Merged commander fixes into airspeed_test_fix

17 files changed, 192 insertions, 212 deletions

diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index 0ea655cac..6d56c546a 100644
--- a/src/include/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   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
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index be465ab76..7a4e7a766 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h
index 1cf9c0977..6b7e16d44 100644
--- a/src/modules/commander/accelerometer_calibration.h
+++ b/src/modules/commander/accelerometer_calibration.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/airspeed_calibration.h b/src/modules/commander/airspeed_calibration.h
index 71c701fc2..8c6b65ff1 100644
--- a/src/modules/commander/airspeed_calibration.h
+++ b/src/modules/commander/airspeed_calibration.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 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
diff --git a/src/modules/commander/baro_calibration.cpp b/src/modules/commander/baro_calibration.cpp
index 3123c4087..da98644b4 100644
--- a/src/modules/commander/baro_calibration.cpp
+++ b/src/modules/commander/baro_calibration.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/baro_calibration.h b/src/modules/commander/baro_calibration.h
index bc42bc6cf..ce78ae700 100644
--- a/src/modules/commander/baro_calibration.h
+++ b/src/modules/commander/baro_calibration.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/calibration_messages.h b/src/modules/commander/calibration_messages.h
index fd8b8564d..b1e209efc 100644
--- a/src/modules/commander/calibration_messages.h
+++ b/src/modules/commander/calibration_messages.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index 43f341ae7..5796204bf 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h
index e3e7fbafd..3c8e49ee9 100644
--- a/src/modules/commander/calibration_routines.h
+++ b/src/modules/commander/calibration_routines.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index e14dff197..0c4d48dea 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -403,10 +403,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
 	return arming_res;
 }
 
-bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
+bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local,
+	struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
+	struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
 {
 	/* only handle commands that are meant to be handled by this system and component */
-	if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
+	if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
 		return false;
 	}
 
@@ -425,7 +427,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 			/* set HIL state */
 			hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF;
-			transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd);
+			transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, mavlink_fd);
 
 			// Transition the arming state
 			arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
@@ -434,43 +436,43 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 				/* use autopilot-specific mode */
 				if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
 					/* MANUAL */
-					main_ret = main_state_transition(status, MAIN_STATE_MANUAL);
+					main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
 					/* ALTCTL */
-					main_ret = main_state_transition(status, MAIN_STATE_ALTCTL);
+					main_ret = main_state_transition(status_local, MAIN_STATE_ALTCTL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
 					/* POSCTL */
-					main_ret = main_state_transition(status, MAIN_STATE_POSCTL);
+					main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
 					/* AUTO */
-					main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
+					main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
 					/* ACRO */
-					main_ret = main_state_transition(status, MAIN_STATE_ACRO);
+					main_ret = main_state_transition(status_local, MAIN_STATE_ACRO);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
 					/* OFFBOARD */
-					main_ret = main_state_transition(status, MAIN_STATE_OFFBOARD);
+					main_ret = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
 				}
 
 			} else {
 				/* use base mode */
 				if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) {
 					/* AUTO */
-					main_ret = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
+					main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
 
 				} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 					if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
 						/* POSCTL */
-						main_ret = main_state_transition(status, MAIN_STATE_POSCTL);
+						main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
 
 					} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
 						/* MANUAL */
-						main_ret = main_state_transition(status, MAIN_STATE_MANUAL);
+						main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
 					}
 				}
 			}
@@ -485,22 +487,25 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		break;
 
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
-			// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
-			// We use an float epsilon delta to test float equality.
-			if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
-				mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
+			// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
+			// for logic state parameters
+
+			if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) {
+				mavlink_log_critical(mavlink_fd, "Unsupported ARM_DISARM param: %.3f", (double)cmd->param1);
 
 			} else {
 
+				bool cmd_arms = (static_cast<int>(cmd->param1 + 0.5f) == 1);
+
 				// Flick to inair restore first if this comes from an onboard system
-				if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
-					status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
+				if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) {
+					status_local->arming_state = ARMING_STATE_IN_AIR_RESTORE;
 				}
 
-				transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
+				transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command");
 
 				if (arming_res == TRANSITION_DENIED) {
-					mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
+					mavlink_log_critical(mavlink_fd, "REJECTING component arm cmd");
 					cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 
 				} else {
@@ -512,20 +517,24 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 	case VEHICLE_CMD_OVERRIDE_GOTO: {
 			// TODO listen vehicle_command topic directly from navigator (?)
-			unsigned int mav_goto = cmd->param1;
+
+			// Increase by 0.5f and rely on the integer cast
+			// implicit floor(). This is the *safest* way to
+			// convert from floats representing small ints to actual ints.
+			unsigned int mav_goto = (cmd->param1 + 0.5f);
 
 			if (mav_goto == 0) {	// MAV_GOTO_DO_HOLD
-				status->nav_state = NAVIGATION_STATE_AUTO_LOITER;
-				mavlink_log_critical(mavlink_fd, "#audio: pause mission cmd");
+				status_local->nav_state = NAVIGATION_STATE_AUTO_LOITER;
+				mavlink_log_critical(mavlink_fd, "Pause mission cmd");
 				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else if (mav_goto == 1) {	// MAV_GOTO_DO_CONTINUE
-				status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
-				mavlink_log_critical(mavlink_fd, "#audio: continue mission cmd");
+				status_local->nav_state = NAVIGATION_STATE_AUTO_MISSION;
+				mavlink_log_critical(mavlink_fd, "Continue mission cmd");
 				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
-				mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f",
+				mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
 					(double)cmd->param1,
 					(double)cmd->param2,
 					(double)cmd->param3,
@@ -543,7 +552,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 			//XXX: to enable the parachute, a param needs to be set
 			//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
-			if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
+			if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
 				transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
 				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 
@@ -561,7 +570,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 			if (use_current) {
 				/* use current position */
-				if (status->condition_global_position_valid) {
+				if (status_local->condition_global_position_valid) {
 					home->lat = global_pos->lat;
 					home->lon = global_pos->lon;
 					home->alt = global_pos->alt;
@@ -598,7 +607,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 				}
 
 				/* mark home position as set */
-				status->condition_home_position_valid = true;
+				status_local->condition_home_position_valid = true;
 			}
 		}
 		break;
@@ -688,11 +697,11 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* initialize */
 	if (led_init() != 0) {
-		warnx("ERROR: Failed to initialize leds");
+		warnx("ERROR: LED INIT FAIL");
 	}
 
 	if (buzzer_init() != OK) {
-		warnx("ERROR: Failed to initialize buzzer");
+		warnx("ERROR: BUZZER INIT FAIL");
 	}
 
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@@ -766,8 +775,9 @@ int commander_thread_main(int argc, char *argv[])
 			mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d",
 												mission.dataman_id, mission.count, mission.current_seq);
 		} else {
-			warnx("reading mission state failed");
-			mavlink_log_info(mavlink_fd, "[cmd] reading mission state failed");
+			const char *missionfail = "reading mission state failed";
+			warnx("%s", missionfail);
+			mavlink_log_critical(mavlink_fd, missionfail);
 
 			/* initialize mission state in dataman */
 			mission.dataman_id = 0;
@@ -780,8 +790,6 @@ int commander_thread_main(int argc, char *argv[])
 		orb_publish(ORB_ID(offboard_mission), mission_pub, &mission);
 	}
 
-	mavlink_log_info(mavlink_fd, "[cmd] started");
-
 	int ret;
 
 	pthread_attr_t commander_low_prio_attr;
@@ -1074,7 +1082,7 @@ int commander_thread_main(int argc, char *argv[])
 				arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
 
 				if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) {
-					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
+					mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
 					arming_state_changed = true;
 				}
 			}
@@ -1178,10 +1186,10 @@ int commander_thread_main(int argc, char *argv[])
 				status_changed = true;
 
 				if (status.condition_landed) {
-					mavlink_log_critical(mavlink_fd, "#audio: LANDED");
+					mavlink_log_critical(mavlink_fd, "LANDED MODE");
 
 				} else {
-					mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
+					mavlink_log_critical(mavlink_fd, "IN AIR MODE");
 				}
 			}
 		}
@@ -1261,14 +1269,14 @@ int commander_thread_main(int argc, char *argv[])
 		/* if battery voltage is getting lower, warn using buzzer, etc. */
 		if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
 			low_battery_voltage_actions_done = true;
-			mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
+			mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
 			status_changed = true;
 
 		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
 			/* critical battery voltage, this is rather an emergency, change state machine */
 			critical_battery_voltage_actions_done = true;
-			mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
+			mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
 
 			if (armed.armed) {
@@ -1330,12 +1338,12 @@ int commander_thread_main(int argc, char *argv[])
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
 				status.rc_signal_found_once = true;
-				mavlink_log_critical(mavlink_fd, "#audio: detected RC signal first time");
+				mavlink_log_critical(mavlink_fd, "detected RC signal first time");
 				status_changed = true;
 
 			} else {
 				if (status.rc_signal_lost) {
-					mavlink_log_critical(mavlink_fd, "#audio: RC signal regained");
+					mavlink_log_critical(mavlink_fd, "RC signal regained");
 					status_changed = true;
 				}
 			}
@@ -1376,7 +1384,7 @@ int commander_thread_main(int argc, char *argv[])
 					 * the system can be armed in auto if armed via the GCS.
 					 */
 					if (status.main_state != MAIN_STATE_MANUAL) {
-						print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first.");
+						print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
 					} else {
 						arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
 						if (arming_ret == TRANSITION_CHANGED) {
@@ -1396,16 +1404,16 @@ int commander_thread_main(int argc, char *argv[])
 
 			if (arming_ret == TRANSITION_CHANGED) {
 				if (status.arming_state == ARMING_STATE_ARMED) {
-					mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC");
+					mavlink_log_info(mavlink_fd, "ARMED by RC");
 
 				} else {
-					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC");
+					mavlink_log_info(mavlink_fd, "DISARMED by RC");
 				}
 				arming_state_changed = true;
 
 			} else if (arming_ret == TRANSITION_DENIED) {
 				/* DENIED here indicates bug in the commander */
-				mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
+				mavlink_log_critical(mavlink_fd, "arming state transition denied");
 				tune_negative(true);
 			}
 
@@ -1419,12 +1427,12 @@ int commander_thread_main(int argc, char *argv[])
 
 			} else if (main_res == TRANSITION_DENIED) {
 				/* DENIED here indicates bug in the commander */
-				mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied");
+				mavlink_log_critical(mavlink_fd, "main state transition denied");
 			}
 
 		} else {
 			if (!status.rc_signal_lost) {
-				mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
+				mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
 				status.rc_signal_lost = true;
 				status_changed = true;
 			}
@@ -1436,14 +1444,14 @@ int commander_thread_main(int argc, char *argv[])
 			if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
 				/* handle the case where data link was regained */
 				if (telemetry_lost[i]) {
-					mavlink_log_critical(mavlink_fd, "#audio: data link %i regained", i);
+					mavlink_log_critical(mavlink_fd, "data link %i regained", i);
 					telemetry_lost[i] = false;
 				}
 				have_link = true;
 
 			} else {
 				if (!telemetry_lost[i]) {
-					mavlink_log_critical(mavlink_fd, "#audio: data link %i lost", i);
+					mavlink_log_critical(mavlink_fd, "data link %i lost", i);
 					telemetry_lost[i] = true;
 				}
 			}
@@ -1458,7 +1466,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		} else {
 			if (!status.data_link_lost) {
-				mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: ALL DATA LINKS LOST");
+				mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
 				status.data_link_lost = true;
 				status_changed = true;
 			}
@@ -1642,22 +1650,22 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
 }
 
 void
-control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed)
+control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed)
 {
 	/* driving rgbled */
 	if (changed) {
 		bool set_normal_color = false;
 
 		/* set mode */
-		if (status->arming_state == ARMING_STATE_ARMED) {
+		if (status_local->arming_state == ARMING_STATE_ARMED) {
 			rgbled_set_mode(RGBLED_MODE_ON);
 			set_normal_color = true;
 
-		} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
+		} else if (status_local->arming_state == ARMING_STATE_ARMED_ERROR) {
 			rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
 			rgbled_set_color(RGBLED_COLOR_RED);
 
-		} else if (status->arming_state == ARMING_STATE_STANDBY) {
+		} else if (status_local->arming_state == ARMING_STATE_STANDBY) {
 			rgbled_set_mode(RGBLED_MODE_BREATHE);
 			set_normal_color = true;
 
@@ -1668,12 +1676,12 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 
 		if (set_normal_color) {
 			/* set color */
-			if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe) {
+			if (status_local->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status_local->failsafe) {
 				rgbled_set_color(RGBLED_COLOR_AMBER);
 				/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
 
 			} else {
-				if (status->condition_local_position_valid) {
+				if (status_local->condition_local_position_valid) {
 					rgbled_set_color(RGBLED_COLOR_GREEN);
 
 				} else {
@@ -1706,7 +1714,7 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 #endif
 
 	/* give system warnings on error LED, XXX maybe add memory usage warning too */
-	if (status->load > 0.95f) {
+	if (status_local->load > 0.95f) {
 		if (leds_counter % 2 == 0) {
 			led_toggle(LED_AMBER);
 		}
@@ -1719,16 +1727,16 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 }
 
 transition_result_t
-set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man)
+set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_setpoint_s *sp_man)
 {
 	/* set main state according to RC switches */
 	transition_result_t res = TRANSITION_DENIED;
 
 	/* offboard switch overrides main switch */
 	if (sp_man->offboard_switch == SWITCH_POS_ON) {
-		res = main_state_transition(status, MAIN_STATE_OFFBOARD);
+		res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
 		if (res == TRANSITION_DENIED) {
-			print_reject_mode(status, "OFFBOARD");
+			print_reject_mode(status_local, "OFFBOARD");
 
 		} else {
 			return res;
@@ -1743,78 +1751,78 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 
 	case SWITCH_POS_OFF:		// MANUAL
 		if (sp_man->acro_switch == SWITCH_POS_ON) {
-			res = main_state_transition(status, MAIN_STATE_ACRO);
+			res = main_state_transition(status_local, MAIN_STATE_ACRO);
 
 		} else {
-			res = main_state_transition(status, MAIN_STATE_MANUAL);
+			res = main_state_transition(status_local, MAIN_STATE_MANUAL);
 		}
 		// TRANSITION_DENIED is not possible here
 		break;
 
 	case SWITCH_POS_MIDDLE:		// ASSIST
 		if (sp_man->posctl_switch == SWITCH_POS_ON) {
-			res = main_state_transition(status, MAIN_STATE_POSCTL);
+			res = main_state_transition(status_local, MAIN_STATE_POSCTL);
 
 			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
 			}
 
-			print_reject_mode(status, "POSCTL");
+			print_reject_mode(status_local, "POSCTL");
 		}
 
         // fallback to ALTCTL
-		res = main_state_transition(status, MAIN_STATE_ALTCTL);
+		res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this mode
 		}
 
 		if (sp_man->posctl_switch != SWITCH_POS_ON) {
-			print_reject_mode(status, "ALTCTL");
+			print_reject_mode(status_local, "ALTCTL");
 		}
 
 		// fallback to MANUAL
-		res = main_state_transition(status, MAIN_STATE_MANUAL);
+		res = main_state_transition(status_local, MAIN_STATE_MANUAL);
 		// TRANSITION_DENIED is not possible here
 		break;
 
 	case SWITCH_POS_ON:			// AUTO
 		if (sp_man->return_switch == SWITCH_POS_ON) {
-			res = main_state_transition(status, MAIN_STATE_AUTO_RTL);
+			res = main_state_transition(status_local, MAIN_STATE_AUTO_RTL);
 
 			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
 			}
 
-            print_reject_mode(status, "AUTO_RTL");
+            print_reject_mode(status_local, "AUTO_RTL");
 
             // fallback to LOITER if home position not set
-            res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
+            res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
 
             if (res != TRANSITION_DENIED) {
                 break;  // changed successfully or already in this state
             }
 
 		} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
-			res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
+			res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
 
 			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
 			}
 
-            print_reject_mode(status, "AUTO_LOITER");
+            print_reject_mode(status_local, "AUTO_LOITER");
 
 		} else {
-			res = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
+			res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
 
 			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
 			}
 
-            print_reject_mode(status, "AUTO_MISSION");
+            print_reject_mode(status_local, "AUTO_MISSION");
 
             // fallback to LOITER if home position not set
-            res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
+            res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
 
             if (res != TRANSITION_DENIED) {
                 break;  // changed successfully or already in this state
@@ -1822,21 +1830,21 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 		}
 
         // fallback to POSCTL
-        res = main_state_transition(status, MAIN_STATE_POSCTL);
+        res = main_state_transition(status_local, MAIN_STATE_POSCTL);
 
         if (res != TRANSITION_DENIED) {
             break;  // changed successfully or already in this state
         }
 
 		// fallback to ALTCTL
-		res = main_state_transition(status, MAIN_STATE_ALTCTL);
+		res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this state
 		}
 
 		// fallback to MANUAL
-		res = main_state_transition(status, MAIN_STATE_MANUAL);
+		res = main_state_transition(status_local, MAIN_STATE_MANUAL);
 		// TRANSITION_DENIED is not possible here
 		break;
 
@@ -2001,15 +2009,13 @@ set_control_mode()
 }
 
 void
-print_reject_mode(struct vehicle_status_s *status, const char *msg)
+print_reject_mode(struct vehicle_status_s *status_local, const char *msg)
 {
 	hrt_abstime t = hrt_absolute_time();
 
 	if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
 		last_print_mode_reject_time = t;
-		char s[80];
-		sprintf(s, "#audio: REJECT %s", msg);
-		mavlink_log_critical(mavlink_fd, s);
+		mavlink_log_critical(mavlink_fd, "REJECT %s", msg);
 
 		/* only buzz if armed, because else we're driving people nuts indoors
 		they really need to look at the leds as well. */
@@ -2024,9 +2030,7 @@ print_reject_arm(const char *msg)
 
 	if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
 		last_print_mode_reject_time = t;
-		char s[80];
-		sprintf(s, "#audio: %s", msg);
-		mavlink_log_critical(mavlink_fd, s);
+		mavlink_log_critical(mavlink_fd, msg);
 		tune_negative(true);
 	}
 }
@@ -2039,12 +2043,12 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 		break;
 
 	case VEHICLE_CMD_RESULT_DENIED:
-		mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command);
+		mavlink_log_critical(mavlink_fd, "command denied: %u", cmd.command);
 		tune_negative(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_FAILED:
-		mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command);
+		mavlink_log_critical(mavlink_fd, "command failed: %u", cmd.command);
 		tune_negative(true);
 		break;
 
@@ -2055,7 +2059,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 		break;
 
 	case VEHICLE_CMD_RESULT_UNSUPPORTED:
-		mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command);
+		mavlink_log_critical(mavlink_fd, "command unsupported: %u", cmd.command);
 		tune_negative(true);
 		break;
 
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 80e6861f6..d5fe122cb 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *   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
@@ -37,6 +34,11 @@
 /**
  * @file commander_helper.cpp
  * Commander helper functions implementations
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  */
 
 #include <stdio.h>
diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
index e75f2592f..a49c9e263 100644
--- a/src/modules/commander/commander_helper.h
+++ b/src/modules/commander/commander_helper.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,6 +34,9 @@
 /**
  * @file commander_helper.h
  * Commander helper functions definitions
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef COMMANDER_HELPER_H_
@@ -77,6 +78,8 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern);
  * Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
  * else use simple estimate based on voltage.
  *
+ * @param voltage the current battery voltage
+ * @param discharged the discharged capacity
  * @return the estimated remaining capacity in 0..1
  */
 float battery_remaining_estimate_voltage(float voltage, float discharged);
diff --git a/src/modules/commander/mag_calibration.h b/src/modules/commander/mag_calibration.h
index a101cd7b1..c14f948cc 100644
--- a/src/modules/commander/mag_calibration.h
+++ b/src/modules/commander/mag_calibration.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 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
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e90c77af4..09ea12c38 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -88,7 +88,7 @@ static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
 };
 
 // You can index into the array with an arming_state_t in order to get it's textual representation
-static const char *state_names[ARMING_STATE_MAX] = {
+static const char * const state_names[ARMING_STATE_MAX] = {
 	"ARMING_STATE_INIT",
 	"ARMING_STATE_STANDBY",
 	"ARMING_STATE_ARMED",
@@ -161,7 +161,7 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 					// Fail transition if we need safety switch press
 					} else if (safety->safety_switch_available && !safety->safety_off) {
 
-						mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!");
+						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch!");
 
 						valid_transition = false;
 					}
@@ -172,16 +172,16 @@ arming_state_transition(struct vehicle_status_s *status,            /// current
 						// Fail transition if power is not good
 						if (!status->condition_power_input_valid) {
 
-							mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module.");
+							mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
 							valid_transition = false;
 						}
 
 						// Fail transition if power levels on the avionics rail
 						// are measured but are insufficient
-						if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) &&
-							(status->avionics_power_rail_voltage < 4.9f)) {
+						if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
+							(status->avionics_power_rail_voltage < 4.9f))) {
 
-							mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
+							mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
 							valid_transition = false;
 						}
 					}
@@ -626,7 +626,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
-		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
 		failed = true;
 		goto system_eval;
 	}
@@ -634,7 +634,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
 
 	if (ret != OK) {
-		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
 		failed = true;
 		goto system_eval;
 	}
@@ -648,14 +648,14 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
 		if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
-			mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
-			mavlink_log_info(mavlink_fd, "#audio: hold still while arming");
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE");
+			mavlink_log_critical(mavlink_fd, "hold still while arming");
 			/* this is frickin' fatal */
 			failed = true;
 			goto system_eval;
 		}
 	} else {
-		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
 		/* this is frickin' fatal */
 		failed = true;
 		goto system_eval;
@@ -670,13 +670,13 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 
 		if (ret = orb_copy(ORB_ID(airspeed), fd, &airspeed) ||
 			hrt_elapsed_time(&airspeed.timestamp) > 50 * 1000) {
-			mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
 			failed = true;
 			goto system_eval;
 		}
 
 		if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
-			mavlink_log_critical(mavlink_fd, "#audio: WIND OR CALIBRATION MISSING");
+			mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
 			// XXX do not make this fatal yet
 		}
 	}
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index ddc5bf154..bb1b87e71 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,14 +34,14 @@
 /**
  * @file state_machine_helper.h
  * State machine helper functions definitions
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef STATE_MACHINE_HELPER_H_
 #define STATE_MACHINE_HELPER_H_
 
-#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
-#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
-
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_armed.h>
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 5d768b73d..ee1561280 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -559,61 +559,26 @@ FixedwingEstimator::check_filter_state()
 
 	int check = _ekf->CheckAndBound(&ekf_report);
 
-	const char* ekfname = "att pos estimator: ";
-
-	switch (check) {
-		case 0:
-			/* all ok */
-			break;
-		case 1:
-		{
-			const char* str = "NaN in states, resetting";
-			warnx("%s", str);
-			mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
-			break;
-		}
-		case 2:
-		{
-			const char* str = "stale IMU data, resetting";
-			warnx("%s", str);
-			mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
-			break;
-		}
-		case 3:
-		{
-			const char* str = "switching to dynamic state";
-			warnx("%s", str);
-			mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
-			break;
-		}
-		case 4:
-		{
-			const char* str = "excessive gyro offsets";
-			warnx("%s", str);
-			mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
-			break;
-		}
-		case 5:
-		{
-			const char* str = "GPS velocity divergence";
-			warnx("%s", str);
-			mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
-			break;
-		}
-		case 6:
-		{
-			const char* str = "excessive covariances";
-			warnx("%s", str);
-			mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
-			break;
+	const char* const feedback[] = { 0,
+					"NaN in states, resetting",
+					"stale IMU data, resetting",
+					"got initial position lock",
+					"excessive gyro offsets",
+					"GPS velocity divergence",
+					"excessive covariances",
+					"unknown condition"};
+
+	// Print out error condition
+	if (check) {
+		unsigned warn_index = static_cast<unsigned>(check);
+		unsigned max_warn_index = (sizeof(feedback) / sizeof(feedback[0]));
+
+		if (max_warn_index < warn_index) {
+			warn_index = max_warn_index;
 		}
 
-		default:
-		{
-			const char* str = "unknown reset condition";
-			warnx("%s", str);
-			mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
-		}
+		warnx("reset: %s", feedback[warn_index]);
+		mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
 	}
 
 	struct estimator_status_report rep;
@@ -645,6 +610,10 @@ FixedwingEstimator::check_filter_state()
 		rep.health_flags |= (((uint8_t)ekf_report.posHealth)	<< 1);
 		rep.health_flags |= (((uint8_t)ekf_report.hgtHealth)	<< 2);
 		rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive)	<< 3);
+		// rep.health_flags |= (((uint8_t)ekf_report.onGround)	<< 4);
+		// rep.health_flags |= (((uint8_t)ekf_report.staticMode)	<< 5);
+		// rep.health_flags |= (((uint8_t)ekf_report.useCompass)	<< 6);
+		// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed)	<< 7);
 
 		rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout)	<< 0);
 		rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout)	<< 1);
@@ -1202,10 +1171,10 @@ FixedwingEstimator::task_main()
 					_baro_gps_offset = 0.0f;
 
 					_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
+
 				} else if (_ekf->statesInitialised) {
 
 					// We're apparently initialized in this case now
-
 					int check = check_filter_state();
 
 					if (check) {
@@ -1213,7 +1182,6 @@ FixedwingEstimator::task_main()
 						continue;
 					}
 
-
 					// Run the strapdown INS equations every IMU update
 					_ekf->UpdateStrapdownEquationsNED();
 	#if 0
@@ -1281,7 +1249,11 @@ FixedwingEstimator::task_main()
 						// run the fusion step
 						_ekf->FuseVelposNED();
 
-					} else if (_ekf->statesInitialised) {
+					} else if (!_gps_initialized) {
+
+						// force static mode
+						_ekf->staticMode = true;
+
 						// Convert GPS measurements to Pos NE, hgt and Vel NED
 						_ekf->velNED[0] = 0.0f;
 						_ekf->velNED[1] = 0.0f;
@@ -1303,7 +1275,7 @@ FixedwingEstimator::task_main()
 						_ekf->fusePosData = false;
 					}
 
-					if (newHgtData && _ekf->statesInitialised) {
+					if (newHgtData) {
 						// Could use a blend of GPS and baro alt data if desired
 						_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
 						_ekf->fuseHgtData = true;
@@ -1317,7 +1289,7 @@ FixedwingEstimator::task_main()
 					}
 
 					// Fuse Magnetometer Measurements
-					if (newDataMag && _ekf->statesInitialised) {
+					if (newDataMag) {
 						_ekf->fuseMagData = true;
 						_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
 
@@ -1331,7 +1303,7 @@ FixedwingEstimator::task_main()
 					}
 
 					// Fuse Airspeed Measurements
-					if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
+					if (newAdsData && _ekf->VtasMeas > 7.0f) {
 						_ekf->fuseVtasData = true;
 						_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
 						_ekf->FuseAirspeed();
@@ -1399,7 +1371,7 @@ FixedwingEstimator::task_main()
 
 						_velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
 						_velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
-						_airspeed_filtered = 0.95f*_airspeed_filtered + + 0.05f*_airspeed.true_airspeed_m_s;
+						_airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s;
 
 
 						/* crude land detector for fixedwing only,
@@ -1490,27 +1462,28 @@ FixedwingEstimator::task_main()
 
 						}
 
-					}
-
-				}
+						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
+							_wind.timestamp = _global_pos.timestamp;
+							_wind.windspeed_north = _ekf->states[14];
+							_wind.windspeed_east = _ekf->states[15];
+							_wind.covariance_north = _ekf->P[14][14];
+							_wind.covariance_east = _ekf->P[15][15];
 
-				if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
-					_wind.timestamp = _global_pos.timestamp;
-					_wind.windspeed_north = _ekf->states[14];
-					_wind.windspeed_east = _ekf->states[15];
-					_wind.covariance_north = _ekf->P[14][14];
-					_wind.covariance_east = _ekf->P[15][15];
+							/* lazily publish the wind estimate only once available */
+							if (_wind_pub > 0) {
+								/* publish the wind estimate */
+								orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
 
-					/* lazily publish the wind estimate only once available */
-					if (_wind_pub > 0) {
-						/* publish the wind estimate */
-						orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
+							} else {
+								/* advertise and publish */
+								_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
+							}
+						}
 
-					} else {
-						/* advertise and publish */
-						_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
 					}
+
 				}
+
 			}
 
 		}
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index f33a1d780..e83c37bbd 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -2206,7 +2206,7 @@ void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, d
 
 void AttPosEKF::OnGroundCheck()
 {
-    onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
+    onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
     if (staticMode) {
         staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
     }
@@ -2806,12 +2806,18 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
     current_ekf_state.statesNaN = false;
 
     current_ekf_state.velHealth = true;
-    //current_ekf_state.posHealth = ?;
-    //current_ekf_state.hgtHealth = ?;
+    current_ekf_state.posHealth = true;
+    current_ekf_state.hgtHealth = true;
     
     current_ekf_state.velTimeout = false;
-    //current_ekf_state.posTimeout = ?;
-    //current_ekf_state.hgtTimeout = ?;
+    current_ekf_state.posTimeout = false;
+    current_ekf_state.hgtTimeout = false;
+
+    fuseVelData = false;
+    fusePosData = false;
+    fuseHgtData = false;
+    fuseMagData = false;
+    fuseVtasData = false;
 
     // Fill variables with valid data
     velNED[0] = initvelNED[0];