Merged parameter changes

15 files changed, 376 insertions, 73 deletions

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index 6437a1e97..cc419a639 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -25,7 +25,9 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
 		   $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
 		   $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
-		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix
+		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
+		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
+		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix
 
 #
 # Add the PX4IO firmware to the spec if someone has dropped it into the
diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/mixers/FMU_quad_+.mix
new file mode 100644
index 000000000..550ed8316
--- /dev/null
+++ b/ROMFS/mixers/FMU_quad_+.mix
@@ -0,0 +1,7 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the + configuration, with 10% contribution from 
+roll and pitch and 20% contribution from yaw and no deadband.
+
+R: 4+ 1000 1000 2000 0
diff --git a/ROMFS/mixers/FMU_multirotor.mix b/ROMFS/mixers/FMU_quad_x.mix
index 285a40e1a..285a40e1a 100644
--- a/ROMFS/mixers/FMU_multirotor.mix
+++ b/ROMFS/mixers/FMU_quad_x.mix
diff --git a/apps/commander/Makefile b/apps/commander/Makefile
index f2972ac4e..d12697274 100644
--- a/apps/commander/Makefile
+++ b/apps/commander/Makefile
@@ -37,7 +37,7 @@
 
 APPNAME		 = commander
 PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 4096
+STACKSIZE	 = 2048
 
 INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
 
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index a642ac093..75946fb24 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -69,7 +69,8 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
 #include <mavlink/mavlink_log.h>
-
+ 
+#include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 
 #include <arch/board/up_cpuload.h>
@@ -101,9 +102,9 @@ static orb_advert_t stat_pub;
 static uint16_t nofix_counter = 0;
 static uint16_t gotfix_counter = 0;
 
-static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
-static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
-static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
 
 /* pthread loops */
 static void *command_handling_loop(void *arg);
@@ -111,9 +112,30 @@ static void *command_handling_loop(void *arg);
 
 __EXPORT int commander_main(int argc, char *argv[]);
 
-#ifdef CONFIG_TONE_ALARM
+/**
+ * Mainloop of commander.
+ */
+int commander_thread_main(int argc, char *argv[]);
+
 static int buzzer_init(void);
 static void buzzer_deinit(void);
+static int led_init(void);
+static void led_deinit(void);
+static int led_toggle(int led);
+static int led_on(int led);
+static int led_off(int led);
+static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
+static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
+static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
+
+int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
+
+
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
 
 static int buzzer_init()
 {
@@ -131,13 +153,7 @@ static void buzzer_deinit()
 {
 	close(buzzer);
 }
-#endif
 
-static int led_init(void);
-static void led_deinit(void);
-static int led_toggle(int led);
-static int led_on(int led);
-static int led_off(int led);
 
 static int led_init()
 {
@@ -581,6 +597,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		}
 		break;
 
+		/*
+		 * do not report an error for commands that are
+		 * handled directly by MAVLink.
+		 */
+		case MAV_CMD_PREFLIGHT_STORAGE:
+		break;
+
 		default: {
 			mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
 			result = MAV_RESULT_UNSUPPORTED;
@@ -705,6 +728,9 @@ enum BAT_CHEM {
  */
 float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
 
+PARAM_DEFINE_FLOAT(BAT_VOLT_EMPTY, 3.2f);
+PARAM_DEFINE_FLOAT(BAT_VOLT_FULL, 4.05f);
+
 float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
 {
 	float ret = 0;
@@ -721,12 +747,62 @@ float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage
 	return ret;
 }
 
-/****************************************************************************
- * Name: commander
- ****************************************************************************/
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
 
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
 int commander_main(int argc, char *argv[])
 {
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("commander already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_create("commander", SCHED_PRIORITY_MAX - 50, 4096, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tcommander is running\n");
+		} else {
+			printf("\tcommander not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int commander_thread_main(int argc, char *argv[])
+{
 	/* not yet initialized */
 	commander_initialized = false;
 
@@ -1108,6 +1184,8 @@ int commander_main(int argc, char *argv[])
 	led_deinit();
 	buzzer_deinit();
 
+	thread_running = false;
+
 	return 0;
 }
 
diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/apps/examples/px4_deamon_app/px4_deamon_app.c
index 91e60a8f9..052a36cb9 100644
--- a/apps/examples/px4_deamon_app/px4_deamon_app.c
+++ b/apps/examples/px4_deamon_app/px4_deamon_app.c
@@ -42,8 +42,8 @@
 #include <stdio.h>
 
 static bool 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 thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
 
 /**
  * Deamon management function.
@@ -94,7 +94,7 @@ usage(const char *reason)
  */
 int px4_deamon_app_main(int argc, char *argv[])
 {
-		if (argc < 1)
+	if (argc < 1)
 		usage("missing command");
 
 	if (!strcmp(argv[1], "start")) {
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index 7ea4101ab..42534a0a7 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -60,10 +60,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/fixedwing_control.h>
-
-#ifndef F_M_PI
-#define F_M_PI ((float)M_PI)
-#endif
+#include <systemlib/param/param.h>
 
 __EXPORT int fixedwing_control_main(int argc, char *argv[]);
 
@@ -291,6 +288,18 @@ static float pid(float error, float error_deriv, uint16_t dt, float scale, float
 	return output;
 }
 
+PARAM_DEFINE_FLOAT(FW_ATT_ROLL_P, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_ROLL_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_ROLL_D, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_ROLL_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_ROLL_LIM, 0.0f);
+
+PARAM_DEFINE_FLOAT(FW_ATT_PITCH_P, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_PITCH_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_PITCH_D, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_PITCH_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_ATT_PITCH_LIM, 0.0f);
+
 /**
  * Load parameters from global storage.
  *
@@ -299,7 +308,6 @@ static float pid(float error, float error_deriv, uint16_t dt, float scale, float
  * Fetches the current parameters from the global parameter storage and writes them
  * to the plane_data structure
  */
-
 static void get_parameters(plane_data_t * plane_data)
 {
 	plane_data->Kp_att = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P];
@@ -395,10 +403,10 @@ static void calc_rotation_matrix(float roll, float pitch, float yaw, float x, fl
  */
 static float calc_bearing()
 {
-	float bearing = F_M_PI/2.0f + (float)atan2(-(plane_data.wp_y - plane_data.lat), (plane_data.wp_x - plane_data.lon));
+	float bearing = M_PI_F/2.0f + (float)atan2(-(plane_data.wp_y - plane_data.lat), (plane_data.wp_x - plane_data.lon));
 
 	if (bearing < 0.0f) {
-		bearing += 2*F_M_PI;
+		bearing += 2*M_PI_F;
 	}
 
 	return bearing;
@@ -543,11 +551,11 @@ static float calc_roll_setpoint()
 	} else {
 		setpoint = calc_bearing() - plane_data.yaw;
 
-		if (setpoint < (-35.0f/180.0f)*F_M_PI)
-			return (-35.0f/180.0f)*F_M_PI;
+		if (setpoint < (-35.0f/180.0f)*M_PI_F)
+			return (-35.0f/180.0f)*M_PI_F;
 
-		if (setpoint > (35/180.0f)*F_M_PI)
-			return (-35.0f/180.0f)*F_M_PI;
+		if (setpoint > (35/180.0f)*M_PI_F)
+			return (-35.0f/180.0f)*M_PI_F;
 	}
 
 	return setpoint;
@@ -568,16 +576,16 @@ static float calc_pitch_setpoint()
 	float setpoint = 0.0f;
 
 	if (plane_data.mode == TAKEOFF) {
-		setpoint = ((35/180.0f)*F_M_PI);
+		setpoint = ((35/180.0f)*M_PI_F);
 
 	} else {
 		setpoint = atanf((plane_data.wp_z - plane_data.alt) / calc_wp_distance());
 
-		if (setpoint < (-35.0f/180.0f)*F_M_PI)
-			return (-35.0f/180.0f)*F_M_PI;
+		if (setpoint < (-35.0f/180.0f)*M_PI_F)
+			return (-35.0f/180.0f)*M_PI_F;
 
-		if (setpoint > (35/180.0f)*F_M_PI)
-			return (-35.0f/180.0f)*F_M_PI;
+		if (setpoint > (35/180.0f)*M_PI_F)
+			return (-35.0f/180.0f)*M_PI_F;
 	}
 
 	return setpoint;
@@ -797,8 +805,8 @@ int fixedwing_control_main(int argc, char *argv[])
 	//		printf("Current Altitude: %i\n\n", (int)plane_data.alt);
 
 			printf("\nAttitude values: \n R:%i \n P: %i \n Y: %i \n\n RS: %i \n PS: %i \n YS: %i \n ",
-					(int)(180.0f * plane_data.roll/F_M_PI), (int)(180.0f * plane_data.pitch/F_M_PI), (int)(180.0f * plane_data.yaw/F_M_PI),
-					(int)(180.0f * plane_data.rollspeed/F_M_PI), (int)(180.0f * plane_data.pitchspeed/F_M_PI), (int)(180.0f * plane_data.yawspeed)/F_M_PI);
+					(int)(180.0f * plane_data.roll/M_PI_F), (int)(180.0f * plane_data.pitch/M_PI_F), (int)(180.0f * plane_data.yaw/M_PI_F),
+					(int)(180.0f * plane_data.rollspeed/M_PI_F), (int)(180.0f * plane_data.pitchspeed/M_PI_F), (int)(180.0f * plane_data.yawspeed)/M_PI_F);
 
 	//		printf("\nBody Rates: \n P: %i \n Q: %i \n R: %i \n",
 	//				(int)(10000 * plane_data.p), (int)(10000 * plane_data.q), (int)(10000 * plane_data.r));
diff --git a/apps/mavlink/Makefile b/apps/mavlink/Makefile
index d4e9a5762..8ddb69b71 100644
--- a/apps/mavlink/Makefile
+++ b/apps/mavlink/Makefile
@@ -37,7 +37,7 @@
 
 APPNAME		 = mavlink
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+STACKSIZE	 = 2048
 
 INCLUDES	 = $(TOPDIR)/../mavlink/include/mavlink
 
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 596953789..84ea0aae2 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1447,7 +1447,7 @@ int mavlink_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 4096, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 4400, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c
index ab788c461..99df42738 100644
--- a/apps/mavlink/mavlink_parameters.c
+++ b/apps/mavlink/mavlink_parameters.c
@@ -43,6 +43,7 @@
 #include <assert.h>
 #include <stdio.h>
 #include <fcntl.h>
+#include <unistd.h>
 #include <stdbool.h>
 #include <string.h>
 #include <systemlib/param/param.h>
@@ -145,39 +146,54 @@ int mavlink_pm_send_param(param_t param)
 	return mavlink_missionlib_send_message(&tx_msg);
 }
 
+static const char *mavlink_parameter_file = "/eeprom/parameters";
+/**
+ * @return 0 on success, -1 if device open failed, -2 if writing parameters failed
+ */
 static int
 mavlink_pm_save_eeprom()
 {
-	const char* name = "/eeprom";
-	int fd = open("/eeprom", O_WRONLY | O_CREAT | O_EXCL);
+	unlink(mavlink_parameter_file);
 
-	if (fd < 0)
-		warn(1, "opening '%s' failed", name);
+	int fd = open(mavlink_parameter_file, O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0) {
+		warn("opening '%s' failed", mavlink_parameter_file);
+		return -1;
+	}
 
 	int result = param_export(fd, false);
 	close(fd);
 
 	if (result < 0) {
-		warn(1, "error exporting to '%s'", name);
+		unlink(mavlink_parameter_file);
+		warn("error exporting to '%s'", mavlink_parameter_file);
+		return -2;
 	}
 
 	return 0;
 }
 
+/**
+ * @return 0 on success, -1 if device open failed, -2 if writing parameters failed
+ */
 static int
 mavlink_pm_load_eeprom()
 {
-	const char* name = "/eeprom";
-	int fd = open(name, O_RDONLY);
+	int fd = open(mavlink_parameter_file, O_RDONLY);
 
-	if (fd < 0)
-		warn(1, "open '%s' failed", name);
+	if (fd < 0) {
+		warn("open '%s' failed", mavlink_parameter_file);
+		return -1;
+	}
 
 	int result = param_import(fd);
 	close(fd);
 
-	if (result < 0)
-		warn(1, "error importing from '%s'", name);
+	if (result < 0) {
+		warn("error importing from '%s'", mavlink_parameter_file);
+		return -2;
+	}
 
 	return 0;
 }
@@ -258,35 +274,42 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 
 					if (((int)(cmd_mavlink.param1)) == 0)	{
 
-						if (OK == mavlink_pm_load_eeprom()) {
+						/* read all parameters from EEPROM to RAM */
+						int read_ret = mavlink_pm_load_eeprom();
+						if (read_ret == OK) {
 							//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
-							mavlink_missionlib_send_gcs_string("[mavlink pm] CMD Loaded EEPROM params in RAM");
+							mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
 							result = MAV_RESULT_ACCEPTED;
 
 						} else {
-							//fprintf(stderr, "[mavlink pm] ERROR loading EEPROM params in RAM\n");
-							mavlink_missionlib_send_gcs_string("[mavlink pm] ERROR loading EEPROM params in RAM");
+							if (read_ret < -1) {
+								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM");
+							} else {
+								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found");
+							}
 							result = MAV_RESULT_FAILED;
 						}
 
-						/* Write all parameters from RAM to EEPROM */
-
 					} else if (((int)(cmd_mavlink.param1)) == 1)	{
 
-						if (OK == mavlink_pm_save_eeprom()) {
-							//printf("[mavlink pm] RAM params written to EEPROM\n");
-							mavlink_missionlib_send_gcs_string("[mavlink pm] RAM params written to EEPROM");
+						/* write all parameters from RAM to EEPROM */
+						int write_ret = mavlink_pm_save_eeprom();
+						if (write_ret == OK) {
+							mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
 							result = MAV_RESULT_ACCEPTED;
 
 						} else {
-							//fprintf(stderr, "[mavlink pm] ERROR writing RAM params to EEPROM\n");
-							mavlink_missionlib_send_gcs_string("[mavlink pm] ERROR writing RAM params to EEPROM");
+							if (write_ret < -1) {
+								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM");
+							} else {
+								mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found");
+							}
 							result = MAV_RESULT_FAILED;
 						}
 
 					} else {
 						//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
-						mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported storage request");
+						mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request");
 						result = MAV_RESULT_UNSUPPORTED;
 					}
 				}
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 367a0c3e1..b21a20ad1 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -51,8 +51,27 @@
 #include <float.h>
 #include <math.h>
 #include <systemlib/pid/pid.h>
+#include <systemlib/param/param.h>
 #include <arch/board/up_hrt.h>
 
+PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 0.0f);
+
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.0f);
+
+PARAM_DEFINE_FLOAT(MC_ATT_P, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.0f);
+
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
 	const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
 	struct actuator_controls_s *actuators, bool verbose)
diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
index fd3ed1137..97d7d39b7 100644
--- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
@@ -96,16 +96,16 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
 	mag_values.y = raw->magnetometer_ga[1]*456.0f;
 	mag_values.z = raw->magnetometer_ga[2]*456.0f;
 
-	static int i = 0;
-
-	if (i == 500) {
-		printf("gyro: %8.4f\t%8.4f\t%8.4f\t accel: %8.4f\t%8.4f\t%8.4f\t mag: %8.4f\t%8.4f\t%8.4f\t\n",
-			gyro_values.x, gyro_values.y, gyro_values.z,
-			accel_values.x, accel_values.y, accel_values.z,
-			mag_values.x, mag_values.y, mag_values.z);
-		i = 0;
-	}
-	i++;
+	// static int i = 0;
+
+	// if (i == 500) {
+	// 	printf("[att estim bm] gyro: %8.4f\t%8.4f\t%8.4f\t accel: %8.4f\t%8.4f\t%8.4f\t mag: %8.4f\t%8.4f\t%8.4f\t\n",
+	// 		gyro_values.x, gyro_values.y, gyro_values.z,
+	// 		accel_values.x, accel_values.y, accel_values.z,
+	// 		mag_values.x, mag_values.y, mag_values.z);
+	// 	i = 0;
+	// }
+	// i++;
 
 	attitude_blackmagic(&accel_values, &mag_values, &gyro_values);
 
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c
index 891167d1c..b5875cb68 100644
--- a/apps/sensors/sensors.c
+++ b/apps/sensors/sensors.c
@@ -60,6 +60,8 @@
 #include <arch/board/up_adc.h>
 
 #include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/rc_channels.h>
@@ -127,6 +129,66 @@ extern uint64_t ppm_last_valid_decode;
 /* ORB topic publishing our results */
 static orb_advert_t sensor_pub;
 
+PARAM_DEFINE_FLOAT(SENSOR_GYRO_XOFF, 0.0f);
+PARAM_DEFINE_FLOAT(SENSOR_GYRO_YOFF, 0.0f);
+PARAM_DEFINE_FLOAT(SENSOR_GYRO_ZOFF, 0.0f);
+
+PARAM_DEFINE_FLOAT(SENSOR_MAG_XOFF, 0.0f);
+PARAM_DEFINE_FLOAT(SENSOR_MAG_YOFF, 0.0f);
+PARAM_DEFINE_FLOAT(SENSOR_MAG_ZOFF, 0.0f);
+
+PARAM_DEFINE_FLOAT(SENSOR_ACC_XOFF, 0.0f);
+PARAM_DEFINE_FLOAT(SENSOR_ACC_YOFF, 0.0f);
+PARAM_DEFINE_FLOAT(SENSOR_ACC_ZOFF, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
+PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
+PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
+PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
+
+PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
+
+PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
+
+PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
+
+PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
+
+PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
+
+PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
+
+PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
+
+PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA
+
+PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
+PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
+PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
+PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
+PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
+
 /**
  * Sensor readout and publishing.
  * 
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
index 692489cd4..7d0c75670 100644
--- a/apps/systemlib/param/param.c
+++ b/apps/systemlib/param/param.c
@@ -35,6 +35,10 @@
  * @file param.c
  *
  * Global parameter store.
+ *
+ * Note that it might make sense to convert this into a driver.  That would
+ * offer some interesting options regarding state for e.g. ORB advertisements
+ * and background parameter saving.
  */
 
 #include <debug.h>
@@ -46,10 +50,15 @@
 
 #include <sys/stat.h>
 
+#include <arch/board/up_hrt.h>
+
 #include "systemlib/param/param.h"
 #include "systemlib/uthash/utarray.h"
 #include "systemlib/bson/tinybson.h"
 
+#include "uORB/uORB.h"
+#include "uORB/topics/parameters.h"
+
 #if 1
 # define debug(fmt, args...)		do { warnx(fmt, ##args); } while(0)
 #else
@@ -79,6 +88,9 @@ UT_array	*param_values;
 /** array info for the modified parameters array */
 UT_icd		param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
 
+/** parameter update topic */
+ORB_DEFINE(parameter_update, struct parameter_update_s);
+
 /** lock the parameter store */
 static void
 param_lock(void)
@@ -369,6 +381,24 @@ param_set(param_t param, const void *val)
 
 out:
 	param_unlock();
+
+	/*
+	 * If we set something, now that we have unlocked, go ahead and advertise that
+	 * a thing has been set.
+	 */
+	if (result != 0) {
+		struct parameter_update_s pup = { .timestamp = hrt_absolute_time() };
+
+		/*
+		 * Because we're a library, we can't keep a persistent advertisement
+		 * around, so if we succeed in updating the topic, we have to toss
+		 * the descriptor straight away.
+		 */
+		int param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
+		if (param_topic != -1)
+			close(param_topic);
+	}
+
 	return result;
 }
 
@@ -407,6 +437,7 @@ param_export(int fd, bool only_unsaved)
 		switch (param_type(s->param)) {
 		case PARAM_TYPE_INT32:
 			param_get(s->param, &i);
+
 			if (bson_encoder_append_int(&encoder, param_name(s->param), i)) {
 				debug("BSON append failed for '%s'", param_name(s->param));
 				goto out;
@@ -416,6 +447,7 @@ param_export(int fd, bool only_unsaved)
 
 		case PARAM_TYPE_FLOAT:
 			param_get(s->param, &f);
+
 			if (bson_encoder_append_double(&encoder, param_name(s->param), f)) {
 				debug("BSON append failed for '%s'", param_name(s->param));
 				goto out;
@@ -424,7 +456,7 @@ param_export(int fd, bool only_unsaved)
 			break;
 
 		case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
-			if (bson_encoder_append_binary(&encoder, 
+			if (bson_encoder_append_binary(&encoder,
 						       param_name(s->param),
 						       BSON_BIN_BINARY,
 						       param_size(s->param),
@@ -474,6 +506,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 	 * ignore the node.
 	 */
 	param_t param = param_find(node->name);
+
 	if (param == PARAM_INVALID)
 		return 0;
 
@@ -487,6 +520,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 			debug("unexpected type for '%s", node->name);
 			goto out;
 		}
+
 		i = node->i;
 		v = &i;
 		break;
@@ -496,6 +530,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 			debug("unexpected type for '%s", node->name);
 			goto out;
 		}
+
 		f = node->d;
 		v = &f;
 		break;
@@ -505,22 +540,28 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 			debug("unexpected subtype for '%s", node->name);
 			goto out;
 		}
+
 		if (bson_decoder_data_pending(decoder) != param_size(param)) {
 			debug("bad size for '%s'", node->name);
 			goto out;
 		}
+
 		/* XXX check actual file data size? */
 		tmp = malloc(param_size(param));
+
 		if (tmp == NULL) {
 			debug("failed allocating for '%s'", node->name);
 			goto out;
 		}
+
 		if (bson_decoder_copy_data(decoder, tmp)) {
 			debug("failed copying data for '%s'", node->name);
 			goto out;
 		}
+
 		v = tmp;
 		break;
+
 	default:
 		debug("unrecognised node type");
 		goto out;
@@ -530,6 +571,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 		debug("error setting value for '%s'", node->name);
 		goto out;
 	}
+
 	if (tmp != NULL) {
 		free(tmp);
 		tmp = NULL;
@@ -538,8 +580,10 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 	result = 0;
 
 out:
+
 	if (tmp != NULL)
 		free(tmp);
+
 	return result;
 }
 
@@ -559,6 +603,7 @@ param_import(int fd)
 
 	while (!done) {
 		result = bson_decoder_next(&decoder);
+
 		if (result != 0) {
 			debug("error during BSON decode");
 			break;
diff --git a/apps/uORB/topics/parameters.h b/apps/uORB/topics/parameters.h
new file mode 100644
index 000000000..9dd76e8bc
--- /dev/null
+++ b/apps/uORB/topics/parameters.h
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 parameters.h
+ *
+ * Actuator control topics - mixer inputs.
+ *
+ * Values published to these topics are the outputs of the vehicle control
+ * system, and are expected to be mixed and used to drive the actuators
+ * (servos, speed controls, etc.) that operate the vehicle.
+ *
+ * Each topic can be published by a single controller
+ */
+
+#ifndef TOPIC_PARAMETERS_H
+#define TOPIC_PARAMETERS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+struct parameter_update_s {
+	/** time at which the latest parameter was updated */
+	uint64_t	timestamp;
+};
+
+ORB_DECLARE(parameter_update);
+
+#endif
\ No newline at end of file