(void)
-{
-}
-
 void failsafeOnValidDataReceived(void)
 {
 }
@@ -194,11 +180,5 @@ void failsafeOnValidDataFailed(void)
 {
 }
 
-void failsafeCheckPulse(uint8_t channel, uint16_t pulseDuration)
-{
-    UNUSED(channel);
-    UNUSED(pulseDuration);
-}
-
 }
 

From 26f89b74bd45b0bf69985b32b35c94a45330c073 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Sun, 16 Aug 2015 23:03:46 +0200
Subject: [PATCH 21/23] Configurable Baro Type

We can disable/configure mag, acc, but why not baro?

ident
---
 src/main/config/config.c          | 1 +
 src/main/config/config_master.h   | 1 +
 src/main/io/serial_cli.c          | 1 +
 src/main/main.c                   | 2 +-
 src/main/sensors/barometer.h      | 5 +++--
 src/main/sensors/initialisation.c | 8 ++++----
 src/main/sensors/initialisation.h | 2 +-
 7 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index c17e1ce00..8da4cd923 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -397,6 +397,7 @@ static void resetConf(void)
     masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
 
     masterConfig.mag_hardware = MAG_DEFAULT;     // default/autodetect
+    masterConfig.baro_hardware = BARO_DEFAULT;   // default/autodetect
 
     resetBatteryConfig(&masterConfig.batteryConfig);
 
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index f223f4175..71b29f22f 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -53,6 +53,7 @@ typedef struct master_t {
     gyroConfig_t gyroConfig;
 
     uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
+    uint8_t baro_hardware;                  // Barometer hardware to use
 
     uint16_t max_angle_inclination;         // max inclination allowed in angle (level) mode. default 500 (50 degrees).
     flightDynamicsTrims_t accZero;
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index c1fd64184..3607cfdd5 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -465,6 +465,7 @@ const clivalue_t valueTable[] = {
     { "baro_noise_lpf",             VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 },
     { "baro_cf_vel",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 },
     { "baro_cf_alt",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 },
+    { "baro_hardware",              VAR_UINT8  | MASTER_VALUE,  &masterConfig.baro_hardware, 0, BARO_MAX },
 
     { "mag_hardware",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.mag_hardware, 0, MAG_MAX },
     { "mag_declination",            VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
diff --git a/src/main/main.c b/src/main/main.c
index 0357fa68c..6f5f04f74 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -371,7 +371,7 @@ void init(void)
     }
 #endif
 
-    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination)) {
+    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination)) {
         // if gyro was not detected due to whatever reason, we give up now.
         failureMode(3);
     }
diff --git a/src/main/sensors/barometer.h b/src/main/sensors/barometer.h
index 685f6b843..f8befc2f1 100644
--- a/src/main/sensors/barometer.h
+++ b/src/main/sensors/barometer.h
@@ -18,13 +18,14 @@
 #pragma once
 
 typedef enum {
-    BARO_NONE = 0,
-    BARO_DEFAULT = 1,
+    BARO_DEFAULT = 0,
+    BARO_NONE = 1,
     BARO_BMP085 = 2,
     BARO_MS5611 = 3
 } baroSensor_e;
 
 #define BARO_SAMPLE_COUNT_MAX   48
+#define BARO_MAX BARO_MS5611
 
 typedef struct barometerConfig_s {
     uint8_t baro_sample_count;              // size of baro filter array
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index e028bc0dd..9505bbc1e 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -408,12 +408,12 @@ retry:
     sensorsSet(SENSOR_ACC);
 }
 
-static void detectBaro()
+static void detectBaro(baroSensor_e baroHardwareToUse)
 {
 #ifdef BARO
     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
 
-    baroSensor_e baroHardware = BARO_DEFAULT;
+    baroSensor_e baroHardware = baroHardwareToUse;
 
 #ifdef USE_BARO_BMP085
 
@@ -587,7 +587,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
     }
 }
 
-bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig)
+bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig)
 {
     int16_t deg, min;
 
@@ -598,7 +598,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
         return false;
     }
     detectAcc(accHardwareToUse);
-    detectBaro();
+    detectBaro(baroHardwareToUse);
 
 
     // Now time to init things, acc first
diff --git a/src/main/sensors/initialisation.h b/src/main/sensors/initialisation.h
index 603327d12..a53b69f88 100644
--- a/src/main/sensors/initialisation.h
+++ b/src/main/sensors/initialisation.h
@@ -17,4 +17,4 @@
 
 #pragma once
 
-bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig);
+bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig);

From 786588756ef5543fcd9e5de6c4b53e41a943e800 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Fri, 21 Aug 2015 00:17:22 +0200
Subject: [PATCH 22/23] Bump EEPROM

---
 src/main/config/config.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 8da4cd923..6cb1a7569 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 104;
+static const uint8_t EEPROM_CONF_VERSION = 105;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {

From 6c231e189b5f02a30167dcef97eed0a3d441b69c Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 11 Sep 2015 14:15:43 +1200
Subject: [PATCH 23/23] Reduce amount of wasted dataflash space upon power
 cycle

This wasted overhead becomes important when using the Blackbox "pause"
switch and logging very few of your flights.
---
 src/main/io/flashfs.c | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/src/main/io/flashfs.c b/src/main/io/flashfs.c
index 429ffe8ad..bfc6007dd 100644
--- a/src/main/io/flashfs.c
+++ b/src/main/io/flashfs.c
@@ -481,7 +481,7 @@ int flashfsIdentifyStartOfFreeSpace()
         /* We can choose whatever power of 2 size we like, which determines how much wastage of free space we'll have
          * at the end of the last written data. But smaller blocksizes will require more searching.
          */
-        FREE_BLOCK_SIZE = 65536,
+        FREE_BLOCK_SIZE = 2048,
 
         /* We don't expect valid data to ever contain this many consecutive uint32_t's of all 1 bits: */
         FREE_BLOCK_TEST_SIZE_INTS = 4, // i.e. 16 bytes
@@ -493,16 +493,20 @@ int flashfsIdentifyStartOfFreeSpace()
         uint32_t ints[FREE_BLOCK_TEST_SIZE_INTS];
     } testBuffer;
 
-    int left = 0;
-    int right = flashfsGetSize() / FREE_BLOCK_SIZE;
-    int mid, result = right;
+    int left = 0; // Smallest block index in the search region
+    int right = flashfsGetSize() / FREE_BLOCK_SIZE; // One past the largest block index in the search region
+    int mid;
+    int result = right;
     int i;
     bool blockErased;
 
     while (left < right) {
         mid = (left + right) / 2;
 
-        m25p16_readBytes(mid * FREE_BLOCK_SIZE, testBuffer.bytes, FREE_BLOCK_TEST_SIZE_BYTES);
+        if (m25p16_readBytes(mid * FREE_BLOCK_SIZE, testBuffer.bytes, FREE_BLOCK_TEST_SIZE_BYTES) < FREE_BLOCK_TEST_SIZE_BYTES) {
+            // Unexpected timeout from flash, so bail early (reporting the device fuller than it really is)
+            break;
+        }
 
         // Checking the buffer 4 bytes at a time like this is probably faster than byte-by-byte, but I didn't benchmark it :)
         blockErased = true;