Merge branch 'master' of github.com:PX4/Firmware into isvtol

40 files changed, 20696 insertions, 197 deletions

diff --git a/.gitignore b/.gitignore
index 8b09e4783..5328de009 100644
--- a/.gitignore
+++ b/.gitignore
@@ -38,3 +38,4 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+Firmware.zip
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 000000000..d25080bed
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,87 @@
+# Build and autotest script for PX4 Firmware
+# http://travis-ci.org
+
+language: cpp
+
+before_script:
+  - sudo apt-get update -q
+# Travis specific tools
+  - sudo apt-get install s3cmd grep zip mailutils
+# General toolchain dependencies
+  - sudo apt-get install libc6:i386 libgcc1:i386 gcc-4.6-base:i386 libstdc++5:i386 libstdc++6:i386
+  - sudo apt-get install python-serial python-argparse
+  - sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget
+  - pushd .
+  - cd ~
+  - wget https://launchpadlibrarian.net/174121628/gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
+  - tar -jxf gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
+  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_7-2014q2/bin:\$PATH"
+  - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
+  - . ~/.profile
+  - popd
+
+git:
+  depth: 500
+
+env:
+  global:
+# AWS KEY: $PX4_AWS_KEY
+    - secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
+# AWS SECRET: $PX4_AWS_SECRET
+    - secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
+    - PX4_AWS_BUCKET=px4-travis
+    - PX4_EMAIL_SUBJECT="Travis CI result"
+# Email address: $PX4_EMAIL
+    - secure: "ei3hKAw6Pk+vEkQBI5Y2Ak74BRAaXcK2UHVnVadviBHI4EVPwn1YGP6A4Y0wnLe4U7ETTl0UiijRoVxyDW0Mq896Pv0siw02amNpjSZZYu+RfN1+//MChB48OxsLDirUdHVrULhl/bOARM02h2Bg28jDE2g7IqmJwg3em3oMbjU="
+    - PX4_REPORT=report.txt
+
+script:
+  - arm-none-eabi-gcc --version
+  - echo 'Running Tests..' && echo -en 'travis_fold:start:script.1\\r'
+  - make tests
+  - echo -en 'travis_fold:end:script.1\\r'
+  - echo 'Building NuttX..' && echo -en 'travis_fold:start:script.2\\r'
+  - make archives
+  - echo -en 'travis_fold:end:script.2\\r'
+  - echo 'Building Firmware..' && echo -en 'travis_fold:start:script.3\\r'
+  - make -j6
+  - echo -en 'travis_fold:end:script.3\\r'
+  - zip Firmware.zip Images/*.px4
+
+# We use an encrypted env variable to ensure this only executes when artifacts are uploaded.
+after_script:
+  - echo "Branch $TRAVIS_BRANCH (pull request: $TRAVIS_PULL_REQUEST) ready for flight testing." >> $PX4_REPORT
+  - git log -n1 > $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - echo "Files available at:" >> $PX4_REPORT
+  - echo "https://px4-travis.s3.amazonaws.com/PX4/Firmware/$TRAVIS_BUILD_NUMBER/$TRAVIS_BUILD_NUMBER.1/Firmware.zip" >> $PX4_REPORT
+  - echo "Description of desired tests is available at:" >> $PX4_REPORT
+  - echo "https://github.com/PX4/Firmware/pull/$TRAVIS_PULL_REQUEST" >> $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - echo "Thanks for testing!" >> $PX4_REPORT
+  - echo " " >> $PX4_REPORT
+  - /usr/bin/mail -s "$SUBJECT ($TRAVIS_COMMIT)" "$PX4_EMAIL" < "$PX4_REPORT"
+  #- s3cmd put --acl-public --guess-mime-type --config=.s3cfg Firmware.zip s3://s3-website-us-east-1.amazonaws.com/#$TRAVIS_JOB_ID/
+
+deploy:
+  provider: releases
+  api_key:
+    secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
+  file: "Firmware.zip"
+  skip_cleanup: true
+  on:
+    tags: true
+    all_branches: true
+    repo: PX4/Firmware
+
+addons:
+  artifacts:
+    paths:
+    - "Firmware.zip"
+    key:
+      secure: j4y9x9KXUiarGrnpFBLPIkEKIH8X6oSRUO61TwxTOamsE0eEKnIaCz1Xq83q7DoqzomHBD3qXAFPV9dhLr1zdKEPJDIyV45GVD4ClIQIzh/P3Uc7kDNxKzdmxY12SH6D0orMpC4tCf1sNK7ETepltWfcnjaDk1Rjs9+TVY7LuzM=
+    secret:
+      secure: CJC7VPGtEhJu8Pix85iPF8xUvMPZvTgnHyd9MrSlPKCFFMrlgz9eMT0WWW/TPQ+s4LPwJIfEQx2Q0BRT5tOXuvsTLuOG68mplVddhTWbHb0m0qTQErXFHEppvW4ayuSdeLJ4TjTWphBVainL0mcLLRwQfuAJJDDs/sGan3WrG+Y=
+    bucket: px4-travis
+    region: us-east-1
+    endpoint: s3-website-us-east-1.amazonaws.com
diff --git a/Makefile b/Makefile
index 809f54dd3..0f68e7b4b 100644
--- a/Makefile
+++ b/Makefile
@@ -229,6 +229,14 @@ updatesubmodules:
 #
 testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
+	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
+
+#
+# Unittest targets. Builds and runs the host-level
+# unit tests.
+.PHONY: tests
+tests:
+	$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
@@ -237,14 +245,14 @@ testbuild:
 #
 .PHONY:	clean
 clean:
-	$(Q) $(RMDIR) $(BUILD_DIR)*.build
-	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
+	$(Q) $(RMDIR) $(BUILD_DIR)*.build > /dev/null
+	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4 > /dev/null
 
 .PHONY:	distclean
 distclean: clean
-	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
+	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export > /dev/null
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean > /dev/null
+	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete) > /dev/null
 
 #
 # Print some help text
diff --git a/NuttX b/NuttX
-Subproject c7b06385926349e10b3739314d1d56eec7efb8b
+Subproject b66de6506941dc7628efcf65e5543c0e3cb05a8
diff --git a/README.md b/README.md
index 84fb02e3b..302ea08c3 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,15 @@
 ## PX4 Aerial Middleware and Flight Control Stack ##
 
+[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware)
+
+[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
+
 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see LICENSE.md)
 *   Supported airframes:
-  * Multicopters
-  * Fixed wing
+  * [Multicopters](http://px4.io/platforms/multicopters/start)
+  * [Fixed wing](http://px4.io/platforms/planes/start)
+  * [VTOL](http://px4.io/platforms/vtol/start)
 *   Binaries (always up-to-date from master):
   * [Downloads](https://pixhawk.org/downloads)
 *   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
index bff971c0f..7e9a6d3dc 100644
--- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@@ -9,8 +9,8 @@ sh /etc/init.d/rc.vtol_defaults
 
 set MIXER FMU_caipirinha_vtol
 
-set PWM_OUTPUTS 12
+set PWM_OUT 12
 set PWM_MAX 2000
 set PWM_RATE 400
-param set VTOL_MOT_COUNT 2
-param set IDLE_PWM_MC  1080
+param set VT_MOT_COUNT 2
+param set VT_IDLE_PWM_MC  1080
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 10ee5db9b..6dc5a65db 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -2,7 +2,7 @@
 
 set VEHICLE_TYPE vtol
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	#
 	#Default controller parameters for MC
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 5748fe2b5..14fc8d2b4 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -584,7 +584,7 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard vtol apps
-		if [ $LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DAPPS == yes ]
 		then
 			sh /etc/init.d/rc.vtol_apps
 		fi
diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile
deleted file mode 100644
index 8742e2f7c..000000000
--- a/Tools/tests-host/Makefile
+++ /dev/null
@@ -1,54 +0,0 @@
-
-CC=g++
-CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
-	-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
-
-all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
-
-MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
-		../../src/systemcmds/tests/test_conv.cpp \
-		../../src/modules/systemlib/mixer/mixer_simple.cpp \
-		../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
-		../../src/modules/systemlib/mixer/mixer.cpp \
-		../../src/modules/systemlib/mixer/mixer_group.cpp \
-		../../src/modules/systemlib/mixer/mixer_load.c \
-		../../src/modules/systemlib/pwm_limit/pwm_limit.c \
-		hrt.cpp \
-		mixer_test.cpp
-
-SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
-		hrt.cpp \
-		sbus2_test.cpp
-
-ST24_FILES=../../src/lib/rc/st24.c \
-		hrt.cpp \
-		st24_test.cpp
-
-SF0X_FILES= \
-		hrt.cpp \
-		sf0x_test.cpp \
-		../../src/drivers/sf0x/sf0x_parser.cpp
-
-AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
-		hrt.cpp \
-		autodeclination_test.cpp
-
-mixer_test: $(MIXER_FILES)
-	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
-
-sbus2_test: $(SBUS2_FILES)
-	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
-
-sf0x_test: $(SF0X_FILES)
-	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
-
-autodeclination_test: $(SBUS2_FILES)
-	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
-
-st24_test: $(ST24_FILES)
-	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
-
-.PHONY: clean
-
-clean:
-	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp
deleted file mode 100644
index 93bc340bb..000000000
--- a/Tools/tests-host/autodeclination_test.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-
-#include <stdio.h>
-#include <stdlib.h> 
-#include <unistd.h>
-#include <string.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/err.h>
-#include <drivers/drv_hrt.h>
-#include <px4iofirmware/px4io.h>
-#include "../../src/systemcmds/tests/tests.h"
-#include <geo/geo.h>
-
-int main(int argc, char *argv[]) {
-	warnx("autodeclination test started");
-
-	if (argc < 3)
-		errx(1, "Need lat/lon!");
-
-	char* p_end;
-
-	float lat = strtod(argv[1], &p_end);
-	float lon = strtod(argv[2], &p_end);
-
-	float declination = get_mag_declination(lat, lon);
-
-	printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
-
-}
diff --git a/makefiles/gumstix-aerocore.cfg b/makefiles/gumstix-aerocore.cfg
new file mode 100644
index 000000000..ba217c043
--- /dev/null
+++ b/makefiles/gumstix-aerocore.cfg
@@ -0,0 +1,10 @@
+# JTAG for the STM32F4x chip used on the Gumstix AeroCore is available on
+# the first interface of a Quad FTDI chip.  nTRST is bit 4.
+interface ftdi
+ftdi_vid_pid 0x0403 0x6011
+
+ftdi_layout_init 0x0000 0x001b
+ftdi_layout_signal nTRST -data 0x0010
+
+source [find target/stm32f4x.cfg]
+reset_config trst_only
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index bc26d743d..29b415688 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -30,6 +30,11 @@ upload-serial-px4fmu-v1:	$(BUNDLE) $(UPLOADER)
 upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
+upload-serial-aerocore:
+	openocd -f $(PX4_BASE)/makefiles/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
+
+
+
 #
 # JTAG firmware uploading with OpenOCD
 #
diff --git a/nuttx-configs/px4fmu-v1/nsh/Make.defs b/nuttx-configs/px4fmu-v1/nsh/Make.defs
index e7318e519..f055cfddf 100644
--- a/nuttx-configs/px4fmu-v1/nsh/Make.defs
+++ b/nuttx-configs/px4fmu-v1/nsh/Make.defs
@@ -139,8 +139,7 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wold-style-declaration \
 			   -Wmissing-parameter-type \
 			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
+			   -Wnested-externs
 ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
 			   -Wno-psabi
 ARCHDEFINES		 =
diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs
index f3ce53b4a..f660deeca 100644
--- a/nuttx-configs/px4fmu-v2/nsh/Make.defs
+++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs
@@ -139,8 +139,7 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wold-style-declaration \
 			   -Wmissing-parameter-type \
 			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
+			   -Wnested-externs
 ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
 			   -Wno-psabi
 ARCHDEFINES		 =
diff --git a/nuttx-configs/px4io-v1/nsh/Make.defs b/nuttx-configs/px4io-v1/nsh/Make.defs
index 7a0792ff6..e96be6a1f 100644
--- a/nuttx-configs/px4io-v1/nsh/Make.defs
+++ b/nuttx-configs/px4io-v1/nsh/Make.defs
@@ -128,8 +128,7 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wold-style-declaration \
 			   -Wmissing-parameter-type \
 			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
+			   -Wnested-externs
 ARCHWARNINGSXX		 = $(ARCHWARNINGS)
 ARCHDEFINES		 = 
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
diff --git a/nuttx-configs/px4io-v2/nsh/Make.defs b/nuttx-configs/px4io-v2/nsh/Make.defs
index 1717464d2..4a8df2738 100644
--- a/nuttx-configs/px4io-v2/nsh/Make.defs
+++ b/nuttx-configs/px4io-v2/nsh/Make.defs
@@ -128,8 +128,7 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wold-style-declaration \
 			   -Wmissing-parameter-type \
 			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
+			   -Wnested-externs
 ARCHWARNINGSXX		 = $(ARCHWARNINGS)
 ARCHDEFINES		 = 
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index a95e041a1..c9c27892f 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -194,6 +194,8 @@ public:
 	 */
 	void			print_info();
 
+	void			print_registers();
+
 protected:
 	virtual int		probe();
 
@@ -1414,6 +1416,21 @@ MPU6000::print_info()
 	_gyro_reports->print_info("gyro queue");
 }
 
+void
+MPU6000::print_registers()
+{
+	printf("MPU6000 registers\n");
+	for (uint8_t reg=MPUREG_PRODUCT_ID; reg<=108; reg++) {
+		uint8_t v = read_reg(reg);
+		printf("%02x:%02x ",(unsigned)reg, (unsigned)v);
+		if ((reg - (MPUREG_PRODUCT_ID-1)) % 13 == 0) {
+			printf("\n");
+		}
+	}
+	printf("\n");
+}
+
+
 MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
 	CDev("MPU6000_gyro", path),
 	_parent(parent),
@@ -1479,6 +1496,7 @@ void	start(bool, enum Rotation);
 void	test(bool);
 void	reset(bool);
 void	info(bool);
+void	regdump(bool);
 void	usage();
 
 /**
@@ -1654,10 +1672,26 @@ info(bool external_bus)
 	exit(0);
 }
 
+/**
+ * Dump the register information
+ */
+void
+regdump(bool external_bus)
+{
+	MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	if (*g_dev_ptr == nullptr)
+		errx(1, "driver not running");
+
+	printf("regdump @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_registers();
+
+	exit(0);
+}
+
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'reset'");
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'");
 	warnx("options:");
 	warnx("    -X    (external bus)");
 	warnx("    -R rotation");
@@ -1714,5 +1748,11 @@ mpu6000_main(int argc, char *argv[])
 	if (!strcmp(verb, "info"))
 		mpu6000::info(external_bus);
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+	/*
+	 * Print register information.
+	 */
+	if (!strcmp(verb, "regdump"))
+		mpu6000::regdump(external_bus);
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
 }
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 948b29bcb..dbf15d98a 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -200,9 +200,11 @@ private:
 	ECL_L1_Pos_Controller				_l1_control;
 	TECS						_tecs;
 	fwPosctrl::mTecs				_mTecs;
-	bool						_was_pos_control_mode;
-	bool						_was_velocity_control_mode;
-	bool						_was_alt_control_mode;
+	enum FW_POSCTRL_MODE {
+		FW_POSCTRL_MODE_AUTO,
+		FW_POSCTRL_MODE_POSITION,
+		FW_POSCTRL_MODE_OTHER
+	} _control_mode_current;			///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
 
 	struct {
 		float l1_period;
@@ -471,7 +473,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_global_pos_valid(false),
 	_l1_control(),
 	_mTecs(),
-	_was_pos_control_mode(false)
+	_control_mode_current(FW_POSCTRL_MODE_OTHER)
 {
 	_nav_capabilities.turn_distance = 0.0f;
 
@@ -908,22 +910,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 	/* no throttle limit as default */
 	float throttle_max = 1.0f;
 
-	/* AUTONOMOUS FLIGHT */
+	if (_control_mode.flag_control_auto_enabled &&
+			pos_sp_triplet.current.valid) {
+		/* AUTONOMOUS FLIGHT */
 
-	// XXX this should only execute if auto AND safety off (actuators active),
-	// else integrators should be constantly reset.
-	if (pos_sp_triplet.current.valid) {
-
-		if (!_was_pos_control_mode) {
+		/* Reset integrators if switching to this mode from a other mode in which posctl was not active */
+		if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
 			/* reset integrators */
 			if (_mTecs.getEnabled()) {
 				_mTecs.resetIntegrators();
 				_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
 			}
 		}
-
-		_was_pos_control_mode = true;
-		_was_velocity_control_mode = false;
+		_control_mode_current = FW_POSCTRL_MODE_AUTO;
 
 		/* reset hold altitude */
 		_hold_alt = _global_pos.alt;
@@ -1208,15 +1207,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
 							calculate_target_airspeed(_parameters.airspeed_trim),
 							eas2tas,
-								math::radians(_parameters.pitch_limit_min),
-								math::radians(_parameters.pitch_limit_max),
-								_parameters.throttle_min,
-								takeoff_throttle,
-								_parameters.throttle_cruise,
-								false,
-								math::radians(_parameters.pitch_limit_min),
-								_global_pos.alt,
-								ground_speed);
+							math::radians(_parameters.pitch_limit_min),
+							math::radians(_parameters.pitch_limit_max),
+							_parameters.throttle_min,
+							takeoff_throttle,
+							_parameters.throttle_cruise,
+							false,
+							math::radians(_parameters.pitch_limit_min),
+							_global_pos.alt,
+							ground_speed);
 				}
 			} else {
 				/* Tell the attitude controller to stop integrating while we are waiting
@@ -1248,53 +1247,63 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (_control_mode.flag_control_velocity_enabled) {
+	} else if (_control_mode.flag_control_velocity_enabled &&
+			_control_mode.flag_control_altitude_enabled) {
+		/* POSITION CONTROL: pitch stick moves altitude setpoint, throttle stick sets airspeed */
+
 		const float deadBand = (60.0f/1000.0f);
 		const float factor = 1.0f - deadBand;
-		if (!_was_velocity_control_mode) {
+		if (_control_mode_current != FW_POSCTRL_MODE_POSITION) {
+			/* Need to init because last loop iteration was in a different mode */
 			_hold_alt = _global_pos.alt;
-			_was_alt_control_mode = false;
 		}
-		_was_velocity_control_mode = true;
-		_was_pos_control_mode = false;
-		// Get demanded airspeed
+		/* Reset integrators if switching to this mode from a other mode in which posctl was not active */
+		if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
+			/* reset integrators */
+			if (_mTecs.getEnabled()) {
+				_mTecs.resetIntegrators();
+				_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
+			}
+		}
+		_control_mode_current = FW_POSCTRL_MODE_POSITION;
+
+		/* Get demanded airspeed */
 		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
 					  _manual.z;
 
-		// Get demanded vertical velocity from pitch control
-		float pitch = 0.0f;
+		/* Get demanded vertical velocity from pitch control */
+		static bool was_in_deadband = false;
 		if (_manual.x > deadBand) {
-			pitch = (_manual.x - deadBand) / factor;
-		} else if (_manual.x < - deadBand) {
-			pitch = (_manual.x + deadBand) / factor;
-		}
-		if (pitch > 0.0f) {
+			float pitch = (_manual.x - deadBand) / factor;
 			_hold_alt -= (_parameters.max_climb_rate * dt) * pitch;
-			_was_alt_control_mode = false;
-		} else if (pitch < 0.0f) {
+			was_in_deadband = false;
+		} else if (_manual.x < - deadBand) {
+			float pitch = (_manual.x + deadBand) / factor;
 			_hold_alt -= (_parameters.max_sink_rate * dt) * pitch;
-			_was_alt_control_mode = false;
-		} else if (!_was_alt_control_mode) {
+			was_in_deadband = false;
+		} else if (!was_in_deadband) {
+			 /* store altitude at which manual.x was inside deadBand
+			  * The aircraft should immediately try to fly at this altitude
+			  * as this is what the pilot expects when he moves the stick to the center */
 			_hold_alt = _global_pos.alt;
-			_was_alt_control_mode = true;
+			was_in_deadband = true;
 		}
 		tecs_update_pitch_throttle(_hold_alt,
-									altctrl_airspeed,
-									eas2tas,
-									math::radians(_parameters.pitch_limit_min),
-									math::radians(_parameters.pitch_limit_max),
-									_parameters.throttle_min,
-									_parameters.throttle_max,
-									_parameters.throttle_cruise,
-									false,
-									math::radians(_parameters.pitch_limit_min),
-									_global_pos.alt,
-									ground_speed,
-									TECS_MODE_NORMAL);
+				altctrl_airspeed,
+				eas2tas,
+				math::radians(_parameters.pitch_limit_min),
+				math::radians(_parameters.pitch_limit_max),
+				_parameters.throttle_min,
+				_parameters.throttle_max,
+				_parameters.throttle_cruise,
+				false,
+				math::radians(_parameters.pitch_limit_min),
+				_global_pos.alt,
+				ground_speed,
+				TECS_MODE_NORMAL);
 	} else {
-		_was_velocity_control_mode = false;
-		_was_pos_control_mode = false;
+		_control_mode_current = FW_POSCTRL_MODE_OTHER;
 
 		/** MANUAL FLIGHT **/
 
@@ -1311,10 +1320,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 	}
 
+	/* Copy thrust output for publication */
 	if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
 		/* Set thrust to 0 to minimize damage */
 		_att_sp.thrust = 0.0f;
-	} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
+	} else if (_control_mode_current ==  FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto
+			pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
 			launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
 		 /* making sure again that the correct thrust is used,
 		 * without depending on library calls for safety reasons */
@@ -1327,8 +1338,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 	/* During a takeoff waypoint while waiting for launch the pitch sp is set
 	 * already (not by tecs) */
-	if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
-			launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
+	if (!(_control_mode_current ==  FW_POSCTRL_MODE_AUTO &&
+				pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
+				launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
 		_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
 	}
 
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 296919c04..0af01cba1 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -1052,10 +1052,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				landed = false;
 				landed_time = 0;
 			}
-			/* reset xy velocity estimates when landed */
-			x_est[1] = 0.0f;
-			y_est[1] = 0.0f;
-
 		} else {
 			if (alt_disp2 < land_disp2 && thrust < params.land_thr) {
 				if (landed_time == 0) {
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index c7e9ae3eb..bd777428f 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -33,6 +33,8 @@
 
 #pragma once
 
+#include <inttypes.h>
+
 /**
  * @file protocol.h
  *
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 24800cce8..958907d1b 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -238,11 +238,11 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params.idle_pwm_mc = PWM_LOWEST_MIN;
 	_params.vtol_motor_count = 0;
 
-	_params_handles.idle_pwm_mc = param_find("IDLE_PWM_MC");
-	_params_handles.vtol_motor_count = param_find("VTOL_MOT_COUNT");
-	_params_handles.mc_airspeed_min = param_find("VTOL_MC_AIRSPEED_MIN");
-	_params_handles.mc_airspeed_max = param_find("VTOL_MC_AIRSPEED_MAX");
-	_params_handles.mc_airspeed_trim = param_find("VTOL_MC_AIRSPEED_TRIM");
+	_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
+	_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
+	_params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN");
+	_params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX");
+	_params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM");
 
 	/* fetch initial parameter values */
 	parameters_update();
diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c
index 44157acba..e21bccb0c 100644
--- a/src/modules/vtol_att_control/vtol_att_control_params.c
+++ b/src/modules/vtol_att_control/vtol_att_control_params.c
@@ -1,13 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vtol_att_control_params.c
+ * Parameters for vtol attitude controller.
+ *
+ * @author Roman Bapst <bapstr@ethz.ch>
+ */
+
 #include <systemlib/param/param.h>
 
-// number of engines
-PARAM_DEFINE_INT32(VTOL_MOT_COUNT,0);
-// idle pwm in multicopter mode
-PARAM_DEFINE_INT32(IDLE_PWM_MC,900);
-// min airspeed in multicopter mode
-PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2);
-// max airspeed in multicopter mode
-PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30);
-// trim airspeed in multicopter mode
-PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10);
+/**
+ * VTOL number of engines
+ *
+ * @min 1.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_MOT_COUNT,0);
+
+/**
+ * Idle speed of VTOL when in multicopter mode
+ *
+ * @min 900
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900);
+
+/**
+ * Minimum airspeed in multicopter mode
+ *
+ * This is the minimum speed of the air flowing over the control surfaces.
+ *
+ * @min 0.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,2.0f);
+
+/**
+ * Maximum airspeed in multicopter mode
+ *
+ * This is the maximum speed of the air flowing over the control surfaces.
+ *
+ * @min 0.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);
+
+/**
+ * Trim airspeed when in multicopter mode
+ *
+ * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
+ *
+ * @min 0.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
 
diff --git a/Tools/tests-host/.gitignore b/unittests/.gitignore
index 37e923b5e..37e923b5e 100644
--- a/Tools/tests-host/.gitignore
+++ b/unittests/.gitignore
diff --git a/unittests/Makefile b/unittests/Makefile
new file mode 100644
index 000000000..dfd5ccb3f
--- /dev/null
+++ b/unittests/Makefile
@@ -0,0 +1,60 @@
+
+CC=g++
+CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
+	-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm
+
+all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
+
+MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
+		../src/systemcmds/tests/test_conv.cpp \
+		../src/modules/systemlib/mixer/mixer_simple.cpp \
+		../src/modules/systemlib/mixer/mixer_multirotor.cpp \
+		../src/modules/systemlib/mixer/mixer.cpp \
+		../src/modules/systemlib/mixer/mixer_group.cpp \
+		../src/modules/systemlib/mixer/mixer_load.c \
+		../src/modules/systemlib/pwm_limit/pwm_limit.c \
+		hrt.cpp \
+		mixer_test.cpp
+
+SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
+		hrt.cpp \
+		sbus2_test.cpp
+
+ST24_FILES=../src/lib/rc/st24.c \
+		hrt.cpp \
+		st24_test.cpp
+
+SF0X_FILES= \
+		hrt.cpp \
+		sf0x_test.cpp \
+		../src/drivers/sf0x/sf0x_parser.cpp
+
+AUTODECLINATION_FILES= ../src/lib/geo_lookup/geo_mag_declination.c \
+		hrt.cpp \
+		autodeclination_test.cpp
+
+mixer_test: $(MIXER_FILES)
+	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
+
+sbus2_test: $(SBUS2_FILES)
+	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
+
+sf0x_test: $(SF0X_FILES)
+	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
+
+autodeclination_test: $(SBUS2_FILES)
+	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
+
+st24_test: $(ST24_FILES)
+	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
+
+unittests: clean mixer_test sbus2_test sf0x_test autodeclination_test st24_test
+	./mixer_test
+	./sbus2_test
+	./sf0x_test
+	./autodeclination_test
+	./st24_test
+
+.PHONY: clean
+clean:
+	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
diff --git a/Tools/tests-host/arch/board/board.h b/unittests/arch/board/board.h
index e69de29bb..e69de29bb 100644
--- a/Tools/tests-host/arch/board/board.h
+++ b/unittests/arch/board/board.h
diff --git a/unittests/autodeclination_test.cpp b/unittests/autodeclination_test.cpp
new file mode 100644
index 000000000..1bda6eb79
--- /dev/null
+++ b/unittests/autodeclination_test.cpp
@@ -0,0 +1,52 @@
+
+#include <stdio.h>
+#include <stdlib.h> 
+#include <unistd.h>
+#include <string.h>
+#include <math.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+// #include "../../src/systemcmds/tests/tests.h"
+#include <geo/geo.h>
+
+int main(int argc, char *argv[]) {
+	warnx("autodeclination test started");
+
+	char* latstr = 0;
+	char* lonstr = 0;
+	char* declstr = 0;
+
+	if (argc < 4) {
+		warnx("Too few arguments. Using default lat / lon and declination");
+		latstr = "47.0";
+		lonstr = "8.0";
+		declstr = "0.6";
+	} else {
+		latstr = argv[1];
+		lonstr = argv[2];
+		declstr = argv[3];
+	}
+
+	char* p_end;
+
+	float lat = strtod(latstr, &p_end);
+	float lon = strtod(lonstr, &p_end);
+	float decl_truth = strtod(declstr, &p_end);
+
+	float declination = get_mag_declination(lat, lon);
+
+	printf("lat: %f lon: %f, expected dec: %f, estimated dec: %f\n", lat, lon, declination, decl_truth);
+
+	int ret = 0;
+
+	// Fail if the declination differs by more than one degree
+	float decldiff = fabs(decl_truth - declination);
+	if (decldiff > 0.5f) {
+		warnx("declination differs more than 1 degree: difference: %12.8f", decldiff);
+		ret = 1;
+	}
+
+	return ret;
+}
diff --git a/Tools/tests-host/board_config.h b/unittests/board_config.h
index e69de29bb..e69de29bb 100644
--- a/Tools/tests-host/board_config.h
+++ b/unittests/board_config.h
diff --git a/Tools/tests-host/data/fit_linear_voltage.m b/unittests/data/fit_linear_voltage.m
index 7d0c2c27f..7d0c2c27f 100644
--- a/Tools/tests-host/data/fit_linear_voltage.m
+++ b/unittests/data/fit_linear_voltage.m
diff --git a/Tools/tests-host/data/px4io_v1.3.csv b/unittests/data/px4io_v1.3.csv
index b41ee8f1f..b41ee8f1f 100644
--- a/Tools/tests-host/data/px4io_v1.3.csv
+++ b/unittests/data/px4io_v1.3.csv
diff --git a/Tools/tests-host/debug.h b/unittests/debug.h
index 9824d13fc..9824d13fc 100644
--- a/Tools/tests-host/debug.h
+++ b/unittests/debug.h
diff --git a/Tools/tests-host/hrt.cpp b/unittests/hrt.cpp
index 01b5958b7..01b5958b7 100644
--- a/Tools/tests-host/hrt.cpp
+++ b/unittests/hrt.cpp
diff --git a/Tools/tests-host/mixer_test.cpp b/unittests/mixer_test.cpp
index 06499afd0..4919e325c 100644
--- a/Tools/tests-host/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -3,12 +3,17 @@
 #include "../../src/systemcmds/tests/tests.h"
 
 int main(int argc, char *argv[]) {
+
+	int ret;
+
 	warnx("Host execution started");
 
-	char* args[] = {argv[0], "../../ROMFS/px4fmu_common/mixers/IO_pass.mix",
-				 "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix",
+				 "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
 
-	test_mixer(3, args);
+	if (ret = test_mixer(3, args));
 
 	test_conv(1, args);
+
+	return 0;
 }
diff --git a/Tools/tests-host/nuttx/config.h b/unittests/nuttx/config.h
index e69de29bb..e69de29bb 100644
--- a/Tools/tests-host/nuttx/config.h
+++ b/unittests/nuttx/config.h
diff --git a/Tools/tests-host/queue.h b/unittests/queue.h
index 0fdb170db..0fdb170db 100644
--- a/Tools/tests-host/queue.h
+++ b/unittests/queue.h
diff --git a/Tools/tests-host/run_tests.sh b/unittests/run_tests.sh
index ff5ee509a..ff5ee509a 100755
--- a/Tools/tests-host/run_tests.sh
+++ b/unittests/run_tests.sh
diff --git a/Tools/tests-host/sbus2_test.cpp b/unittests/sbus2_test.cpp
index e2c18369c..ba075f8b3 100644
--- a/Tools/tests-host/sbus2_test.cpp
+++ b/unittests/sbus2_test.cpp
@@ -11,14 +11,20 @@
 int main(int argc, char *argv[]) {
 	warnx("SBUS2 test started");
 
-	if (argc < 2)
-		errx(1, "Need a filename for the input file");
+	char *filepath = 0;
 
-	warnx("loading data from: %s", argv[1]);
+	if (argc < 2) {
+		warnx("Using default input file");
+		filepath = "testdata/sbus2_r7008SB.txt";
+	} else {
+		filepath = argv[1];
+	}
+
+	warnx("loading data from: %s", filepath);
 
 	FILE *fp;
 	
-	fp = fopen(argv[1],"rt");
+	fp = fopen(filepath,"rt");
 
 	if (!fp)
 		errx(1, "failed opening file");
@@ -47,7 +53,7 @@ int main(int argc, char *argv[]) {
 	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
 		if (((f - last_time) * 1000 * 1000) > 3000) {
 			partial_frame_count = 0;
-			warnx("FRAME RESET\n\n");
+			//warnx("FRAME RESET\n\n");
 		}
 
 		frame[partial_frame_count] = x;
@@ -69,8 +75,10 @@ int main(int argc, char *argv[]) {
 
 	if (ret == EOF) {
 		warnx("Test finished, reached end of file");
+		ret = 0;
 	} else {
 		warnx("Test aborted, errno: %d", ret);
 	}
 
+	return ret;
 }
diff --git a/Tools/tests-host/sf0x_test.cpp b/unittests/sf0x_test.cpp
index 82d19fcbe..1af128bbe 100644
--- a/Tools/tests-host/sf0x_test.cpp
+++ b/unittests/sf0x_test.cpp
@@ -43,7 +43,7 @@ int main(int argc, char *argv[])
 
 	for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) {
 
-		printf("\n%s", _linebuf);
+		//printf("\n%s", _linebuf);
 
 		int parse_ret;
 
@@ -51,11 +51,11 @@ int main(int argc, char *argv[])
 			parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
 
 			if (parse_ret == 0) {
-				printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
+				//printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
 			}
 		}
 
-		printf("%s", lines[l]);
+		//printf("%s", lines[l]);
 
 	}
 
diff --git a/Tools/tests-host/st24_test.cpp b/unittests/st24_test.cpp
index 25a9355e2..0c56df173 100644
--- a/Tools/tests-host/st24_test.cpp
+++ b/unittests/st24_test.cpp
@@ -11,15 +11,22 @@ int main(int argc, char *argv[])
 {
 	warnx("ST24 test started");
 
+	char* defaultfile = "testdata/st24_data.txt";
+
+	char* filepath = 0;
+
 	if (argc < 2) {
-		errx(1, "Need a filename for the input file");
+		warnx("Too few arguments. Using default file: %s", defaultfile);
+		filepath = defaultfile;
+	} else {
+		filepath = argv[1];
 	}
 
-	warnx("loading data from: %s", argv[1]);
+	warnx("loading data from: %s", filepath);
 
 	FILE *fp;
 
-	fp = fopen(argv[1], "rt");
+	fp = fopen(filepath, "rt");
 
 	if (!fp) {
 		errx(1, "failed opening file");
@@ -56,21 +63,22 @@ int main(int argc, char *argv[])
 
 
 		if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
-			warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
+			//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
 
 			for (unsigned i = 0; i < channel_count; i++) {
 
 				int16_t val = channels[i];
-				warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
+				//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
 			}
 		}
 	}
 
 	if (ret == EOF) {
 		warnx("Test finished, reached end of file");
-
+		ret = 0;
 	} else {
 		warnx("Test aborted, errno: %d", ret);
 	}
 
+	return ret;
 }
diff --git a/unittests/testdata/sbus2_r7008SB.txt b/unittests/testdata/sbus2_r7008SB.txt
new file mode 100644
index 000000000..d504ba705
--- /dev/null
+++ b/unittests/testdata/sbus2_r7008SB.txt
@@ -0,0 +1,2192 @@
+Time [s],Value,Parity Error,Framing Error
+0,0x0F,,
+0.00012,0x11,,
+0.00024,0x04,,
+0.00036,0x20,,
+0.000480125,0xA8,,
+0.000600125,0x01,,
+0.000720125,0x08,,
+0.000840125,0x16,,
+0.000960125,0x50,,
+0.001080125,0x03,,
+0.001200125,0x10,,
+0.001320125,0x80,,
+0.001440125,0x00,,
+0.001560125,0x04,,
+0.001680125,0x20,,
+0.001800125,0x00,,
+0.001920125,0x01,,
+0.002040125,0x08,,
+0.002160125,0x40,,
+0.002280125,0x00,,
+0.002400125,0x02,,
+0.002520125,0x10,,
+0.002640125,0x80,,
+0.002760125,0x00,,
+0.002880125,0x04,,
+0.00504025,0x03,,
+0.00516025,0xC4,,
+0.00528025,0x00,,
+0.015000625,0x0F,,
+0.015120625,0x11,,
+0.015240625,0x04,,
+0.015360625,0x20,,
+0.015480625,0xA8,,
+0.01560075,0x01,,
+0.01572075,0x08,,
+0.01584075,0x16,,
+0.01596075,0x50,,
+0.01608075,0x03,,
+0.01620075,0x10,,
+0.01632075,0x80,,
+0.01644075,0x00,,
+0.01656075,0x04,,
+0.01668075,0x20,,
+0.01680075,0x00,,
+0.01692075,0x01,,
+0.01704075,0x08,,
+0.01716075,0x40,,
+0.01728075,0x00,,
+0.01740075,0x02,,
+0.01752075,0x10,,
+0.01764075,0x80,,
+0.01776075,0x00,,
+0.01788075,0x14,,
+0.03000125,0x0F,,
+0.03012125,0x11,,
+0.03024125,0x04,,
+0.03036125,0x20,,
+0.03048125,0xA8,,
+0.03060125,0x01,,
+0.030721375,0x08,,
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+0.031441375,0x00,,
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+0.031801375,0x00,,
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+0.045001875,0x0F,,
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+0.045842,0x16,,
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+0.046202,0x10,,
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+0.0600025,0x0F,,
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+0.06515275,0xC0,,
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+0.075003125,0x0F,,
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+0.120005,0x0F,,
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diff --git a/unittests/testdata/st24_data.txt b/unittests/testdata/st24_data.txt
new file mode 100644
index 000000000..f6a39ab0b
--- /dev/null
+++ b/unittests/testdata/st24_data.txt
@@ -0,0 +1,18019 @@
+Time [s],Value,Parity Error,Framing Error
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