{"action":"created","comment":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/comments/55019181","id":55019181,"diff_hunk":"@@ -175,9 +178,17 @@ STATIC_INLINE void main_periodic(void)\n     }\n   }\n \n+\n+  static uint16_t dv = 0;\n+  // TODO make module out of led blink?\n   /* set failsafe commands     */\n   if (fbw_mode == FBW_MODE_FAILSAFE) {\n     SetCommands(commands_failsafe);\n+    if (!(dv++ % (PERIODIC_FREQUENCY / 20))) { LED_TOGGLE(3);}","path":"sw/airborne/firmwares/rotorcraft/main_fbw.c","position":79,"original_position":79,"commit_id":"b4bfc0501d3e6020a36b0964f7ef3381ef90639f","original_commit_id":"093a97cff4f08e96bfe5ba23c0e18eb394a17f70","user":{"login":"flixr","id":104257,"avatar_url":"https://avatars.githubusercontent.com/u/104257?v=3","gravatar_id":"","url":"https://api.github.com/users/flixr","html_url":"https://github.com/flixr","followers_url":"https://api.github.com/users/flixr/followers","following_url":"https://api.github.com/users/flixr/following{/other_user}","gists_url":"https://api.github.com/users/flixr/gists{/gist_id}","starred_url":"https://api.github.com/users/flixr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/flixr/subscriptions","organizations_url":"https://api.github.com/users/flixr/orgs","repos_url":"https://api.github.com/users/flixr/repos","events_url":"https://api.github.com/users/flixr/events{/privacy}","received_events_url":"https://api.github.com/users/flixr/received_events","type":"User","site_admin":false},"body":"Just creating a makefile variable doesn't make a C define magically appear.\r\nYou need to add in the intermcu makefile something like for the RADIO_CONTROL_LED.\r\n\r\nAnd it would probably be better to name this led something like FBW_MODE_LED","created_at":"2016-03-04T11:26:34Z","updated_at":"2016-03-04T11:26:34Z","html_url":"https://github.com/paparazzi/paparazzi/pull/1551#discussion_r55019181","pull_request_url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/1551","_links":{"self":{"href":"https://api.github.com/repos/paparazzi/paparazzi/pulls/comments/55019181"},"html":{"href":"https://github.com/paparazzi/paparazzi/pull/1551#discussion_r55019181"},"pull_request":{"href":"https://api.github.com/repos/paparazzi/paparazzi/pulls/1551"}}},"pull_request":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/1551","id":61415446,"html_url":"https://github.com/paparazzi/paparazzi/pull/1551","diff_url":"https://github.com/paparazzi/paparazzi/pull/1551.diff","patch_url":"https://github.com/paparazzi/paparazzi/pull/1551.patch","issue_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/1551","number":1551,"state":"open","locked":false,"title":"Pixhawk flies with intermcu on Iris (reopened)","user":{"login":"kevindehecker","id":5213220,"avatar_url":"https://avatars.githubusercontent.com/u/5213220?v=3","gravatar_id":"","url":"https://api.github.com/users/kevindehecker","html_url":"https://github.com/kevindehecker","followers_url":"https://api.github.com/users/kevindehecker/followers","following_url":"https://api.github.com/users/kevindehecker/following{/other_user}","gists_url":"https://api.github.com/users/kevindehecker/gists{/gist_id}","starred_url":"https://api.github.com/users/kevindehecker/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kevindehecker/subscriptions","organizations_url":"https://api.github.com/users/kevindehecker/orgs","repos_url":"https://api.github.com/users/kevindehecker/repos","events_url":"https://api.github.com/users/kevindehecker/events{/privacy}","received_events_url":"https://api.github.com/users/kevindehecker/received_events","type":"User","site_admin":false},"body":"First PR for getting Pixhawk to play nice with PPRZ.\r\n\r\nThe Pixhawk can be flashed without external tools (i.e. no JTAG interface is needed). Instead, the PX4 bootloader is kept in place and used by pprz to flash both the AP (stm32f4) and FBW (stm32f1) devices. One important remark is that for the FBW device, currently the computer needs to be connected to the Telem2 port using a FTDI cable. This is because pprz does not support serial communication over USB, or so I've heard.\r\n\r\nIn any case, the Iris+ drone factory equipped with a Pixhawk flies both on INDI and PID in ATT mode. However, PPRZ currently uses the MPU6000 IMU, which was broken in my Iris+ (and there are indications that maybe in others Iris' and X8's as well). I had to replace it with a fresh Pixhawk.\r\n\r\nAlso tested with a Pixhawk clone: seems to work just as well.\r\n\r\nThere are some things on the todo list:\r\n1. Enable USB2serial communication :)\r\n2. Led 3 (which is a led embedded in a separate push button to be mounted somewhere on the air-frame) is used to signal the FBW status. Should be made generic (either by a module, or by a LED def or something)\r\n3. The 1500000 baud rate is necessary to remain compatible with flashing back to original PX4 firmware, however the communication has shown some stability issues. Strange, because original PX4 also uses this baud... The 24MHz external crystal used with the f1 is however outside the specs, so it may have something to do with that.\r\n4. Drivers are missing for:\r\nThe spi LSM303D accelero+magneto \r\nThe multi color led\r\n5. Only ATT mode has been tested. Autonomous flight using GPS baro and magneto has not been done or tested.\r\n\r\nSpecific to the Iris:\r\n6. 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