Merge remote-tracking branch 'upstream/master' into mtecs

31 files changed, 571 insertions, 413 deletions

diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index bb729e103..b519e0e7a 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -1,5 +1,5 @@
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2014 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
@@ -125,7 +125,11 @@ ARCHWARNINGS		 = -Wall \
 			   -Wlogical-op \
 			   -Wmissing-declarations \
 			   -Wpacked \
-			   -Wno-unused-parameter
+			   -Wno-unused-parameter \
+			   -Werror=format-security \
+			   -Werror=array-bounds \
+			   -Wfatal-errors \
+			   -Wformat=1
 #   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
 #   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
 #   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
@@ -142,7 +146,8 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 
 # C++-specific warnings
 #
-ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-missing-field-initializers
 
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 524151c90..41942aacd 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -82,10 +82,12 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
 	_max_differential_pressure_pa(0),
 	_sensor_ok(false),
+	_last_published_sensor_ok(true), /* initialize differently to force publication */
 	_measure_ticks(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_pub(-1),
+	_subsys_pub(-1),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
 	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
@@ -149,8 +151,7 @@ Airspeed::init()
 	}
 
 	ret = OK;
-	/* sensor is ok, but we don't really know if it is within range */
-	_sensor_ok = true;
+
 out:
 	return ret;
 }
@@ -344,22 +345,6 @@ Airspeed::start()
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
-
-	/* notify about state change */
-	struct subsystem_info_s info = {
-		true,
-		true,
-		true,
-		SUBSYSTEM_TYPE_DIFFPRESSURE
-	};
-	static orb_advert_t pub = -1;
-
-	if (pub > 0) {
-		orb_publish(ORB_ID(subsystem_info), pub, &info);
-
-	} else {
-		pub = orb_advertise(ORB_ID(subsystem_info), &info);
-	}
 }
 
 void
@@ -369,11 +354,34 @@ Airspeed::stop()
 }
 
 void
+Airspeed::update_status()
+{
+	if (_sensor_ok != _last_published_sensor_ok) {
+		/* notify about state change */
+		struct subsystem_info_s info = {
+			true,
+			true,
+			_sensor_ok,
+			SUBSYSTEM_TYPE_DIFFPRESSURE
+		};
+
+		if (_subsys_pub > 0) {
+			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
+		} else {
+			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
+		}
+
+		_last_published_sensor_ok = _sensor_ok;
+	}
+}
+
+void
 Airspeed::cycle_trampoline(void *arg)
 {
 	Airspeed *dev = (Airspeed *)arg;
 
 	dev->cycle();
+	dev->update_status();
 }
 
 void
diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h
index 186602eda..0b8e949c9 100644
--- a/src/drivers/airspeed/airspeed.h
+++ b/src/drivers/airspeed/airspeed.h
@@ -118,14 +118,21 @@ protected:
 	virtual int	measure() = 0;
 	virtual int	collect() = 0;
 
+	/**
+	 * Update the subsystem status
+	 */
+	void update_status();
+
 	work_s			_work;
 	float			_max_differential_pressure_pa;
 	bool			_sensor_ok;
+	bool			_last_published_sensor_ok;
 	int			_measure_ticks;
 	bool			_collect_phase;
 	float			_diff_pres_offset;
 
 	orb_advert_t		_airspeed_pub;
+	orb_advert_t		_subsys_pub;
 
 	int			_class_instance;
 
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index d873a1132..146a06e7c 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -207,14 +207,18 @@ ETSAirspeed::collect()
 void
 ETSAirspeed::cycle()
 {
+	int ret;
+
 	/* collection phase? */
 	if (_collect_phase) {
 
 		/* perform collection */
-		if (OK != collect()) {
+		ret = collect();
+		if (OK != ret) {
 			perf_count(_comms_errors);
 			/* restart the measurement state machine */
 			start();
+			_sensor_ok = false;
 			return;
 		}
 
@@ -238,8 +242,12 @@ ETSAirspeed::cycle()
 	}
 
 	/* measurement phase */
-	if (OK != measure())
-		log("measure error");
+	ret = measure();
+	if (OK != ret) {
+		debug("measure error");
+	}
+
+	_sensor_ok = (ret == OK);
 
 	/* next phase is collection */
 	_collect_phase = true;
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index cb97354ec..cdc9d3106 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -715,7 +715,7 @@ HMC5883::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
+			debug("collection error");
 			/* restart the measurement state machine */
 			start();
 			return;
@@ -742,7 +742,7 @@ HMC5883::cycle()
 
 	/* measurement phase */
 	if (OK != measure())
-		log("measure error");
+		debug("measure error");
 
 	/* next phase is collection */
 	_collect_phase = true;
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 1ad383ee0..c0f3c28e0 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -288,13 +288,17 @@ MEASAirspeed::collect()
 void
 MEASAirspeed::cycle()
 {
+	int ret;
+
 	/* collection phase? */
 	if (_collect_phase) {
 
 		/* perform collection */
-		if (OK != collect()) {
+		ret = collect();
+		if (OK != ret) {
 			/* restart the measurement state machine */
 			start();
+			_sensor_ok = false;
 			return;
 		}
 
@@ -318,10 +322,13 @@ MEASAirspeed::cycle()
 	}
 
 	/* measurement phase */
-	if (OK != measure()) {
-		log("measure error");
+	ret = measure();
+	if (OK != ret) {
+		debug("measure error");
 	}
 
+	_sensor_ok = (ret == OK);
+
 	/* next phase is collection */
 	_collect_phase = true;
 
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 705e98eea..3cb9abc49 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -1015,7 +1015,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
 		/* copy the current output value from the channel */
-		*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue;
+		*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_GET(0)].RawPwmValue;
 
 		break;
 
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index 12f80c4a3..c555a0a69 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 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.
  *
@@ -33,9 +33,10 @@
 
 /**
  * @file CatapultLaunchMethod.cpp
- * Catpult Launch detection
+ * Catapult Launch detection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  *
- * Authors and acknowledgements in header.
  */
 
 #include "CatapultLaunchMethod.h"
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index 55c46ff3f..23757f6f3 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 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.
  *
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
index bf539701b..3bf47bbb0 100644
--- a/src/lib/launchdetection/LaunchDetector.cpp
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   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
@@ -12,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 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.
  *
@@ -30,12 +30,11 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-
 /**
  * @file launchDetection.cpp
  * Auto Detection for different launch methods (e.g. catapult)
  *
- * Authors and acknowledgements in header.
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include "LaunchDetector.h"
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
index 8066ebab3..1a214b66e 100644
--- a/src/lib/launchdetection/LaunchDetector.h
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 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.
  *
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
index 01fa7050e..e04467f6a 100644
--- a/src/lib/launchdetection/LaunchMethod.h
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   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
@@ -10,9 +10,9 @@
  *    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 documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 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.
  *
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index 45d7957f1..8df8c696c 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -18,7 +17,7 @@
  *    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
+ * "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,
diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk
index 13648b74c..de0174e37 100644
--- a/src/lib/launchdetection/module.mk
+++ b/src/lib/launchdetection/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+#   Copyright (c) 2012, 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
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 4154e3db4..3ff3d9922 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -40,6 +40,7 @@
  */
 
 #include "attitude_estimator_ekf_params.h"
+#include <math.h>
 
 /* Extended Kalman Filter covariances */
 
@@ -113,6 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->yaw_off, &(p->yaw_off));
 
 	param_get(h->mag_decl, &(p->mag_decl));
+	p->mag_decl *= M_PI / 180.0f;
 
 	param_get(h->acc_comp, &(p->acc_comp));
 
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 819dfbe83..f4b24cff1 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -137,7 +137,7 @@ enum MAV_MODE_FLAG {
 };
 
 /* Mavlink file descriptors */
-static int mavlink_fd;
+static int mavlink_fd = 0;
 
 /* flags */
 static bool commander_initialized = false;
@@ -217,11 +217,10 @@ void print_reject_arm(const char *msg);
 
 void print_status();
 
-int arm();
-int disarm();
-
 transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
 
+transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy);
+
 /**
  * Loop that runs at a lower rate and priority for calibration and parameter tasks.
  */
@@ -288,12 +287,12 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "arm")) {
-		arm();
+		arm_disarm(true, mavlink_fd, "command line");
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "disarm")) {
-		disarm();
+	if (!strcmp(argv[1], "2")) {
+		arm_disarm(false, mavlink_fd, "command line");
 		exit(0);
 	}
 
@@ -363,30 +362,20 @@ void print_status()
 
 static orb_advert_t status_pub;
 
-int arm()
+transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy)
 {
-	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
-
-	if (arming_res == TRANSITION_CHANGED) {
-		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
-		return 0;
-
-	} else {
-		return 1;
-	}
-}
-
-int disarm()
-{
-	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
-
-	if (arming_res == TRANSITION_CHANGED) {
-		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
-		return 0;
-
-	} else {
-		return 1;
-	}
+    transition_result_t arming_res = TRANSITION_NOT_CHANGED;
+    
+    // Transition the armed state. By passing mavlink_fd to arming_state_transition it will
+    // output appropriate error messages if the state cannot transition.
+    arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
+    if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
+        mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
+    } else if (arming_res == TRANSITION_DENIED) {
+        tune_negative(true);
+    }
+    
+    return arming_res;
 }
 
 bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
@@ -429,37 +418,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			if (hil_ret == OK)
 				ret = true;
 
-			// TODO remove debug code
-			//mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode);
-			/* set arming state */
-			arming_res = TRANSITION_NOT_CHANGED;
-
-			if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
-					print_reject_arm("NOT ARMING: Press safety switch first.");
-					arming_res = TRANSITION_DENIED;
-
-				} else {
-					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
-				}
-
-				if (arming_res == TRANSITION_CHANGED) {
-					mavlink_log_info(mavlink_fd, "[cmd] ARMED by command");
-				}
-
-			} else {
-				if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) {
-					arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-					arming_res = arming_state_transition(status, safety, new_arming_state, armed);
-
-					if (arming_res == TRANSITION_CHANGED) {
-						mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command");
-					}
-
-				} else {
-					arming_res = TRANSITION_NOT_CHANGED;
-				}
-			}
+            // Transition the arming state
+            arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
 
 			if (arming_res == TRANSITION_CHANGED)
 				ret = true;
@@ -518,27 +478,19 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		}
 
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
-			transition_result_t arming_res = TRANSITION_NOT_CHANGED;
-
-			if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
-				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
-					print_reject_arm("NOT ARMING: Press safety switch first.");
-					arming_res = TRANSITION_DENIED;
-
-				} else {
-					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
-				}
-
-				if (arming_res == TRANSITION_CHANGED) {
-					mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd");
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-					ret = true;
-
-				} else {
-					mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
-					result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
-				}
-			}
+            // Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
+            // We use an float epsilon delta to test float equality.
+            if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
+				mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
+            } else {
+                transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
+                if (arming_res == TRANSITION_DENIED) {
+                    mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
+                    result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+                } else {
+                    result = VEHICLE_CMD_RESULT_ACCEPTED;
+                }
+            }
 		}
 		break;
 
diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp
index 6e72cf0d9..0abb84a82 100644
--- a/src/modules/commander/commander_tests/commander_tests.cpp
+++ b/src/modules/commander/commander_tests/commander_tests.cpp
@@ -48,8 +48,7 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]);
 
 int commander_tests_main(int argc, char *argv[])
 {
-	state_machine_helper_test();
-	//state_machine_test();
+	stateMachineHelperTest();
 
 	return 0;
 }
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index 40bedd9f3..8a946543d 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -49,13 +49,12 @@ public:
 	StateMachineHelperTest();
 	virtual ~StateMachineHelperTest();
 
-	virtual const char*	run_tests();
+	virtual void runTests(void);
 
 private:
-	const char*	arming_state_transition_test();
-	const char*	arming_state_transition_arm_disarm_test();
-	const char*	main_state_transition_test();
-	const char*	is_safe_test();
+	bool armingStateTransitionTest();
+	bool mainStateTransitionTest();
+	bool isSafeTest();
 };
 
 StateMachineHelperTest::StateMachineHelperTest() {
@@ -64,61 +63,242 @@ StateMachineHelperTest::StateMachineHelperTest() {
 StateMachineHelperTest::~StateMachineHelperTest() {
 }
 
-const char*
-StateMachineHelperTest::arming_state_transition_test()
+bool StateMachineHelperTest::armingStateTransitionTest(void)
 {
+    // These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
+    // to simulate machine state prior to testing an arming state transition. This structure is also
+    // use to represent the expected machine state after the transition has been requested.
+    typedef struct {
+        arming_state_t  arming_state;   // vehicle_status_s.arming_state
+        bool            armed;          // actuator_armed_s.armed
+        bool            ready_to_arm;   // actuator_armed_s.ready_to_arm
+    } ArmingTransitionVolatileState_t;
+    
+    // This structure represents a test case for arming_state_transition. It contains the machine
+    // state prior to transtion, the requested state to transition to and finally the expected
+    // machine state after transition.
+    typedef struct {
+        const char*                     assertMsg;                              // Text to show when test case fails
+        ArmingTransitionVolatileState_t current_state;                          // Machine state prior to transtion
+        hil_state_t                     hil_state;                              // Current vehicle_status_s.hil_state
+        bool                            condition_system_sensors_initialized;   // Current vehicle_status_s.condition_system_sensors_initialized
+        bool                            safety_switch_available;                // Current safety_s.safety_switch_available
+        bool                            safety_off;                             // Current safety_s.safety_off
+        arming_state_t                  requested_state;                        // Requested arming state to transition to
+        ArmingTransitionVolatileState_t expected_state;                         // Expected machine state after transition
+        transition_result_t             expected_transition_result;             // Expected result from arming_state_transition
+    } ArmingTransitionTest_t;
+    
+    // We use these defines so that our test cases are more readable
+    #define ATT_ARMED true
+    #define ATT_DISARMED false
+    #define ATT_READY_TO_ARM true
+    #define ATT_NOT_READY_TO_ARM false
+    #define ATT_SENSORS_INITIALIZED true
+    #define ATT_SENSORS_NOT_INITIALIZED false
+    #define ATT_SAFETY_AVAILABLE true
+    #define ATT_SAFETY_NOT_AVAILABLE true
+    #define ATT_SAFETY_OFF true
+    #define ATT_SAFETY_ON false
+    
+    // These are test cases for arming_state_transition
+    static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
+        // TRANSITION_NOT_CHANGED tests
+        
+        { "no transition: identical states",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED },
+        
+        // TRANSITION_CHANGED tests
+        
+        // Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
+        
+        { "transition: init to standby",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to standby error",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to reboot",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to init",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to standby error",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to reboot",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed to standby",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed to armed error",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED_ERROR,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed error to standby error",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby error to reboot",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: in air restore to armed",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: in air restore to reboot",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // hil on tests, standby error to standby not normally allowed
+        
+        { "transition: standby error to standby, hil on",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // Safety switch arming tests
+        
+        { "transition: init to standby, no safety switch",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to standby, safety switch off",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // standby error
+        { "transition: armed error to standby error requested standby",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // TRANSITION_DENIED tests
+        
+        // Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
+        
+        { "no transition: init to armed",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby to armed error",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED_ERROR,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed to init",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed to reboot",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed error to armed",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed error to reboot",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby error to armed",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby error to standby",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: reboot to armed",
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: in air restore to standby",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        // Sensor tests
+        
+        { "no transition: init to standby - sensors not initialized",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        // Safety switch arming tests
+        
+        { "no transition: init to standby, safety switch on",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+    };
+    
 	struct vehicle_status_s status;
-	struct safety_s safety;
-	arming_state_t new_arming_state;
-	struct actuator_armed_s armed;
-
-	// Identical states.
-	status.arming_state = ARMING_STATE_INIT;
-	new_arming_state = ARMING_STATE_INIT;
-	mu_assert("no transition: identical states",
-		  TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-
-	// INIT to STANDBY.
-	armed.armed = false;
-	armed.ready_to_arm = false;
-	status.arming_state = ARMING_STATE_INIT;
-	status.condition_system_sensors_initialized = true;
-	new_arming_state = ARMING_STATE_STANDBY;
-	mu_assert("transition: init to standby",
-		  TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-	mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state);
-	mu_assert("not armed", !armed.armed);
-	mu_assert("ready to arm", armed.ready_to_arm);
-
-	// INIT to STANDBY, sensors not initialized.
-	armed.armed = false;
-	armed.ready_to_arm = false;
-	status.arming_state = ARMING_STATE_INIT;
-	status.condition_system_sensors_initialized = false;
-	new_arming_state = ARMING_STATE_STANDBY;
-	mu_assert("no transition: sensors not initialized",
-		  TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-	mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state);
-	mu_assert("not armed", !armed.armed);
-	mu_assert("not ready to arm", !armed.ready_to_arm);
-
-	return 0;
-}
-
-const char*
-StateMachineHelperTest::arming_state_transition_arm_disarm_test()
-{
-	struct vehicle_status_s status;
-	struct safety_s safety;
-	arming_state_t new_arming_state;
+	struct safety_s         safety;
 	struct actuator_armed_s armed;
-
-	// TODO(sjwilks): ARM then DISARM.
-	return 0;
+    
+    size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
+    for (size_t i=0; i<cArmingTransitionTests; i++) {
+        const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i];
+        
+        // Setup initial machine state
+        status.arming_state = test->current_state.arming_state;
+        status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
+        status.hil_state = test->hil_state;
+        safety.safety_switch_available = test->safety_switch_available;
+        safety.safety_off = test->safety_off;
+        armed.armed = test->current_state.armed;
+        armed.ready_to_arm = test->current_state.ready_to_arm;
+        
+        // Attempt transition
+        transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed);
+        
+        // Validate result of transition
+        ut_assert(test->assertMsg, test->expected_transition_result == result);
+        ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state);
+        ut_assert(test->assertMsg, armed.armed == test->expected_state.armed);
+        ut_assert(test->assertMsg, armed.ready_to_arm == test->expected_state.ready_to_arm);
+    }
+
+	return true;
 }
 
-const char*
-StateMachineHelperTest::main_state_transition_test()
+bool StateMachineHelperTest::mainStateTransitionTest(void)
 {
 	struct vehicle_status_s current_state;
 	main_state_t new_main_state;
@@ -126,70 +306,69 @@ StateMachineHelperTest::main_state_transition_test()
 	// Identical states.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	new_main_state = MAIN_STATE_MANUAL;
-	mu_assert("no transition: identical states",
+	ut_assert("no transition: identical states",
 		  TRANSITION_NOT_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);	
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);	
 
 	// AUTO to MANUAL.
 	current_state.main_state = MAIN_STATE_AUTO;
 	new_main_state = MAIN_STATE_MANUAL;
-	mu_assert("transition changed: auto to manual",
+	ut_assert("transition changed: auto to manual",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
 	// MANUAL to SEATBELT.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = true;
 	new_main_state = MAIN_STATE_SEATBELT;
-	mu_assert("tranisition: manual to seatbelt", 
+	ut_assert("tranisition: manual to seatbelt", 
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
+	ut_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
 
 	// MANUAL to SEATBELT, invalid local altitude.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = false;
 	new_main_state = MAIN_STATE_SEATBELT;
-	mu_assert("no transition: invalid local altitude",
+	ut_assert("no transition: invalid local altitude",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
 	// MANUAL to EASY.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = true;
 	new_main_state = MAIN_STATE_EASY;
-	mu_assert("transition: manual to easy",
+	ut_assert("transition: manual to easy",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
+	ut_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
 
 	// MANUAL to EASY, invalid local position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = false;
 	new_main_state = MAIN_STATE_EASY;
-	mu_assert("no transition: invalid position",
+	ut_assert("no transition: invalid position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
 	// MANUAL to AUTO.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_global_position_valid = true;
 	new_main_state = MAIN_STATE_AUTO;
-	mu_assert("transition: manual to auto",
+	ut_assert("transition: manual to auto",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
+	ut_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
 
 	// MANUAL to AUTO, invalid global position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_global_position_valid = false;
 	new_main_state = MAIN_STATE_AUTO;
-	mu_assert("no transition: invalid global position",
+	ut_assert("no transition: invalid global position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	return 0;
+	return true;
 }
 
-const char*
-StateMachineHelperTest::is_safe_test()
+bool StateMachineHelperTest::isSafeTest(void)
 {
 	struct vehicle_status_s current_state;
 	struct safety_s safety;
@@ -199,49 +378,45 @@ StateMachineHelperTest::is_safe_test()
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	mu_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = false;
 	armed.lockdown = true;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	mu_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	mu_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
+	ut_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	mu_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = false;
 	safety.safety_off = false;
-	mu_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
+	ut_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
 
-	return 0;
+	return true;
 }
 
-const char*
-StateMachineHelperTest::run_tests()
+void StateMachineHelperTest::runTests(void)
 {
-	mu_run_test(arming_state_transition_test);
-	mu_run_test(arming_state_transition_arm_disarm_test);
-	mu_run_test(main_state_transition_test);
-	mu_run_test(is_safe_test);
-
-	return 0;
+	ut_run_test(armingStateTransitionTest);
+	ut_run_test(mainStateTransitionTest);
+	ut_run_test(isSafeTest);
 }
 
-void
-state_machine_helper_test()
+void stateMachineHelperTest(void)
 {
 	StateMachineHelperTest* test = new StateMachineHelperTest();
-	test->UnitTest::print_results(test->run_tests());
+    test->runTests();
+	test->printResults();
 }
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h
index 10a68e602..bbf66255e 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.h
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.h
@@ -39,6 +39,6 @@
 #ifndef STATE_MACHINE_HELPER_TEST_H_
 #define STATE_MACHINE_HELPER_TEST_
 
-void state_machine_helper_test();
+void stateMachineHelperTest(void);
 
 #endif /* STATE_MACHINE_HELPER_TEST_H_ */
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e6f245cf9..f09d586c7 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -69,10 +69,44 @@ static bool arming_state_changed = true;
 static bool main_state_changed = true;
 static bool failsafe_state_changed = true;
 
+// This array defines the arming state transitions. The rows are the new state, and the columns
+// are the current state. Using new state and current  state you can index into the array which
+// will be true for a valid transition or false for a invalid transition. In some cases even
+// though the transition is marked as true additional checks must be made. See arming_state_transition
+// code for those checks.
+static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
+    //                                  INIT,   STANDBY,    ARMED,  ARMED_ERROR,    STANDBY_ERROR,  REBOOT,     IN_AIR_RESTORE
+    { /* ARMING_STATE_INIT */           true,   true,       false,  false,          false,          false,      false },
+    { /* ARMING_STATE_STANDBY */        true,   true,       true,   true,           false,          false,      false },
+    { /* ARMING_STATE_ARMED */          false,  true,       true,   false,          false,          false,      true },
+    { /* ARMING_STATE_ARMED_ERROR */    false,  false,      true,   true,           false,          false,      false },
+    { /* ARMING_STATE_STANDBY_ERROR */  true,   true,       false,  true,           true,           false,      false },
+    { /* ARMING_STATE_REBOOT */         true,   true,       false,  false,          true,           true,       true },
+    { /* ARMING_STATE_IN_AIR_RESTORE */ false,  false,      false,  false,          false,          false,      false }, // NYI
+};
+
+// You can index into the array with an arming_state_t in order to get it's textual representation
+static const char* state_names[ARMING_STATE_MAX] = {
+    "ARMING_STATE_INIT",
+    "ARMING_STATE_STANDBY",
+    "ARMING_STATE_ARMED",
+    "ARMING_STATE_ARMED_ERROR",
+    "ARMING_STATE_STANDBY_ERROR",
+    "ARMING_STATE_REBOOT",
+    "ARMING_STATE_IN_AIR_RESTORE",
+};
+
 transition_result_t
-arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
-			arming_state_t new_arming_state, struct actuator_armed_s *armed)
+arming_state_transition(struct vehicle_status_s *status,            /// current vehicle status
+                        const struct safety_s   *safety,            /// current safety settings
+                        arming_state_t          new_arming_state,   /// arming state requested
+                        struct actuator_armed_s *armed,             /// current armed status
+                        const int               mavlink_fd)         /// mavlink fd for error reporting, 0 for none
 {
+    // Double check that our static arrays are still valid
+    ASSERT(ARMING_STATE_INIT == 0);
+    ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
+    
 	/*
 	 * Perform an atomic state update
 	 */
@@ -83,116 +117,63 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 	/* only check transition if the new state is actually different from the current one */
 	if (new_arming_state == status->arming_state) {
 		ret = TRANSITION_NOT_CHANGED;
-
 	} else {
-
 		/* enforce lockdown in HIL */
 		if (status->hil_state == HIL_STATE_ON) {
 			armed->lockdown = true;
-
 		} else {
 			armed->lockdown = false;
 		}
-
-		switch (new_arming_state) {
-		case ARMING_STATE_INIT:
-
-			/* allow going back from INIT for calibration */
-			if (status->arming_state == ARMING_STATE_STANDBY) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_STANDBY:
-
-			/* allow coming from INIT and disarming from ARMED */
-			if (status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_ARMED
-			    || status->hil_state == HIL_STATE_ON) {
-
-				/* sensors need to be initialized for STANDBY state */
-				if (status->condition_system_sensors_initialized) {
-					ret = TRANSITION_CHANGED;
-					armed->armed = false;
-					armed->ready_to_arm = true;
-				}
-			}
-
-			break;
-
-		case ARMING_STATE_ARMED:
-
-			/* allow arming from STANDBY and IN-AIR-RESTORE */
-			if ((status->arming_state == ARMING_STATE_STANDBY
-			     || status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
-			    && (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */
-				ret = TRANSITION_CHANGED;
-				armed->armed = true;
-				armed->ready_to_arm = true;
-			}
-
-			break;
-
-		case ARMING_STATE_ARMED_ERROR:
-
-			/* an armed error happens when ARMED obviously */
-			if (status->arming_state == ARMING_STATE_ARMED) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = true;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_STANDBY_ERROR:
-
-			/* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */
-			if (status->arming_state == ARMING_STATE_STANDBY
-			    || status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_REBOOT:
-
-			/* an armed error happens when ARMED obviously */
-			if (status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_STANDBY
-			    || status->arming_state == ARMING_STATE_STANDBY_ERROR) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_IN_AIR_RESTORE:
-
-			/* XXX implement */
-			break;
-
-		default:
-			break;
-		}
-
-		if (ret == TRANSITION_CHANGED) {
-			status->arming_state = new_arming_state;
-			arming_state_changed = true;
-		}
-	}
-
+        
+        // Check that we have a valid state transition
+        bool valid_transition = arming_transitions[new_arming_state][status->arming_state];
+        if (valid_transition) {
+            // We have a good transition. Now perform any secondary validation.
+            if (new_arming_state == ARMING_STATE_ARMED) {
+                // Fail transition if we need safety switch press
+                //      Allow if coming from in air restore
+                //      Allow if HIL_STATE_ON
+                if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
+                    if (mavlink_fd) {
+                        mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first.");
+                    }
+                    valid_transition = false;
+                }
+            } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {
+                new_arming_state = ARMING_STATE_STANDBY_ERROR;
+            }
+        }
+        
+        // HIL can always go to standby
+        if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) {
+            valid_transition = true;
+        }
+        
+        /* Sensors need to be initialized for STANDBY state */
+        if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
+            valid_transition = false;
+        }
+
+        // Finish up the state transition
+        if (valid_transition) {
+            armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR;
+            armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY;
+            ret = TRANSITION_CHANGED;
+            status->arming_state = new_arming_state;
+            arming_state_changed = true;
+        }
+    }
+    
 	/* end of atomic state update */
 	irqrestore(flags);
 
-	if (ret == TRANSITION_DENIED)
-		warnx("arming transition rejected");
+    if (ret == TRANSITION_DENIED) {
+        static const char* errMsg = "Invalid arming transition from %s to %s";
+        if (mavlink_fd) {
+            mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
+        }
+        warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
+    }
 
 	return ret;
 }
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index f04879ff9..0ddd4f05a 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -57,7 +57,7 @@ typedef enum {
 } transition_result_t;
 
 transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
-		arming_state_t new_arming_state, struct actuator_armed_s *armed);
+		arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd = 0);
 
 bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
 
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 8ea611802..46bd399f7 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -732,21 +732,21 @@ FixedwingEstimator::task_main()
 				case 1:
 				{
 					const char* str = "NaN in states, resetting";
-					warnx(str);
+					warnx("%s", str);
 					mavlink_log_critical(_mavlink_fd, str);
 					break;
 				}
 				case 2:
 				{
 					const char* str = "stale IMU data, resetting";
-					warnx(str);
+					warnx("%s", str);
 					mavlink_log_critical(_mavlink_fd, str);
 					break;
 				}
 				case 3:
 				{
 					const char* str = "switching dynamic / static state";
-					warnx(str);
+					warnx("%s", str);
 					mavlink_log_critical(_mavlink_fd, str);
 					break;
 				}
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index ad435b251..e49288a74 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -62,6 +62,12 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
+/**
+ * Use/Accept HIL GPS message (even if not in HIL mode)
+ * If set to 1 incomming HIL GPS messages are parsed.
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
 
 mavlink_system_t mavlink_system = {
 	100,
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 227e99b48..7ecca0d65 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -208,6 +208,7 @@ Mavlink::Mavlink() :
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
+	_use_hil_gps(false),
 	_is_usb_uart(false),
 	_wait_to_transmit(false),
 	_received_messages(false),
@@ -487,11 +488,13 @@ void Mavlink::mavlink_update_system(void)
 	static param_t param_system_id;
 	static param_t param_component_id;
 	static param_t param_system_type;
+	static param_t param_use_hil_gps;
 
 	if (!initialized) {
 		param_system_id = param_find("MAV_SYS_ID");
 		param_component_id = param_find("MAV_COMP_ID");
 		param_system_type = param_find("MAV_TYPE");
+		param_use_hil_gps = param_find("MAV_USEHILGPS");
 		initialized = true;
 	}
 
@@ -516,6 +519,11 @@ void Mavlink::mavlink_update_system(void)
 	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 		mavlink_system.type = system_type;
 	}
+
+	int32_t use_hil_gps;
+	param_get(param_use_hil_gps, &use_hil_gps);
+
+	_use_hil_gps = (bool)use_hil_gps;
 }
 
 int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 66d82b471..1bf51fd31 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -157,6 +157,8 @@ public:
 
 	bool		get_hil_enabled() { return _hil_enabled; }
 
+	bool		get_use_hil_gps() { return _use_hil_gps; }
+
 	bool		get_flow_control_enabled() { return _flow_control_enabled; }
 
 	bool		get_forwarding_on() { return _forwarding_on; }
@@ -223,6 +225,7 @@ private:
 
 	/* states */
 	bool		_hil_enabled;		/**< Hardware In the Loop mode */
+	bool		_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
 	bool		_is_usb_uart;		/**< Port is USB */
 	bool        _wait_to_transmit;  /**< Wait to transmit until received messages. */
 	bool        _received_messages; /**< Whether we've received valid mavlink messages. */
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b4fe65fd2..fc2998646 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -162,6 +162,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	 * The HIL mode is enabled by the HIL bit flag
 	 * in the system mode. Either send a set mode
 	 * COMMAND_LONG message or a SET_MODE message
+	 *
+	 * Accept HIL GPS messages if use_hil_gps flag is true.
+	 * This allows to provide fake gps measurements to the system.
 	 */
 	if (_mavlink->get_hil_enabled()) {
 		switch (msg->msgid) {
@@ -169,10 +172,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			handle_message_hil_sensor(msg);
 			break;
 
-		case MAVLINK_MSG_ID_HIL_GPS:
-			handle_message_hil_gps(msg);
-			break;
-
 		case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
 			handle_message_hil_state_quaternion(msg);
 			break;
@@ -182,7 +181,20 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		}
 	}
 
-	/* If we've received a valid message, mark the flag indicating so.
+
+   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
+		switch (msg->msgid) {
+		case MAVLINK_MSG_ID_HIL_GPS:
+			handle_message_hil_gps(msg);
+			break;
+
+		default:
+			break;
+		}
+
+	}
+	
+    /* If we've received a valid message, mark the flag indicating so.
 	   This is used in the '-w' command-line flag. */
 	_mavlink->set_has_received_messages(true);
 }
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 4083b8b4f..214553d19 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -635,39 +635,39 @@ Sensors::parameters_update()
 
 	/* channel mapping */
 	if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 //	if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
@@ -737,12 +737,12 @@ Sensors::parameters_update()
 
 	/* scaling of ADC ticks to battery voltage */
 	if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	/* scaling of ADC ticks to battery current */
 	if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
@@ -1254,7 +1254,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 				}
 			}
 			_last_adc = t;
-			if (_battery_status.voltage_v > 0.0f) {
+			if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
 				/* announce the battery status if needed, just publish else */
 				if (_battery_pub > 0) {
 					orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
@@ -1571,12 +1571,10 @@ Sensors::task_main()
 
 	while (!_task_should_exit) {
 
-		/* wait for up to 100ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		/* wait for up to 50ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
 
-		/* timed out - periodic check for _task_should_exit, etc. */
-		if (pret == 0)
-			continue;
+		/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -1615,7 +1613,7 @@ Sensors::task_main()
 		perf_end(_loop_perf);
 	}
 
-	printf("[sensors] exiting.\n");
+	warnx("[sensors] exiting.");
 
 	_sensors_task = -1;
 	_exit(0);
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 56be4d241..256c5134c 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -69,6 +69,8 @@ typedef enum {
 	MAIN_STATE_MAX
 } main_state_t;
 
+// If you change the order, add or remove arming_state_t states make sure to update the arrays
+// in state_machine_helper.cpp as well.
 typedef enum {
 	ARMING_STATE_INIT = 0,
 	ARMING_STATE_STANDBY,
diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp
index 64ee544a2..02d1af481 100644
--- a/src/modules/unit_test/unit_test.cpp
+++ b/src/modules/unit_test/unit_test.cpp
@@ -32,17 +32,10 @@
  *
  ****************************************************************************/
 
-/**
- * @file unit_test.cpp
- * A unit test library.
- *
- */
-
 #include "unit_test.h"
 
 #include <systemlib/err.h>
 
-
 UnitTest::UnitTest()
 {
 }
@@ -51,15 +44,15 @@ UnitTest::~UnitTest()
 {
 }
 
-void
-UnitTest::print_results(const char* result)
+void UnitTest::printResults(void)
+{
+    warnx(mu_tests_failed() ? "SOME TESTS FAILED" : "ALL TESTS PASSED");
+    warnx("  Tests passed : %d", mu_tests_passed());
+    warnx("  Tests failed : %d", mu_tests_failed());
+    warnx("  Assertions : %d", mu_assertion());
+}
+
+void UnitTest::printAssert(const char* msg, const char* test, const char* file, int line)
 {
-	if (result != 0) {
-        	warnx("Failed: %s:%d", mu_last_test(), mu_line());
-        	warnx("%s", result);
-    	} else {
-        	warnx("ALL TESTS PASSED");
-        	warnx("  Tests run : %d", mu_tests_run());
-        	warnx("  Assertion : %d", mu_assertion());
-    	}
+    warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
 }
diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h
index 3020734f4..32eb8c308 100644
--- a/src/modules/unit_test/unit_test.h
+++ b/src/modules/unit_test/unit_test.h
@@ -32,62 +32,55 @@
  *
  ****************************************************************************/
 
-/**
- * @file unit_test.h
- * A unit test library based on MinUnit (http://www.jera.com/techinfo/jtns/jtn002.html).
- *
- */
-
 #ifndef UNIT_TEST_H_
-#define UNIT_TEST_
+#define UNIT_TEST_H_
 
 #include <systemlib/err.h>
 
-
 class __EXPORT UnitTest
 {
 
 public:
-#define xstr(s) str(s)
-#define str(s) #s
 #define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; }
 
 INLINE_GLOBAL(int, mu_tests_run)
+INLINE_GLOBAL(int, mu_tests_failed)
+INLINE_GLOBAL(int, mu_tests_passed)
 INLINE_GLOBAL(int, mu_assertion)
 INLINE_GLOBAL(int, mu_line)
 INLINE_GLOBAL(const char*, mu_last_test)
 
-#define mu_assert(message, test)                                           \
-    do                                                                     \
-    {                                                                      \
-        if (!(test))                                                       \
-            return __FILE__ ":" xstr(__LINE__) " " message " (" #test ")"; \
-        else                                                               \
-            mu_assertion()++;                                              \
-    } while (0)
-
-
-#define mu_run_test(test)                                                  \
-do                                                                         \
-{                                                                          \
-    const char *message;                                                   \
-    mu_last_test() = #test;                                                \
-    mu_line() = __LINE__;                                                  \
-    message = test();                                                      \
-    mu_tests_run()++;                                                      \
-    if (message)                                                           \
-        return message;                                                    \
-} while (0)
-
-
-public:
 	UnitTest();
     virtual ~UnitTest();
 
-    virtual const char*     run_tests() = 0;
-    virtual void            print_results(const char* result);
-};
-
+    virtual void runTests(void) = 0;
+    void printResults(void);
+    
+    void printAssert(const char* msg, const char* test, const char* file, int line);
+    
+#define ut_assert(message, test)                                \
+    do {                                                        \
+        if (!(test)) {                                          \
+            printAssert(message, #test, __FILE__, __LINE__);    \
+            return false;                                       \
+        } else {                                                \
+            mu_assertion()++;                                   \
+        }                                                       \
+    } while (0)
+    
+#define ut_run_test(test)                       \
+    do {                                        \
+        warnx("RUNNING TEST: %s", #test);       \
+        mu_tests_run()++;                       \
+        if (!test()) {                          \
+            warnx("TEST FAILED: %s", #test);    \
+            mu_tests_failed()++;                \
+        } else {                                \
+            warnx("TEST PASSED: %s", #test);    \
+            mu_tests_passed()++;                \
+        }                                       \
+    } while (0)
 
+};
 
 #endif /* UNIT_TEST_H_ */
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 476015f3e..e6d4b763b 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -121,7 +121,7 @@ do_device(int argc, char *argv[])
 				errx(ret,"uORB publications could not be unblocked");
 
 		} else {
-			errx("no valid command: %s", argv[1]);
+			errx(1, "no valid command: %s", argv[1]);
 		}
 	}