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

Conflicts:
	src/modules/sdlog2/sdlog2.c

7 files changed, 322 insertions, 145 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example
new file mode 100644
index 000000000..e7173f6e6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example
@@ -0,0 +1,94 @@
+#!nsh
+#
+# Flight startup script for PX4FMU on PX4IOAR carrier board.
+#
+
+# Disable the USB interface
+set USB no
+
+# Disable autostarting other apps
+set MODE ardrone
+ 
+echo "[init] doing PX4IOAR startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+	param load /fs/microsd/params
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+
+#
+# Configure PX4FMU for operation with PX4IOAR
+#
+fmu mode_gpio_serial
+ 
+#
+# Start the sensors.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start MAVLink and MAVLink Onboard (Flow Sensor)
+#
+mavlink start -d /dev/ttyS0 -b 57600
+mavlink_onboard start -d /dev/ttyS3 -b 115200
+usleep 5000
+
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+
+#
+# Start the position estimator
+#
+flow_position_estimator start
+
+#
+# Fire up the multi rotor attitude controller
+#
+multirotor_att_control start
+
+#
+# Fire up the flow position controller
+#
+flow_position_control start
+
+#
+# Fire up the flow speed controller
+#
+flow_speed_control start
+
+#
+# Fire up the AR.Drone interface.
+#
+ardrone_interface start -d /dev/ttyS1
+ 
+#
+# startup is done; we don't want the shell because we
+# use the same UART for telemetry
+#
+echo "[init] startup done"
+
+exit
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index e50395e47..c39da98d7 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -37,7 +37,7 @@
  *
  * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
-	 
+
 #include <nuttx/config.h>
 
 #include <drivers/device/i2c.h>
@@ -77,13 +77,13 @@
 #define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
 
 /* I2C bus address */
-#define I2C_ADDRESS		0x75	/* 7-bit address. 8-bit address is 0xEA */
+#define I2C_ADDRESS	0x75	/* 7-bit address. 8-bit address is 0xEA */
 
 /* Register address */
-#define READ_CMD		0x07		/* Read the data */
-	 
+#define READ_CMD	0x07	/* Read the data */
+
 /**
- * The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h. 
+ * The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
  */
 #define MIN_ACCURATE_DIFF_PRES_PA 12
 
@@ -105,38 +105,38 @@ class ETSAirspeed : public device::I2C
 public:
 	ETSAirspeed(int bus, int address = I2C_ADDRESS);
 	virtual ~ETSAirspeed();
-	
-	virtual int 		init();
-	
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
-	
+
+	virtual int	init();
+
+	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
+	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+
 	/**
 	 * Diagnostics - print some basic information about the driver.
 	 */
-	void				print_info();
-	
+	void		print_info();
+
 protected:
-	virtual int			probe();
+	virtual int	probe();
 
 private:
-	work_s						_work;
-	unsigned					_num_reports;
-	volatile unsigned			_next_report;
-	volatile unsigned			_oldest_report;
-	differential_pressure_s		*_reports;
-	bool						_sensor_ok;
-	int							_measure_ticks;
-	bool						_collect_phase;
-	int 						_diff_pres_offset;
-	
-	orb_advert_t				_airspeed_pub;
-
-	perf_counter_t				_sample_perf;
-	perf_counter_t				_comms_errors;
-	perf_counter_t				_buffer_overflows;
-
-	
+	work_s			_work;
+	unsigned		_num_reports;
+	volatile unsigned	_next_report;
+	volatile unsigned	_oldest_report;
+	differential_pressure_s	*_reports;
+	bool			_sensor_ok;
+	int			_measure_ticks;
+	bool			_collect_phase;
+	int			_diff_pres_offset;
+
+	orb_advert_t		_airspeed_pub;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+	perf_counter_t		_buffer_overflows;
+
+
 	/**
 	* Test whether the device supported by the driver is present at a
 	* specific address.
@@ -144,28 +144,28 @@ private:
 	* @param address	The I2C bus address to probe.
 	* @return		True if the device is present.
 	*/
-	int					probe_address(uint8_t address);
-	
+	int	probe_address(uint8_t address);
+
 	/**
 	* Initialise the automatic measurement state machine and start it.
 	*
 	* @note This function is called at open and error time.  It might make sense
 	*       to make it more aggressive about resetting the bus in case of errors.
 	*/
-	void				start();
-	
+	void	start();
+
 	/**
 	* Stop the automatic measurement state machine.
 	*/
-	void				stop();
-	
+	void	stop();
+
 	/**
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	void				cycle();
-	int					measure();
-	int					collect();
+	void	cycle();
+	int	measure();
+	int	collect();
 
 	/**
 	* Static trampoline from the workq context; because we don't have a
@@ -173,9 +173,9 @@ private:
 	*
 	* @param arg		Instance pointer for the driver that is polling.
 	*/
-	static void		cycle_trampoline(void *arg);
-	
-	
+	static void	cycle_trampoline(void *arg);
+
+
 };
 
 /* helper macro for handling report buffer indices */
@@ -203,7 +203,7 @@ ETSAirspeed::ETSAirspeed(int bus, int address) :
 {
 	// enable debug() calls
 	_debug_enabled = true;
-	
+
 	// work_cancel in the dtor will explode if we don't do this...
 	memset(&_work, 0, sizeof(_work));
 }
@@ -230,6 +230,7 @@ ETSAirspeed::init()
 	/* allocate basic report buffers */
 	_num_reports = 2;
 	_reports = new struct differential_pressure_s[_num_reports];
+
 	for (unsigned i = 0; i < _num_reports; i++)
 		_reports[i].max_differential_pressure_pa = 0;
 
@@ -351,11 +352,11 @@ ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case SENSORIOCGQUEUEDEPTH:
 		return _num_reports - 1;
-		
+
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
-	
+
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);
@@ -432,14 +433,14 @@ ETSAirspeed::measure()
 	uint8_t cmd = READ_CMD;
 	ret = transfer(&cmd, 1, nullptr, 0);
 
-	if (OK != ret)
-	{
+	if (OK != ret) {
 		perf_count(_comms_errors);
 		log("i2c::transfer returned %d", ret);
 		return ret;
 	}
+
 	ret = OK;
-	
+
 	return ret;
 }
 
@@ -447,30 +448,31 @@ int
 ETSAirspeed::collect()
 {
 	int	ret = -EIO;
-	
+
 	/* read from the sensor */
 	uint8_t val[2] = {0, 0};
-	
+
 	perf_begin(_sample_perf);
-	
+
 	ret = transfer(nullptr, 0, &val[0], 2);
-	
+
 	if (ret < 0) {
 		log("error reading from sensor: %d", ret);
 		return ret;
 	}
-	
+
 	uint16_t diff_pres_pa = val[1] << 8 | val[0];
 
 	param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
-	
-	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { 
+
+	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
+
 	} else {
-		diff_pres_pa -= _diff_pres_offset;	
+		diff_pres_pa -= _diff_pres_offset;
 	}
 
-    // XXX we may want to smooth out the readings to remove noise.
+	// XXX we may want to smooth out the readings to remove noise.
 
 	_reports[_next_report].timestamp = hrt_absolute_time();
 	_reports[_next_report].differential_pressure_pa = diff_pres_pa;
@@ -498,7 +500,7 @@ ETSAirspeed::collect()
 	ret = OK;
 
 	perf_end(_sample_perf);
-	
+
 	return ret;
 }
 
@@ -511,17 +513,19 @@ ETSAirspeed::start()
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
-	
+
 	/* notify about state change */
 	struct subsystem_info_s info = {
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_DIFFPRESSURE};
+		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);
 	}
@@ -653,8 +657,7 @@ start(int i2c_bus)
 
 fail:
 
-	if (g_dev != nullptr) 
-	{
+	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
@@ -668,15 +671,14 @@ fail:
 void
 stop()
 {
-	if (g_dev != nullptr)
-	{
+	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
-	}
-	else
-	{
+
+	} else {
 		errx(1, "driver not running");
 	}
+
 	exit(0);
 }
 
@@ -773,10 +775,10 @@ info()
 } // namespace
 
 
-static void 
-ets_airspeed_usage() 
+static void
+ets_airspeed_usage()
 {
-	fprintf(stderr, "usage: ets_airspeed [options] command\n");
+	fprintf(stderr, "usage: ets_airspeed command [options]\n");
 	fprintf(stderr, "options:\n");
 	fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
 	fprintf(stderr, "command:\n");
@@ -789,6 +791,7 @@ ets_airspeed_main(int argc, char *argv[])
 	int i2c_bus = PX4_I2C_BUS_DEFAULT;
 
 	int i;
+
 	for (i = 1; i < argc; i++) {
 		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
 			if (argc > i + 1) {
@@ -802,12 +805,12 @@ ets_airspeed_main(int argc, char *argv[])
 	 */
 	if (!strcmp(argv[1], "start"))
 		ets_airspeed::start(i2c_bus);
-	
-	 /*
-	  * Stop the driver
-	  */
-	 if (!strcmp(argv[1], "stop"))
-		 ets_airspeed::stop();
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop"))
+		ets_airspeed::stop();
 
 	/*
 	 * Test the driver/device.
diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c
index 369070f8c..d2634ef41 100644
--- a/src/drivers/hott_telemetry/messages.c
+++ b/src/drivers/hott_telemetry/messages.c
@@ -44,6 +44,7 @@
 #include <string.h>
 #include <systemlib/geo/geo.h>
 #include <unistd.h>
+#include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/sensor_combined.h>
@@ -56,6 +57,7 @@ static int battery_sub = -1;
 static int gps_sub = -1;
 static int home_sub = -1;
 static int sensor_sub = -1;
+static int airspeed_sub = -1;
 
 static bool home_position_set = false;
 static double home_lat = 0.0d;
@@ -68,6 +70,7 @@ messages_init(void)
 	gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	home_sub = orb_subscribe(ORB_ID(home_position));
 	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 }
 
 void 
@@ -100,6 +103,16 @@ build_eam_response(uint8_t *buffer, size_t *size)
 	msg.altitude_L = (uint8_t)alt & 0xff;
 	msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
 
+	/* get a local copy of the airspeed data */
+	struct airspeed_s airspeed;
+	memset(&airspeed, 0, sizeof(airspeed));
+	orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
+
+	uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s);
+	msg.speed_L = (uint8_t)speed & 0xff;
+	msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
+    
+
 	msg.stop = STOP_BYTE;
 	memcpy(buffer, &msg, *size);
 }
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 8e18c3c9a..16d5ad626 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -126,7 +126,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 		attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
-					      12400,
+					      14000,
 					      attitude_estimator_ekf_thread_main,
 					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c
index 8aaafaf31..2e1e4fd4d 100644
--- a/src/modules/sdlog2/logbuffer.c
+++ b/src/modules/sdlog2/logbuffer.c
@@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
 	} else {
 		// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
 		n = lb->size - lb->read_ptr;
-		*is_part = true;
+		*is_part = lb->write_ptr > 0;
 	}
 
 	*ptr = &(lb->data[lb->read_ptr]);
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 1008c149f..f89b49acf 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -64,6 +64,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_controls_effective.h>
@@ -103,7 +104,7 @@
 
 //#define SDLOG2_DEBUG
 
-static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool main_thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;			/**< Deamon status flag */
 static int deamon_task;						/**< Handle of deamon task / thread */
 static bool logwriter_should_exit = false;	/**< Logwriter thread exit flag */
@@ -114,35 +115,34 @@ static const int MAX_WRITE_CHUNK = 512;
 static const int MIN_BYTES_TO_WRITE = 512;
 
 static const char *mountpoint = "/fs/microsd";
-int log_file = -1;
-int mavlink_fd = -1;
+static int mavlink_fd = -1;
 struct logbuffer_s lb;
 
 /* mutex / condition to synchronize threads */
-pthread_mutex_t logbuffer_mutex;
-pthread_cond_t logbuffer_cond;
+static pthread_mutex_t logbuffer_mutex;
+static pthread_cond_t logbuffer_cond;
 
-char folder_path[64];
+static char folder_path[64];
 
 /* statistics counters */
-unsigned long log_bytes_written = 0;
-uint64_t start_time = 0;
-unsigned long log_msgs_written = 0;
-unsigned long log_msgs_skipped = 0;
+static unsigned long log_bytes_written = 0;
+static uint64_t start_time = 0;
+static unsigned long log_msgs_written = 0;
+static unsigned long log_msgs_skipped = 0;
 
 /* current state of logging */
-bool logging_enabled = false;
+static bool logging_enabled = false;
 /* enable logging on start (-e option) */
-bool log_on_start = false;
+static bool log_on_start = false;
 /* enable logging when armed (-a option) */
-bool log_when_armed = false;
+static bool log_when_armed = false;
 /* delay = 1 / rate (rate defined by -r option) */
-useconds_t sleep_delay = 0;
+static useconds_t sleep_delay = 0;
 
 /* helper flag to track system state changes */
-bool flag_system_armed = false;
+static bool flag_system_armed = false;
 
-pthread_t logwriter_pthread = 0;
+static pthread_t logwriter_pthread = 0;
 
 /**
  * Log buffer writing thread. Open and close file here.
@@ -172,17 +172,17 @@ static void sdlog2_status(void);
 /**
  * Start logging: create new file and start log writer thread.
  */
-void sdlog2_start_log();
+static void sdlog2_start_log(void);
 
 /**
  * Stop logging: stop log writer thread and close log file.
  */
-void sdlog2_stop_log();
+static void sdlog2_stop_log(void);
 
 /**
  * Write a header to log file: list of message formats.
  */
-void write_formats(int fd);
+static void write_formats(int fd);
 
 
 static bool file_exist(const char *filename);
@@ -196,12 +196,12 @@ static void handle_status(struct vehicle_status_s *cmd);
 /**
  * Create folder for current logging session. Store folder name in 'log_folder'.
  */
-static int create_logfolder();
+static int create_logfolder(void);
 
 /**
  * Select first free log file name and open it.
  */
-static int open_logfile();
+static int open_logfile(void);
 
 static void
 sdlog2_usage(const char *reason)
@@ -237,11 +237,11 @@ int sdlog2_main(int argc, char *argv[])
 			exit(0);
 		}
 
-		thread_should_exit = false;
+		main_thread_should_exit = false;
 		deamon_task = task_spawn("sdlog2",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT - 30,
-					 2048,
+					 3000,
 					 sdlog2_thread_main,
 					 (const char **)argv);
 		exit(0);
@@ -252,7 +252,7 @@ int sdlog2_main(int argc, char *argv[])
 			printf("\tsdlog2 is not started\n");
 		}
 
-		thread_should_exit = true;
+		main_thread_should_exit = true;
 		exit(0);
 	}
 
@@ -286,22 +286,6 @@ int create_logfolder()
 
 		if (mkdir_ret == 0) {
 			/* folder does not exist, success */
-
-			/* copy parser script file */
-			// TODO
-			/*
-			char mfile_out[100];
-			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
-			int ret = file_copy(mfile_in, mfile_out);
-
-			if (!ret) {
-				warnx("copied m file to %s", mfile_out);
-
-			} else {
-				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
-			}
-			*/
-
 			break;
 
 		} else if (mkdir_ret == -1) {
@@ -347,10 +331,10 @@ int open_logfile()
 		fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC);
 
 		if (fd == 0) {
-			errx(1, "opening %s failed.", path_buf);
+			warn("opening %s failed", path_buf);
 		}
 
-		warnx("logging to: %s", path_buf);
+		warnx("logging to: %s.", path_buf);
 		mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf);
 
 		return fd;
@@ -358,7 +342,7 @@ int open_logfile()
 
 	if (file_number > MAX_NO_LOGFILE) {
 		/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-		warn("all %d possible files exist already", MAX_NO_LOGFILE);
+		warnx("all %d possible files exist already.", MAX_NO_LOGFILE);
 		return -1;
 	}
 
@@ -384,8 +368,7 @@ static void *logwriter_thread(void *arg)
 	bool should_wait = false;
 	bool is_part = false;
 
-	while (!thread_should_exit && !logwriter_should_exit) {
-
+	while (true) {
 		/* make sure threads are synchronized */
 		pthread_mutex_lock(&logbuffer_mutex);
 
@@ -395,7 +378,7 @@ static void *logwriter_thread(void *arg)
 		}
 
 		/* only wait if no data is available to process */
-		if (should_wait) {
+		if (should_wait && !logwriter_should_exit) {
 			/* blocking wait for new data at this line */
 			pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex);
 		}
@@ -403,6 +386,11 @@ static void *logwriter_thread(void *arg)
 		/* only get pointer to thread-safe data, do heavy I/O a few lines down */
 		int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
 
+#ifdef SDLOG2_DEBUG
+		int rp = logbuf->read_ptr;
+		int wp = logbuf->write_ptr;
+#endif
+
 		/* continue */
 		pthread_mutex_unlock(&logbuffer_mutex);
 
@@ -419,11 +407,11 @@ static void *logwriter_thread(void *arg)
 
 			should_wait = (n == available) && !is_part;
 #ifdef SDLOG2_DEBUG
-			printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait);
+			printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
 #endif
 
 			if (n < 0) {
-				thread_should_exit = true;
+				main_thread_should_exit = true;
 				err(1, "error writing log file");
 			}
 
@@ -432,19 +420,33 @@ static void *logwriter_thread(void *arg)
 			}
 
 		} else {
+			n = 0;
+#ifdef SDLOG2_DEBUG
+			printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit);
+#endif
+			/* exit only with empty buffer */
+			if (main_thread_should_exit || logwriter_should_exit) {
+#ifdef SDLOG2_DEBUG
+				printf("break logwriter thread\n");
+#endif
+				break;
+			}
 			should_wait = true;
 		}
 
-		if (poll_count % 10 == 0) {
+		if (++poll_count == 10) {
 			fsync(log_file);
+			poll_count = 0;
 		}
-
-		poll_count++;
 	}
 
 	fsync(log_file);
 	close(log_file);
 
+#ifdef SDLOG2_DEBUG
+	printf("logwriter thread exit\n");
+#endif
+
 	return OK;
 }
 
@@ -471,10 +473,9 @@ void sdlog2_start_log()
 	pthread_attr_setstacksize(&receiveloop_attr, 2048);
 
 	logwriter_should_exit = false;
-	pthread_t thread;
 
 	/* start log buffer emptying thread */
-	if (0 != pthread_create(&thread, &receiveloop_attr, logwriter_thread, &lb)) {
+	if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) {
 		errx(1, "error creating logwriter thread");
 	}
 
@@ -488,16 +489,20 @@ void sdlog2_stop_log()
 	mavlink_log_info(mavlink_fd, "[sdlog2] stop logging");
 
 	logging_enabled = false;
-	logwriter_should_exit = true;
 
 	/* wake up write thread one last time */
 	pthread_mutex_lock(&logbuffer_mutex);
+	logwriter_should_exit = true;
 	pthread_cond_signal(&logbuffer_cond);
 	/* unlock, now the writer thread may return */
 	pthread_mutex_unlock(&logbuffer_mutex);
 
 	/* wait for write thread to return */
-	(void)pthread_join(logwriter_pthread, NULL);
+	int ret;
+	if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) {
+		warnx("error joining logwriter thread: %i", ret);
+	}
+	logwriter_pthread = 0;
 
 	sdlog2_status();
 }
@@ -518,7 +523,7 @@ void write_formats(int fd)
 
 	for (i = 0; i < log_formats_num; i++) {
 		log_format_packet.body = log_formats[i];
-		write(fd, &log_format_packet, sizeof(log_format_packet));
+		log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet));
 	}
 
 	fsync(fd);
@@ -608,12 +613,10 @@ int sdlog2_thread_main(int argc, char *argv[])
 		errx(1, "can't allocate log buffer, exiting.");
 	}
 
-	/* file descriptors to wait for */
-	struct pollfd fds_control[2];
-
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
 	/* number of messages */
-	const ssize_t fdsc = 16;
+
+	const ssize_t fdsc = 18;
 	/* Sanity check variable and index */
 	ssize_t fdsc_count = 0;
 	/* file descriptors to wait for */
@@ -628,6 +631,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct sensor_combined_s sensor;
 		struct vehicle_attitude_s att;
 		struct vehicle_attitude_setpoint_s att_sp;
+		struct vehicle_rates_setpoint_s rates_sp;
 		struct actuator_outputs_s act_outputs;
 		struct actuator_controls_s act_controls;
 		struct actuator_controls_effective_s act_controls_effective;
@@ -650,6 +654,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int sensor_sub;
 		int att_sub;
 		int att_sp_sub;
+		int rates_sp_sub;
 		int act_outputs_sub;
 		int act_controls_sub;
 		int act_controls_effective_sub;
@@ -661,6 +666,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int control_debug_sub;
 		int flow_sub;
 		int rc_sub;
+		int airspeed_sub;
 	} subs;
 
 	/* log message buffer: header + body */
@@ -681,6 +687,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_CTRL_s log_CTRL;
 			struct log_RC_s log_RC;
 			struct log_OUT0_s log_OUT0;
+			struct log_AIRS_s log_AIRS;
+			struct log_ARSP_s log_ARSP;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -724,6 +732,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- RATES SETPOINT --- */
+	subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+	fds[fdsc_count].fd = subs.rates_sp_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* --- ACTUATOR OUTPUTS --- */
 	subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
 	fds[fdsc_count].fd = subs.act_outputs_sub;
@@ -784,6 +798,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- AIRSPEED --- */
+	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	fds[fdsc_count].fd = subs.airspeed_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;	
+
 	/* WARNING: If you get the error message below,
 	 * then the number of registered messages (fdsc)
 	 * differs from the number of messages in the above list.
@@ -816,7 +836,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	if (log_on_start)
 		sdlog2_start_log();
 
-	while (!thread_should_exit) {
+	while (!main_thread_should_exit) {
 		/* decide use usleep() or blocking poll() */
 		bool use_sleep = sleep_delay > 0 && logging_enabled;
 
@@ -826,7 +846,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		/* handle the poll result */
 		if (poll_ret < 0) {
 			warnx("ERROR: poll error, stop logging.");
-			thread_should_exit = true;
+			main_thread_should_exit = true;
 
 		} else if (poll_ret > 0) {
 
@@ -893,7 +913,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
 				log_msg.body.log_GPS.lat = buf.gps_pos.lat;
 				log_msg.body.log_GPS.lon = buf.gps_pos.lon;
-				log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001;
+				log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
 				log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
 				log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
 				log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
@@ -963,6 +983,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_ATT.roll = buf.att.roll;
 				log_msg.body.log_ATT.pitch = buf.att.pitch;
 				log_msg.body.log_ATT.yaw = buf.att.yaw;
+				log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
+				log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
+				log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
 				LOGBUFFER_WRITE_AND_COUNT(ATT);
 			}
 
@@ -973,9 +996,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
 				log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
 				log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
+				log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
 				LOGBUFFER_WRITE_AND_COUNT(ATSP);
 			}
 
+			/* --- RATES SETPOINT --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
+				log_msg.msg_type = LOG_ARSP_MSG;
+				log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
+				log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
+				log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
+				LOGBUFFER_WRITE_AND_COUNT(ARSP);
+			}
+
 			/* --- ACTUATOR OUTPUTS --- */
 			if (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
@@ -1073,10 +1107,22 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(RC);
 			}
 
+			/* --- AIRSPEED --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
+				log_msg.msg_type = LOG_AIRS_MSG;
+				log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
+				log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
+				LOGBUFFER_WRITE_AND_COUNT(AIRS);
+			}
+
+#ifdef SDLOG2_DEBUG
+				printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
+#endif
 			/* signal the other thread new data, but not yet unlock */
 			if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 #ifdef SDLOG2_DEBUG
-				printf("signal %i", logbuffer_count(&lb));
+				printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
 #endif
 				/* only request write if several packets can be written at once */
 				pthread_cond_signal(&logbuffer_cond);
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 8dd36c74d..bd69445b5 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -60,6 +60,9 @@ struct log_ATT_s {
 	float roll;
 	float pitch;
 	float yaw;
+	float roll_rate;
+	float pitch_rate;
+	float yaw_rate;
 };
 
 /* --- ATSP - ATTITUDE SET POINT --- */
@@ -68,6 +71,7 @@ struct log_ATSP_s {
 	float roll_sp;
 	float pitch_sp;
 	float yaw_sp;
+	float thrust_sp;
 };
 
 /* --- IMU - IMU SENSORS --- */
@@ -181,14 +185,29 @@ struct log_RC_s {
 struct log_OUT0_s {
 	float output[8];
 };
+
+/* --- AIRS - AIRSPEED --- */
+#define LOG_AIRS_MSG 13
+struct log_AIRS_s {
+	float indicated_airspeed;
+	float true_airspeed;
+};
+
+/* --- ARSP - ATTITUDE RATE SET POINT --- */
+#define LOG_ARSP_MSG 14
+struct log_ARSP_s {
+	float roll_rate_sp;
+	float pitch_rate_sp;
+	float yaw_rate_sp;
+};
 #pragma pack(pop)
 
 /* construct list of all message formats */
 
 static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(TIME, "Q", "StartTime"),
-	LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
-	LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
+	LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
+	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
 	LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
@@ -199,6 +218,8 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(CTRL, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"),
 	LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
 	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
+	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);