Merge branch 'master' into real_life_timeouts

11 files changed, 271 insertions, 170 deletions

diff --git a/Tools/fetch_file.py b/Tools/fetch_file.py
new file mode 100644
index 000000000..7ad08192d
--- /dev/null
+++ b/Tools/fetch_file.py
@@ -0,0 +1,207 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2013-2014 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.
+#
+############################################################################
+
+"""Fetch files via nsh console
+
+Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+\t-l\tList files
+\t-f\tOverwrite existing files
+\t-d\tSerial device
+\t-s\tSerial baudrate
+\t-o\tOutput path
+\tpath\tPath to list/fetch, if ends with "/" then directory will be fetched recursively"""
+
+__author__  = "Anton Babushkin"
+__version__ = "1.1"
+
+import serial, time, sys, os
+
+def _wait_for_string(ser, s, timeout):
+    t0 = time.time()
+    buf = []
+    res = []
+    while (True):
+        c = ser.read()
+        buf.append(c)
+        if len(buf) > len(s):
+            res.append(buf.pop(0))
+        if "".join(buf) == s:
+            break
+        if timeout > 0.0 and time.time() - t0 > timeout:
+            raise Exception("Timeout while waiting for: " + s)
+    return "".join(res)
+
+def _exec_cmd(ser, cmd, timeout):
+    ser.write(cmd + "\n")
+    ser.flush()
+    _wait_for_string(ser, cmd + "\r\n", timeout)
+    return _wait_for_string(ser, "nsh> \x1b[K", timeout)
+
+def _ls_dir_raw(ser, dir, timeout):
+    return _exec_cmd(ser, "ls -l " + dir, timeout)
+
+def _ls_dir(ser, dir, timeout):
+    res = []
+    for line in _ls_dir_raw(ser, dir, timeout).splitlines():
+        if line == dir + ":":
+            continue
+        if line.startswith("nsh: ls: no such directory:"):
+            raise Exception("No such file: " + dir)
+        res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
+    return res
+
+def _get_file(ser, fn, fn_out, force, timeout):
+    print "Get %s:" % fn,
+    if not force:
+        # Check if file already exists with the same size
+        try:
+            os.stat(fn_out)
+        except:
+            pass
+        else:
+            print "already fetched, skip"
+            return
+
+    cmd = "dumpfile " + fn
+    ser.write(cmd + "\n")
+    ser.flush()
+    _wait_for_string(ser, cmd + "\r\n", timeout)
+    res = _wait_for_string(ser, "\n", timeout)
+    if res.startswith("OK"):
+        # Got correct responce, open temp file
+        fn_out_part = fn_out + ".part"
+        fout = open(fn_out_part, "wb")
+
+        size = int(res.split()[1])
+        sys.stdout.write(" [%i bytes] " % size)
+        n = 0
+        while (n < size):
+            buf = ser.read(min(size - n, 8192))
+            n += len(buf)
+            sys.stdout.write(".")
+            sys.stdout.flush()
+            fout.write(buf)
+        print " done"
+        fout.close()
+        os.rename(fn_out_part, fn_out)
+    else:
+        raise Exception("Error reading file")
+    _wait_for_string(ser, "nsh> \x1b[K", timeout)
+
+def _get_files_in_dir(ser, path, path_out, force, timeout):
+    try:
+        os.mkdir(path_out)
+    except:
+        pass
+    for fn in _ls_dir(ser, path, timeout):
+        path_fn = os.path.join(path, fn[0])
+        path_fn_out = os.path.join(path_out, fn[0])
+        if fn[2]:
+            _get_files_in_dir(ser, path_fn[:-1], path_fn_out[:-1], force, timeout)
+        else:
+            _get_file(ser, path_fn, path_fn_out, force, timeout)
+
+def _usage():
+    print """Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+\t-l\tList files
+\t-f\tOverwrite existing files
+\t-d\tSerial device
+\t-s\tSerial baudrate
+\t-o\tOutput path
+\tpath\tPath to list/fetch, if ends with "/" then directory will be fetched recursively"""
+
+def _main():
+    dev = "/dev/tty.usbmodem1"
+    speed = "57600"
+    cmd = "get"
+    path = None
+    path_out = None
+    force = False
+    
+    opt = None
+    for arg in sys.argv[1:]:
+        if opt != None:
+            if opt == "d":
+                dev = arg
+            elif opt == "s":
+                speed = arg
+            elif opt == "o":
+                path_out = arg
+            opt = None
+        else:
+            if arg == "-l":
+                cmd = "ls"
+            elif arg == "-f":
+                force = True
+            elif arg == "-d":
+                opt = "d"
+            elif arg == "-s":
+                opt = "s"
+            elif arg == "-o":
+                opt = "o"
+            elif path == None:
+                path = arg
+
+    if path == None:
+        _usage()
+        exit(0)
+
+    # Connect to serial port
+    ser = serial.Serial(dev, speed, timeout=0.2)
+
+    timeout = 1.0
+
+    try:
+        if cmd == "ls":
+            # List directory
+            print _ls_dir_raw(ser, path, timeout)
+        elif cmd == "get":
+            # Get file(s)
+            if path.endswith("/"):
+                # Get all files from directory recursively
+                if path_out == None:
+                    path_out = os.path.split(path[:-1])[1]
+                _get_files_in_dir(ser, path[:-1], path_out, force, timeout)
+            else:
+                # Get one file
+                if path_out == None:
+                    path_out = os.path.split(path)[1]
+                _get_file(ser, path, os.path.split(path)[1], force, timeout)
+    except Exception as e:
+        print e
+    
+    ser.close()
+
+if __name__ == "__main__":
+    _main()
diff --git a/Tools/fetch_log.py b/Tools/fetch_log.py
deleted file mode 100644
index edcc6557c..000000000
--- a/Tools/fetch_log.py
+++ /dev/null
@@ -1,133 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2012, 2013 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.
-#
-############################################################################
-
-#
-# Log fetcher
-#
-# Print list of logs:
-#     python fetch_log.py
-#
-# Fetch log:
-#     python fetch_log.py sess001/log001.bin
-#
-
-import serial, time, sys, os
-
-def wait_for_string(ser, s, timeout=1.0, debug=False):
-    t0 = time.time()
-    buf = []
-    res = []
-    n = 0
-    while (True):
-        c = ser.read()
-        if debug:
-            sys.stderr.write(c)
-        buf.append(c)
-        if len(buf) > len(s):
-            res.append(buf.pop(0))
-            n += 1
-            if n % 10000 == 0:
-                sys.stderr.write(str(n) + "\n")
-        if "".join(buf) == s:
-            break
-        if timeout > 0.0 and time.time() - t0 > timeout:
-            raise Exception("Timeout while waiting for: " + s)
-    return "".join(res)
-
-def exec_cmd(ser, cmd, timeout):
-    ser.write(cmd + "\n")
-    ser.flush()
-    wait_for_string(ser, cmd + "\r\n", timeout)
-    return wait_for_string(ser, "nsh> \x1b[K", timeout)
-
-def ls_dir(ser, dir, timeout=1.0):
-    res = []
-    for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
-        res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
-    return res
-
-def list_logs(ser):
-    logs_dir = "/fs/microsd/log"
-    res = []
-    for d in ls_dir(ser, logs_dir):
-        if d[2]:
-            sess_dir = d[0][:-1]
-            for f in ls_dir(ser, logs_dir + "/" + sess_dir):
-                log_file = f[0]
-                log_size = f[1]
-                res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
-    return "\n".join(res)
-
-def fetch_log(ser, fn, timeout):
-    cmd = "dumpfile " + fn
-    ser.write(cmd + "\n")
-    ser.flush()
-    wait_for_string(ser, cmd + "\r\n", timeout, True)
-    res = wait_for_string(ser, "\n", timeout, True)
-    data = []
-    if res.startswith("OK"):
-        size = int(res.split()[1])
-        n = 0
-        print "Reading data:"
-        while (n < size):
-            buf = ser.read(min(size - n, 8192))
-            data.append(buf)
-            n += len(buf)
-            sys.stdout.write(".")
-            sys.stdout.flush()
-        print
-    else:
-        raise Exception("Error reading log")
-    wait_for_string(ser, "nsh> \x1b[K", timeout)
-    return "".join(data)
-
-def main():
-    dev = "/dev/tty.usbmodem1"
-    ser = serial.Serial(dev, "115200", timeout=0.2)
-    if len(sys.argv) < 2:
-        print list_logs(ser)
-    else:
-        log_file = sys.argv[1]
-        data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
-        try:
-            os.mkdir(log_file.split("/")[0])
-        except:
-            pass
-        fout = open(log_file, "wb")
-        fout.write(data)
-        fout.close()
-    ser.close()
-
-if __name__ == "__main__":
-    main()
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index c39494fb0..d227e15d5 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -157,6 +157,10 @@ private:
 	perf_counter_t		_pc_idle;
 	perf_counter_t		_pc_badidle;
 
+	/* do not allow top copying this class */
+	PX4IO_serial(PX4IO_serial &);
+	PX4IO_serial& operator = (const PX4IO_serial &);
+
 };
 
 IOPacket PX4IO_serial::_dma_buffer;
@@ -173,7 +177,9 @@ PX4IO_serial::PX4IO_serial() :
 	_tx_dma(nullptr),
 	_rx_dma(nullptr),
 	_rx_dma_status(_dma_status_inactive),
-	_pc_txns(perf_alloc(PC_ELAPSED,		"io_txns     ")),
+	_bus_semaphore(SEM_INITIALIZER(0)),
+	_completion_semaphore(SEM_INITIALIZER(0)),
+	_pc_txns(perf_alloc(PC_ELAPSED, "io_txns     ")),
 	_pc_dmasetup(perf_alloc(PC_ELAPSED,	"io_dmasetup ")),
 	_pc_retries(perf_alloc(PC_COUNT,	"io_retries  ")),
 	_pc_timeouts(perf_alloc(PC_COUNT,	"io_timeouts ")),
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index bf6893a7e..fb16f891f 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -65,7 +65,8 @@
 
 PX4IO_Uploader::PX4IO_Uploader() :
 	_io_fd(-1),
-	_fw_fd(-1)
+	_fw_fd(-1),
+	bl_rev(0)
 {
 }
 
@@ -245,7 +246,7 @@ PX4IO_Uploader::upload(const char *filenames[])
 }
 
 int
-PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
+PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout)
 {
 	struct pollfd fds[1];
 
@@ -262,19 +263,19 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
 		return -ETIMEDOUT;
 	}
 
-	read(_io_fd, &c, 1);
+	read(_io_fd, c, 1);
 #ifdef UDEBUG
-	log("recv 0x%02x", c);
+	log("recv_bytes 0x%02x", c);
 #endif
 	return OK;
 }
 
 int
-PX4IO_Uploader::recv(uint8_t *p, unsigned count)
+PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count)
 {
-	int ret;
+	int ret = OK;
 	while (count--) {
-		ret = recv(*p++, 5000);
+		ret = recv_byte_with_timeout(p++, 5000);
 
 		if (ret != OK)
 			break;
@@ -289,10 +290,10 @@ PX4IO_Uploader::drain()
 	int ret;
 
 	do {
-		// the small recv timeout here is to allow for fast
+		// the small recv_bytes timeout here is to allow for fast
 		// drain when rebooting the io board for a forced
 		// update of the fw without using the safety switch
-		ret = recv(c, 40);
+		ret = recv_byte_with_timeout(&c, 40);
 
 #ifdef UDEBUG
 		if (ret == OK) {
@@ -331,12 +332,12 @@ PX4IO_Uploader::get_sync(unsigned timeout)
 	uint8_t c[2];
 	int ret;
 
-	ret = recv(c[0], timeout);
+	ret = recv_byte_with_timeout(c, timeout);
 
 	if (ret != OK)
 		return ret;
 
-	ret = recv(c[1], timeout);
+	ret = recv_byte_with_timeout(c + 1, timeout);
 
 	if (ret != OK)
 		return ret;
@@ -372,7 +373,7 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
 	send(param);
 	send(PROTO_EOC);
 
-	ret = recv((uint8_t *)&val, sizeof(val));
+	ret = recv_bytes((uint8_t *)&val, sizeof(val));
 
 	if (ret != OK)
 		return ret;
@@ -513,7 +514,7 @@ PX4IO_Uploader::verify_rev2(size_t fw_size)
 		for (ssize_t i = 0; i < count; i++) {
 			uint8_t c;
 
-			ret = recv(c, 5000);
+			ret = recv_byte_with_timeout(&c, 5000);
 
 			if (ret != OK) {
 				log("%d: got %d waiting for bytes", sent + i, ret);
@@ -600,7 +601,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local)
 	send(PROTO_GET_CRC);
 	send(PROTO_EOC);
 
-	ret = recv((uint8_t*)(&crc), sizeof(crc));
+	ret = recv_bytes((uint8_t*)(&crc), sizeof(crc));
 
 	if (ret != OK) {
 		log("did not receive CRC checksum");
diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h
index 3e2142cf2..e17523413 100644
--- a/src/drivers/px4io/uploader.h
+++ b/src/drivers/px4io/uploader.h
@@ -74,19 +74,19 @@ private:
 		INFO_BOARD_REV		= 3,		/**< board revision */
 		INFO_FLASH_SIZE		= 4,		/**< max firmware size in bytes */
 
-		PROG_MULTI_MAX		= 60,		/**< protocol max is 255, must be multiple of 4 */
+		PROG_MULTI_MAX		= 248,		/**< protocol max is 255, must be multiple of 4 */
 
 	};
 
 	int			_io_fd;
 	int			_fw_fd;
 
-	uint32_t	bl_rev; /**< bootloader revision */
+	uint32_t		bl_rev; /**< bootloader revision */
 
 	void			log(const char *fmt, ...);
 
-	int			recv(uint8_t &c, unsigned timeout);
-	int			recv(uint8_t *p, unsigned count);
+	int			recv_byte_with_timeout(uint8_t *c, unsigned timeout);
+	int			recv_bytes(uint8_t *p, unsigned count);
 	void			drain();
 	int			send(uint8_t c);
 	int			send(uint8_t *p, unsigned count);
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 3d504d395..ffdd29a5b 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -3028,6 +3028,10 @@ void AttPosEKF::GetFilterState(struct ekf_status_report *err)
         current_ekf_state.states[i] = states[i];
     }
     current_ekf_state.n_states = n_states;
+    current_ekf_state.onGround = onGround;
+    current_ekf_state.staticMode = staticMode;
+    current_ekf_state.useCompass = useCompass;
+    current_ekf_state.useAirspeed = useAirspeed;
 
     memcpy(err, &current_ekf_state, sizeof(*err));
 
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
index 6d1f47b68..a6b670c4d 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
@@ -68,6 +68,10 @@ struct ekf_status_report {
     bool posTimeout;
     bool hgtTimeout;
     bool imuTimeout;
+    bool onGround;
+    bool staticMode;
+    bool useCompass;
+    bool useAirspeed;
     uint32_t velFailTime;
     uint32_t posFailTime;
     uint32_t hgtFailTime;
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index fbe09564b..861c91d47 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -483,7 +483,12 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
 	Mavlink *inst;
 	LL_FOREACH(_mavlink_instances, inst) {
 		if (inst != self) {
-			inst->pass_message(msg);
+
+			/* if not in normal mode, we are an onboard link
+			 * onboard links should only pass on messages from the same system ID */
+			if(!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) {
+				inst->pass_message(msg);
+			}
 		}
 	}
 }
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 54c412ce7..69e3ef31d 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -241,7 +241,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 		} else {
 
 			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
-				warnx("ignoring CMD spoofed with same SYS/COMP ID");
+				warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
+				      mavlink_system.sysid, mavlink_system.compid);
 				return;
 			}
 
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index ba766cd10..12f6b9c21 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -314,30 +314,36 @@ Mission::set_mission_items()
 	/* set previous position setpoint to current */
 	set_previous_pos_setpoint();
 
+	/* get home distance state */
+	bool home_dist_ok = check_dist_1wp();
+	/* the home dist check provides user feedback, so we initialize it to this */
+	bool user_feedback_done = !home_dist_ok;
+
 	/* try setting onboard mission item */
 	if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_ONBOARD) {
-			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running");
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
 		}
 		_mission_type = MISSION_TYPE_ONBOARD;
 
 	/* try setting offboard mission item */
-	} else if (check_dist_1wp() && read_mission_item(false, true, &_mission_item)) {
+	} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_OFFBOARD) {
-			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running");
 		}
 		_mission_type = MISSION_TYPE_OFFBOARD;
 
 	} else {
-		/* no mission available, switch to loiter */
+		/* no mission available or mission finished, switch to loiter */
 		if (_mission_type != MISSION_TYPE_NONE) {
-			mavlink_log_info(_navigator->get_mavlink_fd(),
-					"#audio: mission finished");
-		} else {
-			mavlink_log_info(_navigator->get_mavlink_fd(),
-					"#audio: no mission available");
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
+		} else if (!user_feedback_done) {
+			/* only tell users that we got no mission if there has not been any
+			 * better, more specific feedback yet
+			 */
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available");
 		}
 		_mission_type = MISSION_TYPE_NONE;
 
@@ -397,7 +403,7 @@ Mission::set_mission_items()
 			takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
 		}
 
-		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
+		mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
 
 		_mission_item.lat = _navigator->get_global_position()->lat;
 		_mission_item.lon = _navigator->get_global_position()->lon;
@@ -483,7 +489,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 		if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			mavlink_log_critical(_navigator->get_mavlink_fd(),
-			                     "#audio: ERROR waypoint could not be read");
+			                     "ERROR waypoint could not be read");
 			return false;
 		}
 
@@ -502,7 +508,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 						/* not supposed to happen unless the datamanager can't access the
 						 * dataman */
 						mavlink_log_critical(_navigator->get_mavlink_fd(),
-								"#audio: ERROR DO JUMP waypoint could not be written");
+								"ERROR DO JUMP waypoint could not be written");
 						return false;
 					}
 				}
@@ -511,8 +517,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 				*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
 
 			} else {
-				mavlink_log_info(_navigator->get_mavlink_fd(),
-						 "#audio: DO JUMP repetitions completed");
+				mavlink_log_critical(_navigator->get_mavlink_fd(),
+						 "DO JUMP repetitions completed");
 				/* no more DO_JUMPS, therefore just try to continue with next mission item */
 				(*mission_index_ptr)++;
 			}
@@ -526,7 +532,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 
 	/* we have given up, we don't want to cycle forever */
 	mavlink_log_critical(_navigator->get_mavlink_fd(),
-			     "#audio: ERROR DO JUMP is cycling, giving up");
+			     "ERROR DO JUMP is cycling, giving up");
 	return false;
 }
 
diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
index b22b446da..e2fa0ff80 100644
--- a/src/systemcmds/nshterm/module.mk
+++ b/src/systemcmds/nshterm/module.mk
@@ -38,4 +38,4 @@
 MODULE_COMMAND	 = nshterm
 SRCS		 = nshterm.c
 
-MODULE_STACKSIZE = 1200
+MODULE_STACKSIZE = 1400