Merge branch 'navigator_new' into navigator_new_vector

32 files changed, 1173 insertions, 253 deletions

diff --git a/Documentation/fw_landing.png b/Documentation/fw_landing.png
new file mode 100644
index 000000000..c1165f16a
--- /dev/null
+++ b/Documentation/fw_landing.png
diff --git a/makefiles/config_px4fmu-v1_backside.mk b/makefiles/config_px4fmu-v1_backside.mk
index 6da78b287..6d2a9f7bd 100644
--- a/makefiles/config_px4fmu-v1_backside.mk
+++ b/makefiles/config_px4fmu-v1_backside.mk
@@ -25,14 +25,10 @@ MODULES		+= drivers/bma180
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
-MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
@@ -71,22 +67,11 @@ MODULES		+= modules/gpio_led
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
-#MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/att_pos_estimator_ekf
-#MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
-MODULES		+= modules/attitude_estimator_so3
 
 #
 # Vehicle Control
 #
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
-#MODULES		+= modules/fw_pos_control_l1
-#MODULES		+= modules/fw_att_control
-#MODULES		+= modules/multirotor_att_control
-#MODULES		+= modules/multirotor_pos_control
-#MODULES		+= examples/flow_position_control
-#MODULES		+= examples/flow_speed_control
 MODULES 		+= modules/fixedwing_backside
 
 #
@@ -119,6 +104,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # Demo apps
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 24c08b8bd..cf5119789 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -21,7 +21,7 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu-v1
 MODULES		+= drivers/ardrone_interface
 MODULES		+= drivers/l3gd20
-MODULES		+= drivers/bma180
+#MODULES		+= drivers/bma180
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
@@ -33,7 +33,6 @@ MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
@@ -75,18 +74,17 @@ MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
+#MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
 #
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
 MODULES		+= modules/mc_att_control_vector
 MODULES		+= modules/mc_pos_control
-MODULES		+= examples/flow_position_control
-MODULES		+= examples/flow_speed_control
+#MODULES		+= examples/flow_position_control
+#MODULES		+= examples/flow_speed_control
 
 #
 # Logging
@@ -118,6 +116,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # Demo apps
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index f63f143c6..9bb9228f3 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -116,6 +116,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # Demo apps
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 9fd2dd516..bb729e103 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -138,8 +138,7 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wold-style-declaration \
 			   -Wmissing-parameter-type \
 			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
+			   -Wnested-externs
 
 # C++-specific warnings
 #
diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 27621211a..6f7166284 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   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
@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU internal definitions
+ * PX4FMUv1 internal definitions
  */
 
 #pragma once
@@ -180,7 +180,7 @@ __BEGIN_DECLS
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 #define HRT_PPM_CHANNEL		3	/* use capture/compare channel 3 */
-#define GPIO_PPM_IN		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
 
 /****************************************************************************************************
  * Public Types
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index 7ab63953f..a19ed9d24 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. 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
@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU internal definitions
+ * PX4FMUv2 internal definitions
  */
 
 #pragma once
@@ -82,21 +82,21 @@ __BEGIN_DECLS
 #define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* Data ready pins off */
-#define GPIO_GYRO_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_MAG_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_ACCEL_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_GYRO_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_MAG_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ACCEL_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
 #define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* SPI1 off */
-#define GPIO_SPI1_SCK_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_SPI1_MISO_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_SPI1_MOSI_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_SPI1_SCK_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_SPI1_MISO_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_SPI1_MOSI_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
 
 /* SPI1 chip selects off */
-#define GPIO_SPI_CS_GYRO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_MPU		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_MPU			(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
 
 /* SPI chip selects */
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
@@ -177,7 +177,7 @@ __BEGIN_DECLS
  *
  * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
  */
-#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
diff --git a/src/drivers/boards/px4io-v1/board_config.h b/src/drivers/boards/px4io-v1/board_config.h
index 48aadbd76..c3f39addf 100644
--- a/src/drivers/boards/px4io-v1/board_config.h
+++ b/src/drivers/boards/px4io-v1/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   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
@@ -92,4 +92,4 @@
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
-#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h
index 4d41d0d07..8da555211 100644
--- a/src/drivers/boards/px4io-v2/board_config.h
+++ b/src/drivers/boards/px4io-v2/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. 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
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_internal.h
+ * @file board_config.h
  *
  * PX4IOV2 internal definitions
  */
@@ -122,7 +122,7 @@
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
-#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
 
 /* LED definitions ******************************************************************/
 /* PX4 has two LEDs that we will encode as: */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 03f1dfbe5..6b87141e9 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -60,7 +60,7 @@
 /**
  * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
  */
-#define RC_INPUT_MAX_CHANNELS	20
+#define RC_INPUT_MAX_CHANNELS	18
 
 /**
  * Input signal type, value is a control position from zero to 100
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index f64bfb41a..08fe2b696 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -503,27 +503,3 @@ __EXPORT float _wrap_360(float bearing)
 
 	return bearing;
 }
-
-__EXPORT bool inside_geofence(const struct vehicle_global_position_s *vehicle, const struct fence_s *fence)
-{
-
-	/* Adaptation of algorithm originally presented as
-	 * PNPOLY - Point Inclusion in Polygon Test
-	 * W. Randolph Franklin (WRF) */
-
-	unsigned int i, j, vertices = fence->count;
-	bool c = false;
-	double lat = vehicle->lat / 1e7d;
-	double lon = vehicle->lon / 1e7d;
-
-	// skip vertex 0 (return point)
-	for (i = 0, j = vertices - 1; i < vertices; j = i++)
-		if (((fence->vertices[i].lon) >= lon != (fence->vertices[j].lon >= lon)) &&
-		    (lat <= (fence->vertices[j].lat - fence->vertices[i].lat) * (lon - fence->vertices[i].lon) /
-		     (fence->vertices[j].lon - fence->vertices[i].lon) + fence->vertices[i].lat))
-			c = !c;
-	return c;
-}
-
-
-
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 5f92e14cf..5f4bce698 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -143,15 +143,4 @@ __EXPORT float _wrap_360(float bearing);
 __EXPORT float _wrap_pi(float bearing);
 __EXPORT float _wrap_2pi(float bearing);
 
-/**
- * Return whether craft is inside geofence.
- *
- * Calculate whether point is inside arbitrary polygon
- * @param craft pointer craft coordinates
- * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
- * @return true: craft is inside fence, false:craft is outside fence
- */
-__EXPORT bool inside_geofence(const struct vehicle_global_position_s *craft, const struct fence_s *fence);
-
-
 __END_DECLS
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
new file mode 100644
index 000000000..d5c759b17
--- /dev/null
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 documentation4 and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file CatapultLaunchMethod.cpp
+ * Catpult Launch detection
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "CatapultLaunchMethod.h"
+#include <systemlib/err.h>
+
+CatapultLaunchMethod::CatapultLaunchMethod() :
+	last_timestamp(0),
+	integrator(0.0f),
+	launchDetected(false),
+	threshold_accel(NULL, "LAUN_CAT_A", false),
+	threshold_time(NULL, "LAUN_CAT_T", false)
+{
+
+}
+
+CatapultLaunchMethod::~CatapultLaunchMethod() {
+
+}
+
+void CatapultLaunchMethod::update(float accel_x)
+{
+	float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
+	last_timestamp = hrt_absolute_time();
+
+	if (accel_x > threshold_accel.get()) {
+		integrator += accel_x * dt;
+//		warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
+//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
+		if (integrator > threshold_accel.get() * threshold_time.get()) {
+			launchDetected = true;
+		}
+
+	} else {
+//		warnx("integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
+//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
+		/* reset integrator */
+		integrator = 0.0f;
+		launchDetected = false;
+	}
+
+}
+
+bool CatapultLaunchMethod::getLaunchDetected()
+{
+	return launchDetected;
+}
+
+void CatapultLaunchMethod::updateParams()
+{
+	threshold_accel.update();
+	threshold_time.update();
+}
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
new file mode 100644
index 000000000..e943f11e9
--- /dev/null
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 documentation4 and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file CatapultLaunchMethod.h
+ * Catpult Launch detection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef CATAPULTLAUNCHMETHOD_H_
+#define CATAPULTLAUNCHMETHOD_H_
+
+#include "LaunchMethod.h"
+
+#include <drivers/drv_hrt.h>
+#include <controllib/block/BlockParam.hpp>
+
+class CatapultLaunchMethod : public LaunchMethod
+{
+public:
+	CatapultLaunchMethod();
+	~CatapultLaunchMethod();
+
+	void update(float accel_x);
+	bool getLaunchDetected();
+	void updateParams();
+
+private:
+	hrt_abstime last_timestamp;
+//	float threshold_accel_raw;
+//	float threshold_time;
+	float integrator;
+	bool launchDetected;
+
+	control::BlockParamFloat threshold_accel;
+	control::BlockParamFloat threshold_time;
+
+};
+
+#endif /* CATAPULTLAUNCHMETHOD_H_ */
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
new file mode 100644
index 000000000..67b32ad82
--- /dev/null
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file launchDetection.cpp
+ * Auto Detection for different launch methods (e.g. catapult)
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "LaunchDetector.h"
+#include "CatapultLaunchMethod.h"
+#include <systemlib/err.h>
+
+LaunchDetector::LaunchDetector() :
+	launchdetection_on(NULL, "LAUN_ALL_ON", false),
+	throttlePreTakeoff(NULL, "LAUN_THR_PRE", false)
+{
+	/* init all detectors */
+	launchMethods[0] = new CatapultLaunchMethod();
+
+
+	/* update all parameters of all detectors */
+	updateParams();
+}
+
+LaunchDetector::~LaunchDetector()
+{
+
+}
+
+void LaunchDetector::update(float accel_x)
+{
+	if (launchdetection_on.get() == 1) {
+		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+			launchMethods[i]->update(accel_x);
+		}
+	}
+}
+
+bool LaunchDetector::getLaunchDetected()
+{
+	if (launchdetection_on.get() == 1) {
+		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+			if(launchMethods[i]->getLaunchDetected()) {
+				return true;
+			}
+		}
+	}
+
+	return false;
+}
+
+void LaunchDetector::updateParams() {
+
+	warnx(" LaunchDetector::updateParams()");
+	launchdetection_on.update();
+	throttlePreTakeoff.update();
+
+	for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+		launchMethods[i]->updateParams();
+		warnx("updating component %d", i);
+	}
+
+	warnx(" LaunchDetector::updateParams() ended");
+}
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
new file mode 100644
index 000000000..7c2ff826c
--- /dev/null
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 documentation4 and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file LaunchDetector.h
+ * Auto Detection for different launch methods (e.g. catapult)
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef LAUNCHDETECTOR_H
+#define LAUNCHDETECTOR_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "LaunchMethod.h"
+
+#include <controllib/block/BlockParam.hpp>
+
+class __EXPORT LaunchDetector
+{
+public:
+	LaunchDetector();
+	~LaunchDetector();
+
+	void update(float accel_x);
+	bool getLaunchDetected();
+	void updateParams();
+	bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
+
+	float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
+
+//	virtual bool getLaunchDetected();
+protected:
+private:
+	LaunchMethod* launchMethods[1];
+	control::BlockParamInt launchdetection_on;
+	control::BlockParamFloat throttlePreTakeoff;
+
+
+};
+
+
+#endif // LAUNCHDETECTOR_H
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
new file mode 100644
index 000000000..bfb5f8cb4
--- /dev/null
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 documentation4 and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file LaunchMethod.h
+ * Base class for different launch methods
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef LAUNCHMETHOD_H_
+#define LAUNCHMETHOD_H_
+
+class LaunchMethod
+{
+public:
+	virtual void update(float accel_x) = 0;
+	virtual bool getLaunchDetected() = 0;
+	virtual void updateParams() = 0;
+protected:
+private:
+};
+
+#endif /* LAUNCHMETHOD_H_ */
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
new file mode 100644
index 000000000..63a8981aa
--- /dev/null
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file launchdetection_params.c
+ *
+ * Parameters for launchdetection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Launch detection parameters, accessible via MAVLink
+ *
+ */
+
+/* Catapult Launch detection */
+
+// @DisplayName		Switch to enable launchdetection
+// @Description		if set to 1 launchdetection is enabled
+// @Range		0 or 1
+PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
+
+// @DisplayName		Catapult Accelerometer Threshold
+// @Description		LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
+// @Range		> 0
+PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
+
+// @DisplayName		Catapult Time Threshold
+// @Description		LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
+// @Range		> 0, in seconds
+PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
+
+// @DisplayName		Throttle setting while detecting the launch
+// @Description		The throttle is set to this value while the system is waiting for the takeoff
+// @Range		0 to 1
+PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f);
diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk
new file mode 100644
index 000000000..13648b74c
--- /dev/null
+++ b/src/lib/launchdetection/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2013 Estimation and Control Library (ECL). 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.
+#
+############################################################################
+
+#
+# Launchdetection Library
+#
+
+SRCS		 = 	LaunchDetector.cpp \
+			CatapultLaunchMethod.cpp \
+			launchdetection_params.c
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index d0aa6fbcf..b8ef73d04 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -76,6 +76,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/navigation_capabilities.h>
+#include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/parameter_update.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
@@ -85,11 +86,12 @@
 #include <systemlib/systemlib.h>
 #include <mathlib/mathlib.h>
 #include <mavlink/mavlink_log.h>
-
+#include <launchdetection/LaunchDetector.h>
 #include <ecl/l1/ecl_l1_pos_controller.h>
 #include <external_lgpl/tecs/tecs.h>
 #include "landingslope.h"
 
+
 /**
  * L1 control app start / stop handling function
  *
@@ -131,7 +133,7 @@ private:
 	int		_control_mode_sub;			/**< vehicle status subscription */
 	int 		_params_sub;			/**< notification of parameter updates */
 	int 		_manual_control_sub;		/**< notification of manual control updates */
-	int		_accel_sub;			/**< body frame accelerations */
+	int		_sensor_combined_sub;			/**< for body frame accelerations */
 
 	orb_advert_t	_attitude_sp_pub;		/**< attitude setpoint */
 	orb_advert_t	_nav_capabilities_pub;		/**< navigation capabilities publication */
@@ -144,7 +146,7 @@ private:
 	struct vehicle_control_mode_s				_control_mode;		/**< vehicle status */
 	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
 	struct mission_item_triplet_s			_mission_item_triplet;		/**< triplet of mission items */
-	struct accel_report				_accel;			/**< body frame accelerations */
+	struct sensor_combined_s				_sensor_combined;			/**< for body frame accelerations */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
@@ -170,6 +172,11 @@ private:
 	bool land_motor_lim;
 	bool land_onslope;
 
+	/* takeoff/launch states */
+	bool launch_detected;
+	bool usePreTakeoffThrust;
+	bool launch_detection_message_sent;
+
 	/* Landingslope object */
 	Landingslope landingslope;
 
@@ -177,6 +184,9 @@ private:
 	/* heading hold */
 	float target_bearing;
 
+	/* Launch detection */
+	LaunchDetector launchDetector;
+
 	/* throttle and airspeed states */
 	float _airspeed_error;				///< airspeed error to setpoint in m/s
 	bool _airspeed_valid;				///< flag if a valid airspeed estimate exists
@@ -307,7 +317,7 @@ private:
 	/**
 	 * Check for accel updates.
 	 */
-	void		vehicle_accel_poll();
+	void		vehicle_sensor_combined_poll();
 
 	/**
 	 * Check for set triplet updates.
@@ -384,7 +394,11 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	land_motor_lim(false),
 	land_onslope(false),
 	flare_curve_alt_last(0.0f),
-	_mavlink_fd(-1)
+	_mavlink_fd(-1),
+	launchDetector(),
+	launch_detected(false),
+	usePreTakeoffThrust(false),
+	launch_detection_message_sent(false)
 {
 	/* safely initialize structs */
 	vehicle_attitude_s			_att = {0};
@@ -395,7 +409,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	vehicle_control_mode_s			_control_mode = {0};
 	vehicle_global_position_s		_global_pos = {0};
 	mission_item_triplet_s			_mission_item_triplet = {0};
-	accel_report				_accel = {0};
+	sensor_combined_s				_sensor_combined = {0};
 
 
 
@@ -554,6 +568,9 @@ FixedwingPositionControl::parameters_update()
 	_nav_capabilities.landing_flare_length = landingslope.flare_length();
 	navigation_capabilities_publish();
 
+	/* Update Launch Detector Parameters */
+	launchDetector.updateParams();
+
 	return OK;
 }
 
@@ -623,14 +640,14 @@ FixedwingPositionControl::vehicle_attitude_poll()
 }
 
 void
-FixedwingPositionControl::vehicle_accel_poll()
+FixedwingPositionControl::vehicle_sensor_combined_poll()
 {
 	/* check if there is a new position */
-	bool accel_updated;
-	orb_check(_accel_sub, &accel_updated);
+	bool sensors_updated;
+	orb_check(_sensor_combined_sub, &sensors_updated);
 
-	if (accel_updated) {
-		orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+	if (sensors_updated) {
+		orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
 	}
 }
 
@@ -748,8 +765,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 	float baro_altitude = _global_pos.alt;
 
 	/* filter speed and altitude for controller */
-	math::Vector<3> accel_body(_accel.x, _accel.y, _accel.z);
-	math::Vector<3> accel_earth = _R_nb.transposed() * accel_body;
+	math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
+	math::Vector<3> accel_earth = _R_nb * accel_body;
 
 	_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
 	float altitude_error = _mission_item_triplet.current.altitude - _global_pos.alt;
@@ -964,30 +981,57 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 		} else if (mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
 
+			/* Perform launch detection */
+//			warnx("Launch detection running");
+			if(!launch_detected) { //do not do further checks once a launch was detected
+				if (launchDetector.launchDetectionEnabled()) {
+//					warnx("Launch detection enabled");
+					if(!launch_detection_message_sent) {
+						mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
+						launch_detection_message_sent = true;
+					}
+					launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
+					if (launchDetector.getLaunchDetected()) {
+						launch_detected = true;
+						mavlink_log_info(_mavlink_fd, "#audio: Takeoff");
+					}
+				} else	{
+					/* no takeoff detection --> fly */
+					launch_detected = true;
+				}
+			}
+
 			_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
 			_att_sp.roll_body = _l1_control.nav_roll();
 			_att_sp.yaw_body = _l1_control.nav_bearing();
 
-			/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
-			if (altitude_error > 15.0f) {
+			if (launch_detected) {
+				usePreTakeoffThrust = false;
 
-				/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
-				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min),
-							    _airspeed.indicated_airspeed_m_s, eas2tas,
-							    true, math::max(math::radians(mission_item_triplet.current.pitch_min), math::radians(10.0f)),
-							    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-							    math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+				/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
+				if (altitude_error > 15.0f) {
 
-				/* limit roll motion to ensure enough lift */
-				_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
+					/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
+					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min),
+									_airspeed.indicated_airspeed_m_s, eas2tas,
+									true, math::max(math::radians(mission_item_triplet.current.pitch_min), math::radians(10.0f)),
+									_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+									math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
 
-			} else {
+					/* limit roll motion to ensure enough lift */
+					_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
 
-				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
-							    _airspeed.indicated_airspeed_m_s, eas2tas,
-							    false, math::radians(_parameters.pitch_limit_min),
-							    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-							    math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+				} else {
+
+					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
+									_airspeed.indicated_airspeed_m_s, eas2tas,
+									false, math::radians(_parameters.pitch_limit_min),
+									_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+									math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+				}
+
+			} else {
+				usePreTakeoffThrust = true;
 			}
 		}
 
@@ -1009,6 +1053,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			land_onslope = false;
 		}
 
+		/* reset takeoff/launch state */
+		if (mission_item_triplet.current.nav_cmd != NAV_CMD_TAKEOFF) {
+			launch_detected = false;
+			usePreTakeoffThrust = false;
+			launch_detection_message_sent = false;
+		}
+
 		if (was_circle_mode && !_l1_control.circle_mode()) {
 			/* just kicked out of loiter, reset roll integrals */
 			_att_sp.roll_reset_integral = true;
@@ -1103,8 +1154,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		setpoint = false;
 	}
 
+	if (usePreTakeoffThrust) {
+		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
+	}
+	else {
+		_att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max);
+	}
 	_att_sp.pitch_body = _tecs.get_pitch_demand();
-	_att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max);
+
 
 	return setpoint;
 }
@@ -1123,7 +1180,7 @@ FixedwingPositionControl::task_main()
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	_mission_item_triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
 	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -1205,7 +1262,7 @@ FixedwingPositionControl::task_main()
 
 			vehicle_attitude_poll();
 			vehicle_setpoint_poll();
-			vehicle_accel_poll();
+			vehicle_sensor_combined_poll();
 			vehicle_airspeed_poll();
 			// vehicle_baro_poll();
 
diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h
index 8ff431509..1a149fc7c 100644
--- a/src/modules/fw_pos_control_l1/landingslope.h
+++ b/src/modules/fw_pos_control_l1/landingslope.h
@@ -46,16 +46,16 @@
 class Landingslope
 {
 private:
-	//xxx: documentation of landing pending
-	float _landing_slope_angle_rad;
-	float _flare_relative_alt;
+	/* see Documentation/fw_landing.png for a plot of the landing slope */
+	float _landing_slope_angle_rad;			/**< phi in the plot */
+	float _flare_relative_alt;				/**< h_flare,rel in the plot */
 	float _motor_lim_horizontal_distance;
-	float _H1_virt;
-	float _H0;
-	float _d1;
+	float _H1_virt;							/**< H1 in the plot */
+	float _H0;								/**< h_flare,rel + H1 in the plot */
+	float _d1;								/**< d1 in the plot */
 	float _flare_constant;
-	float _flare_length;
-	float _horizontal_slope_displacement;
+	float _flare_length;					/**< d1 + delta d in the plot */
+	float _horizontal_slope_displacement;  /**< delta d in the plot */
 
 	void calculateSlopeValues();
 
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
new file mode 100644
index 000000000..9bbaf167a
--- /dev/null
+++ b/src/modules/navigator/geofence.cpp
@@ -0,0 +1,299 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
+ *           @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file geofence.cpp
+ * Provides functions for handling the geofence
+ */
+#include "geofence.h"
+
+#include <uORB/topics/vehicle_global_position.h>
+#include <string.h>
+#include <dataman/dataman.h>
+#include <systemlib/err.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <ctype.h>
+#include <nuttx/config.h>
+#include <unistd.h>
+
+
+/* Oddly, ERROR is not defined for C++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+Geofence::Geofence() : _fence_pub(-1),
+		_altitude_min(0),
+		_altitude_max(0),
+		_verticesCount(0),
+		param_geofence_on(NULL, "GF_ON", false)
+{
+	/* Load initial params */
+	updateParams();
+}
+
+Geofence::~Geofence()
+{
+
+}
+
+
+bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
+{
+	double lat = vehicle->lat / 1e7d;
+	double lon = vehicle->lon / 1e7d;
+	float	alt = vehicle->alt;
+
+	return inside(lat, lon, vehicle->alt);
+}
+
+bool Geofence::inside(double lat, double lon, float altitude)
+{
+	/* Return true if geofence is disabled */
+	if (param_geofence_on.get() != 1)
+		return true;
+
+	if (valid()) {
+
+		if (!isEmpty()) {
+			/* Vertical check */
+			if (altitude > _altitude_max || altitude < _altitude_min)
+				return false;
+
+			/*Horizontal check */
+			/* Adaptation of algorithm originally presented as
+			 * PNPOLY - Point Inclusion in Polygon Test
+			 * W. Randolph Franklin (WRF) */
+
+			bool c = false;
+
+			struct fence_vertex_s temp_vertex_i;
+			struct fence_vertex_s temp_vertex_j;
+
+			/* Red until fence is finished */
+			for (unsigned i = 0, j = _verticesCount - 1; i < _verticesCount; j = i++) {
+				if (dm_read(DM_KEY_FENCE_POINTS, i, &temp_vertex_i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
+					break;
+				}
+				if (dm_read(DM_KEY_FENCE_POINTS, j, &temp_vertex_j, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
+					break;
+				}
+
+				// skip vertex 0 (return point)
+				if (((temp_vertex_i.lon) >= lon != (temp_vertex_j.lon >= lon)) &&
+							(lat <= (temp_vertex_j.lat - temp_vertex_i.lat) * (lon - temp_vertex_i.lon) /
+							 (temp_vertex_j.lon - temp_vertex_i.lon) + temp_vertex_i.lat)) {
+							c = !c;
+				}
+
+			}
+
+			return c;
+		} else {
+			/* Empty fence --> accept all points */
+			return true;
+		}
+
+	} else {
+		/* Invalid fence --> accept all points */
+		return true;
+	}
+}
+
+bool
+Geofence::valid()
+{
+	// NULL fence is valid
+	if (isEmpty())
+		return true;
+
+	// Otherwise
+	if ((_verticesCount < 4) || (_verticesCount > GEOFENCE_MAX_VERTICES)) {
+		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
+		return false;
+	}
+
+	return true;
+}
+
+void
+Geofence::addPoint(int argc, char *argv[])
+{
+	int ix, last;
+	double lon, lat;
+	struct fence_vertex_s vertex;
+	char *end;
+
+	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
+		dm_clear(DM_KEY_FENCE_POINTS);
+		publishFence(0);
+		return;
+	}
+
+	if (argc < 3)
+		errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
+
+	ix = atoi(argv[0]);
+	if (ix >= DM_KEY_FENCE_POINTS_MAX)
+		errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
+
+	lat = strtod(argv[1], &end);
+	lon = strtod(argv[2], &end);
+
+	last = 0;
+	if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
+		last = 1;
+
+	vertex.lat = (float)lat;
+	vertex.lon = (float)lon;
+
+	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
+		if (last)
+			publishFence((unsigned)ix + 1);
+		return;
+	}
+
+	errx(1, "can't store fence point");
+}
+
+void
+Geofence::publishFence(unsigned vertices)
+{
+	if (_fence_pub == -1)
+		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
+	else
+		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
+}
+
+int
+Geofence::loadFromFile(const char *filename)
+{
+	FILE		*fp;
+	char		line[120];
+	int			pointCounter = 0;
+	bool		gotVertical = false;
+	const char commentChar = '#';
+
+	/* Make sure no data is left in the datamanager */
+	clearDm();
+
+	/* open the mixer definition file */
+	fp = fopen(GEOFENCE_FILENAME, "r");
+	if (fp == NULL) {
+		return ERROR;
+	}
+
+	/* create geofence points from valid lines and store in DM */
+	for (;;) {
+
+		/* get a line, bail on error/EOF */
+		if (fgets(line, sizeof(line), fp) == NULL)
+			break;
+
+		/* Trim leading whitespace */
+		size_t textStart = 0;
+		while((textStart < sizeof(line)/sizeof(char)) && isspace(line[textStart])) textStart++;
+
+		/* if the line starts with #, skip */
+		if (line[textStart] == commentChar)
+			continue;
+
+		if (gotVertical) {
+			/* Parse the line as a geofence point */
+			struct fence_vertex_s vertex;
+
+			/* if the line starts with DMS, this means that the coordinate is given as degree minute second instead of decimal degrees */
+			if (line[textStart] == 'D' && line[textStart + 1] == 'M' && line[textStart + 2] == 'S') {
+				/* Handle degree minute second format */
+				float lat_d, lat_m, lat_s, lon_d, lon_m, lon_s;
+
+				if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6)
+					return ERROR;
+
+//				warnx("Geofence DMS: %.5f %.5f %.5f ; %.5f %.5f %.5f", (double)lat_d, (double)lat_m, (double)lat_s, (double)lon_d, (double)lon_m, (double)lon_s);
+
+				vertex.lat = lat_d + lat_m/60.0f + lat_s/3600.0f;
+				vertex.lon = lon_d + lon_m/60.0f + lon_s/3600.0f;
+
+			} else {
+				/* Handle decimal degree format */
+
+				if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2)
+					return ERROR;
+			}
+
+			if (dm_write(DM_KEY_FENCE_POINTS, pointCounter, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) != sizeof(vertex))
+								return ERROR;
+
+			warnx("Geofence: point: %d, lat %.5f: lon: %.5f", pointCounter,  (double)vertex.lat, (double)vertex.lon);
+
+			pointCounter++;
+		} else {
+			/* Parse the line as the vertical limits */
+			if (sscanf(line, "%f %f", &_altitude_min, &_altitude_max) != 2)
+				return ERROR;
+
+
+			warnx("Geofence: alt min: %.4f, alt_max: %.4f", (double)_altitude_min, (double)_altitude_max);
+			gotVertical = true;
+		}
+
+
+	}
+
+	fclose(fp);
+
+	/* Check if import was successful */
+	if(gotVertical && pointCounter > 0)
+	{
+		_verticesCount = pointCounter;
+		warnx("Geofence: imported successfully");
+	} else {
+		warnx("Geofence: import error");
+	}
+
+	return ERROR;
+}
+
+int Geofence::clearDm()
+{
+	dm_clear(DM_KEY_FENCE_POINTS);
+}
+
+void Geofence::updateParams()
+{
+	param_geofence_on.update();
+}
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
new file mode 100644
index 000000000..5b56ebc7a
--- /dev/null
+++ b/src/modules/navigator/geofence.h
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
+ *           @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file geofence.h
+ * Provides functions for handling the geofence
+ */
+
+#ifndef GEOFENCE_H_
+#define GEOFENCE_H_
+
+#include <uORB/topics/fence.h>
+#include <controllib/block/BlockParam.hpp>
+
+#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
+
+class Geofence {
+private:
+	orb_advert_t	_fence_pub;			/**< publish fence topic */
+
+	float			_altitude_min;
+	float			_altitude_max;
+
+	unsigned 			_verticesCount;
+
+	/* Params */
+	control::BlockParamInt param_geofence_on;
+public:
+	Geofence();
+	~Geofence();
+
+	/**
+	 * Return whether craft is inside geofence.
+	 *
+	 * Calculate whether point is inside arbitrary polygon
+	 * @param craft pointer craft coordinates
+	 * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
+	 * @return true: craft is inside fence, false:craft is outside fence
+	 */
+	bool inside(const struct vehicle_global_position_s *craft);
+	bool inside(double lat, double lon, float altitude);
+
+	int clearDm();
+
+	bool valid();
+
+	/**
+	 * Specify fence vertex position.
+	 */
+	void addPoint(int argc, char *argv[]);
+
+	void publishFence(unsigned vertices);
+
+	int loadFromFile(const char *filename);
+
+	bool isEmpty() {return _verticesCount == 0;}
+
+	void updateParams();
+};
+
+
+#endif /* GEOFENCE_H_ */
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
new file mode 100644
index 000000000..20dd1fe2f
--- /dev/null
+++ b/src/modules/navigator/geofence_params.c
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file geofence_params.c
+ *
+ * Parameters for geofence
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * geofence parameters, accessible via MAVLink
+ *
+ */
+
+// @DisplayName		Switch to enable geofence
+// @Description		if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present
+// @Range		0 or 1
+PARAM_DEFINE_INT32(GF_ON, 1);
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 25b2636bb..eaafa217d 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -48,6 +48,7 @@
 #include <stdio.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <uORB/topics/fence.h>
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -61,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	/* Init if not done yet */
 	init();
@@ -74,39 +75,56 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nItems);
+		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nItems);
+		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 
-	return checkGeofence(dm_current, nItems);
+	return checkGeofence(dm_current, nMissionItems, geofence);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	/* Update fixed wing navigation capabilites */
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
 
-	return (checkFixedWingLanding(dm_current, nItems) && checkGeofence(dm_current, nItems));
+	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
 }
 
-bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
-	//xxx: check geofence
+	/* Check if all mission items are inside the geofence (if we have a valid geofence) */
+	if (geofence.valid()) {
+		for (size_t i = 0; i < nMissionItems; i++) {
+			static struct mission_item_s missionitem;
+			const ssize_t len = sizeof(struct mission_item_s);
+
+			if (dm_read(dm_current, i, &missionitem, len) != len) {
+				/* not supposed to happen unless the datamanager can't access the SD card, etc. */
+				return false;
+			}
+
+			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude
+				mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i);
+				return false;
+			}
+		}
+	}
+
 	return true;
 }
 
-bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
 {
 	/* Go through all mission items and search for a landing waypoint
 	 * if landing waypoint is found: the previous waypoint is checked to be at a feasible distance and altitude given the landing slope */
 
 
-	for (size_t i = 0; i < nItems; i++) {
+	for (size_t i = 0; i < nMissionItems; i++) {
 		static struct mission_item_s missionitem;
 		const ssize_t len = sizeof(struct mission_item_s);
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index 7d1cc2f8a..7a0b2a296 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -43,6 +43,7 @@
 #include <uORB/topics/mission.h>
 #include <uORB/topics/navigation_capabilities.h>
 #include <dataman/dataman.h>
+#include "geofence.h"
 
 
 class MissionFeasibilityChecker
@@ -57,15 +58,15 @@ private:
 	void init();
 
 	/* Checks for all airframes */
-	bool checkGeofence(dm_item_t dm_current, size_t nItems);
+	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 
 	/* Checks specific to fixedwing airframes */
-	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems);
-	bool checkFixedWingLanding(dm_item_t dm_current, size_t nItems);
+	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
 	void updateNavigationCapabilities();
 
 	/* Checks specific to rotarywing airframes */
-	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nItems);
+	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 public:
 
 	MissionFeasibilityChecker();
@@ -74,7 +75,7 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 
 };
 
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 6be4e87a0..55f8a4caa 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -40,6 +40,8 @@ MODULE_COMMAND	= navigator
 SRCS		= navigator_main.cpp \
 		  navigator_params.c \
 		  navigator_mission.cpp \
-		  mission_feasibility_checker.cpp
+		  mission_feasibility_checker.cpp \
+		  geofence.cpp \
+		  geofence_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 61de91dce..bb7520a03 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -75,9 +75,12 @@
 #include <mathlib/mathlib.h>
 #include <dataman/dataman.h>
 #include <mavlink/mavlink_log.h>
+#include <sys/types.h>
+#include <sys/stat.h>
 
 #include "navigator_mission.h"
 #include "mission_feasibility_checker.h"
+#include "geofence.h"
 
 
 /* oddly, ERROR is not defined for c++ */
@@ -119,14 +122,14 @@ public:
 	void		status();
 
 	/**
-	 * Load fence parameters.
+	 * Add point to geofence
 	 */
-	bool		load_fence(unsigned vertices);
+	void add_fence_point(int argc, char *argv[]);
 
 	/**
-	 * Specify fence vertex position.
+	 * Load fence from file
 	 */
-	void		fence_point(int argc, char *argv[]);
+	void load_fence_from_file(const char *filename);
 
 private:
 
@@ -144,7 +147,6 @@ private:
 	int		_capabilities_sub;		/**< notification of vehicle capabilities updates */
 
 	orb_advert_t	_triplet_pub;			/**< publish position setpoint triplet */
-	orb_advert_t	_fence_pub;			/**< publish fence topic */ 
 	orb_advert_t	_mission_result_pub;		/**< publish mission result topic */
 	orb_advert_t	_control_mode_pub;			/**< publish vehicle control mode topic */
 
@@ -157,7 +159,9 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	
-	struct fence_s 					_fence;			/**< storage for fence vertices */
+	Geofence					_geofence;
+	bool						_geofence_violation_warning_sent;
+
 	bool						_fence_valid;		/**< flag if fence is valid */
         bool						_inside_fence;		/**< vehicle is inside fence */
 
@@ -268,12 +272,8 @@ private:
 	 */
 	void		task_main() __attribute__((noreturn));
 
-	void		publish_fence(unsigned vertices);
-
 	void		publish_safepoints(unsigned points);
 
-	bool		fence_valid(const struct fence_s &fence);
-
 	/**
 	 * Functions that are triggered when a new state is entered.
 	 */
@@ -378,7 +378,6 @@ Navigator::Navigator() :
 
 /* publications */
 	_triplet_pub(-1),
-	_fence_pub(-1),
 	_mission_result_pub(-1),
 	_control_mode_pub(-1),
 
@@ -396,10 +395,9 @@ Navigator::Navigator() :
 	_time_first_inside_orbit(0),
 	_set_nav_state_timestamp(0),
 	_need_takeoff(true),
-	_do_takeoff(false)
+	_do_takeoff(false),
+	_geofence_violation_warning_sent(false)
 {
-	memset(&_fence, 0, sizeof(_fence));
-
 	_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
 	_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
 	_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
@@ -463,6 +461,8 @@ Navigator::parameters_update()
 	param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt));
 
 	_mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled);
+
+	_geofence.updateParams();
 }
 
 void
@@ -499,7 +499,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 		} else {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
-		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count);
+		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
 
 		_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
 		_mission.set_current_offboard_mission_index(offboard_mission.current_index);
@@ -552,7 +552,20 @@ Navigator::task_main()
 
 	mavlink_log_info(_mavlink_fd, "[navigator] started");
 
-	_fence_valid = load_fence(GEOFENCE_MAX_VERTICES);
+	/* Try to load the geofence:
+	 * if /fs/microsd/etc/geofence.txt load from this file
+	 * else clear geofence data in datamanager
+	 */
+	struct stat buffer;
+	if( stat (GEOFENCE_FILENAME, &buffer) == 0 ) {
+		warnx("Try to load geofence.txt");
+		_geofence.loadFromFile(GEOFENCE_FILENAME);
+	} else {
+		if (_geofence.clearDm() > 0 )
+			warnx("Geofence cleared");
+		else
+			warnx("Could not clear geofence");
+	}
 
 	/*
 	 * do subscriptions
@@ -756,6 +769,21 @@ Navigator::task_main()
 					on_mission_item_reached();
 				}
 			}
+
+			/* Check geofence violation */
+			if(!_geofence.inside(&_global_pos)) {
+				//xxx: publish geofence violation here (or change local flag depending on which app handles the flight termination)
+
+				/* Issue a warning about the geofence violation once */
+				if (!_geofence_violation_warning_sent)
+				{
+					mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation");
+					_geofence_violation_warning_sent = true;
+				}
+			} else {
+				/* Reset the _geofence_violation_warning_sent field */
+				_geofence_violation_warning_sent = false;
+			}
 		}
 
 		/* notify user about state changes */
@@ -814,9 +842,9 @@ Navigator::status()
 	}
 	if (_fence_valid) {
 		warnx("Geofence is valid");
-		warnx("Vertex longitude latitude");
-		for (unsigned i = 0; i < _fence.count; i++)
-		warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
+//		warnx("Vertex longitude latitude");
+//		for (unsigned i = 0; i < _fence.count; i++)
+//		warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
 	} else {
 		warnx("Geofence not set");
 	}
@@ -840,96 +868,6 @@ Navigator::status()
 	}
 }
 
-void
-Navigator::publish_fence(unsigned vertices)
-{
-	if (_fence_pub == -1)
-		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
-	else
-		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
-}
-
-bool
-Navigator::fence_valid(const struct fence_s &fence)
-{
-	// NULL fence is valid
-	if (fence.count == 0) {
-		return true;
-	}
-
-	// Otherwise
-	if ((fence.count < 4) || (fence.count > GEOFENCE_MAX_VERTICES)) {
-		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
-		return false;
-	}
-
-	return true;
-}
-
-bool
-Navigator::load_fence(unsigned vertices)
-{
-	struct fence_s temp_fence;
-
-	unsigned i;
-	for (i = 0; i < vertices; i++) {
-		if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
-			break;
-		}
-	}
-
-	temp_fence.count = i;
-
-	if (fence_valid(temp_fence))
-		memcpy(&_fence, &temp_fence, sizeof(_fence));
-	else
-		warnx("Invalid fence file, ignored!");
-
-	return _fence.count != 0;
-}
-
-void
-Navigator::fence_point(int argc, char *argv[])
-{
-	int ix, last;
-	double lon, lat;
-	struct fence_vertex_s vertex;
-	char *end;
-
-	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
-		dm_clear(DM_KEY_FENCE_POINTS);
-		publish_fence(0);
-		return;
-	}
-
-	if (argc < 3)
-		errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
-
-	ix = atoi(argv[0]);
-	if (ix >= DM_KEY_FENCE_POINTS_MAX)
-		errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
-
-	lat = strtod(argv[1], &end);
-	lon = strtod(argv[2], &end);
-
-	last = 0;
-	if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
-		last = 1;
-
-	vertex.lat = (float)lat;
-	vertex.lon = (float)lon;
-
-	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
-		if (last)
-			publish_fence((unsigned)ix + 1);
-		return;
-	}
-
-	errx(1, "can't store fence point");
-}
-
-
-
 StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 	{	
 							/* STATE_NONE */
@@ -1582,10 +1520,20 @@ bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const
 	}
 }
 
+void Navigator::add_fence_point(int argc, char *argv[])
+{
+	_geofence.addPoint(argc, argv);
+}
+
+void Navigator::load_fence_from_file(const char *filename)
+{
+	_geofence.loadFromFile(filename);
+}
+
 
 static void usage()
 {
-	errx(1, "usage: navigator {start|stop|status|fence}");
+	errx(1, "usage: navigator {start|stop|status|fence|fencefile}");
 }
 
 int navigator_main(int argc, char *argv[])
@@ -1626,7 +1574,9 @@ int navigator_main(int argc, char *argv[])
 		navigator::g_navigator->status();
 
 	} else if (!strcmp(argv[1], "fence")) {
-		navigator::g_navigator->fence_point(argc - 2, argv + 2);
+		navigator::g_navigator->add_fence_point(argc - 2, argv + 2);
+	} else if (!strcmp(argv[1], "fencefile")) {
+			navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME);
 
 	} else {
 		usage();
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 752960bda..d557a7bad 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -604,7 +604,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 
 				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
 					disabled = true;
-				} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
+                } else if (REG_TO_SIGNED(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}
 
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index cdb54a80a..83bd3026e 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -45,7 +45,6 @@
 #include "px4io.h"
 
 static struct hrt_call arming_call;
-static struct hrt_call heartbeat_call;
 static struct hrt_call failsafe_call;
 
 /*
diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp
index cce46bf5f..20b1f18ed 100644
--- a/src/modules/systemlib/mixer/mixer.cpp
+++ b/src/modules/systemlib/mixer/mixer.cpp
@@ -171,7 +171,6 @@ NullMixer *
 NullMixer::from_text(const char *buf, unsigned &buflen)
 {
 	NullMixer *nm = nullptr;
-	const char *end = buf + buflen;
 
 	/* enforce that the mixer ends with space or a new line */
 	for (int i = buflen - 1; i >= 0; i--) {
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c
index 982b03782..86e4ff545 100644
--- a/src/systemcmds/preflight_check/preflight_check.c
+++ b/src/systemcmds/preflight_check/preflight_check.c
@@ -44,6 +44,7 @@
 #include <string.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <math.h>
 
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
@@ -87,9 +88,7 @@ int preflight_check_main(int argc, char *argv[])
 	/* give the system some time to sample the sensors in the background */
 	usleep(150000);
 
-
 	/* ---- MAG ---- */
-	close(fd);
 	fd = open(MAG_DEVICE_PATH, 0);
 	if (fd < 0) {
 		warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'");