Merge branch 'master' of https://github.com/PX4/Firmware

24 files changed, 499 insertions, 266 deletions

diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x
index 94ed2be18..e9f07b4a2 100644
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ b/ROMFS/scripts/rc.FMU_quad_x
@@ -9,7 +9,7 @@ echo "[init] eeprom"
 eeprom start
 if [ -f /eeprom/parameters ]
 then
-	eeprom load_param /eeprom/parameters
+	param load
 fi
 
 echo "[init] sensors"
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
index 532dd6a25..382d8e25c 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -19,7 +19,7 @@ echo "[init] eeprom"
 eeprom start
 if [ -f /eeprom/parameters ]
 then
-	eeprom load_param /eeprom/parameters
+	param load
 fi
  
 #
diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/scripts/rc.standalone
index 7dfd98a16..8ccdb577b 100644
--- a/ROMFS/scripts/rc.standalone
+++ b/ROMFS/scripts/rc.standalone
@@ -11,6 +11,16 @@ echo "[init] doing standalone PX4FMU startup..."
 uorb start
 
 #
+# Init the EEPROM
+#
+echo "[init] eeprom"
+eeprom start
+if [ -f /eeprom/parameters ]
+then
+	param load
+fi
+
+#
 # Start the sensors.
 #
 #sh /etc/init.d/rc.sensors
diff --git a/ROMFS/scripts/rcS b/ROMFS/scripts/rcS
index 9e564e2cc..3377abe77 100755
--- a/ROMFS/scripts/rcS
+++ b/ROMFS/scripts/rcS
@@ -33,6 +33,7 @@ fi
 
 usleep 500
 
+
 #
 # Look for an init script on the microSD card.
 #
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index d2e0efb56..1d4df87fe 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -257,7 +257,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 			{ .fd = sub_raw,   .events = POLLIN },
 			{ .fd = sub_params, .events = POLLIN }
 		};
-		int ret = poll(fds, 1, 1000);
+		int ret = poll(fds, 2, 1000);
 
 		if (ret < 0) {
 			/* XXX this is seriously bad - should be an emergency */
@@ -389,9 +389,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 
 					// }
 
-					printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
-					printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
-					printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
+					//printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
+					//printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
+					//printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
 				// 	printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
 				// 	       (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
 				// 	       (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
@@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 				att.pitch = euler[1];
 				att.yaw = euler[2];
 
-				att.rollspeed = x_aposteriori[0];
-				att.pitchspeed = x_aposteriori[1];
-				att.yawspeed = x_aposteriori[2];
+				// XXX replace with x_apo after fix to filter
+				att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0];
+				att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1];
+				att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2];
 
 				/* copy offsets */
 				memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 36e484f10..c569a6aa4 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -293,7 +293,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	struct sensor_combined_s raw;
 
 	/* 30 seconds */
-	const uint64_t calibration_interval_us = 45 * 1000000;
+	int calibration_interval_ms = 30 * 1000;
 	unsigned int calibration_counter = 0;
 
 	float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
@@ -312,10 +312,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		warn("WARNING: failed to set scale / offsets for mag");
 	close(fd);
 
-	mavlink_log_info(mavlink_fd, "[commander] Please rotate around all axes.");
+	mavlink_log_info(mavlink_fd, "[commander] Please rotate around X");
 	
 	uint64_t calibration_start = hrt_absolute_time();
-	while ((hrt_absolute_time() - calibration_start) < calibration_interval_us) {
+	while ((hrt_absolute_time() - calibration_start)/1000 < calibration_interval_ms) {
 
 		/* wait blocking for new data */
 		struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
@@ -348,11 +348,13 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 			calibration_counter++;
 		} else {
 			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
+			mavlink_log_info(mavlink_fd, "[commander] mag cal canceled");
 			break;
 		}
 	}
 
+	mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
+
 	/* disable calibration mode */
 	status->flag_preflight_mag_calibration = false;
 	state_machine_publish(status_pub, status, mavlink_fd);
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index f9ec6ba91..7d766bcdb 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -501,10 +501,10 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 {
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
-	current_status->flag_control_manual_enabled = true; //XXX
+	current_status->flag_control_manual_enabled = true;
 	/* enable attitude control per default */
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = false;
+	current_status->flag_control_rates_enabled = false; // XXX
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -517,9 +517,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
 {
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
-	current_status->flag_control_manual_enabled = true; //XXX
+	current_status->flag_control_manual_enabled = true;
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = false;
+	current_status->flag_control_rates_enabled = false; // XXX
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -532,9 +532,9 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 {
 	int old_mode = current_status->flight_mode;
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
-	current_status->flag_control_manual_enabled = true; //XXX
+	current_status->flag_control_manual_enabled = true;
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = false;
+	current_status->flag_control_rates_enabled = false; // XXX
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp
index 8cd7f6a7c..c554df9ae 100644
--- a/apps/drivers/bma180/bma180.cpp
+++ b/apps/drivers/bma180/bma180.cpp
@@ -410,8 +410,8 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 				/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT:
-				/* XXX 500Hz is just a wild guess */
-				return ioctl(filp, SENSORIOCSPOLLRATE, 500);
+				/* With internal low pass filters enabled, 250 Hz is sufficient */
+				return ioctl(filp, SENSORIOCSPOLLRATE, 250);
 
 				/* adjust to a legal polling interval in Hz */
 			default: {
diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp
index bfdabe273..9401fdd4a 100644
--- a/apps/drivers/l3gd20/l3gd20.cpp
+++ b/apps/drivers/l3gd20/l3gd20.cpp
@@ -420,8 +420,8 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 				/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT:
-				/* XXX 500Hz is just a wild guess */
-				return ioctl(filp, SENSORIOCSPOLLRATE, 500);
+				/* With internal low pass filters enabled, 250 Hz is sufficient */
+				return ioctl(filp, SENSORIOCSPOLLRATE, 250);
 
 				/* adjust to a legal polling interval in Hz */
 			default: {
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
index 8a658b623..b1655afd7 100644
--- a/apps/gps/ubx.c
+++ b/apps/gps/ubx.c
@@ -781,6 +781,8 @@ void *ubx_watchdog_loop(void *args)
 		} else {
 			/* gps healthy */
 			ubx_success_count++;
+			ubx_healthy = true;
+			ubx_fail_count = 0;
 
 			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
 				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 580287805..0592d0377 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -889,7 +889,7 @@ static void *uorb_receiveloop(void *arg)
 				/* copy rc channels into local buffer */
 				orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
 				/* Channels are sent in MAVLink main loop at a fixed interval */
-				mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
+			mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
 							 rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
 			}
 
@@ -1272,7 +1272,8 @@ void handleMessage(mavlink_message_t *msg)
 	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
 		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
 		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
-//		printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid);
+		//printf("got message\n");
+		//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
 
 		if (mavlink_system.sysid < 4) {
 			/* 
@@ -1282,19 +1283,28 @@ void handleMessage(mavlink_message_t *msg)
 			uint8_t ml_mode = 0;
 			bool ml_armed = false;
 
-			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
-				ml_armed = true;
-			}
+//			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
+//				ml_armed = true;
+//			}
 
 			switch (quad_motors_setpoint.mode) {
 				case 0:
+					ml_armed = false;
+
 					break;
 				case 1:
+
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-					break;
+					ml_armed = true;
+
+				break;
 				case 2:
+
+
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-					break;
+					ml_armed = true;
+
+				break;
 				case 3:
 					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
 					break;
@@ -1306,7 +1316,14 @@ void handleMessage(mavlink_message_t *msg)
 			offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid]   / (float)INT16_MAX;
 			offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid]  / (float)INT16_MAX;
 			offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid]    / (float)INT16_MAX;
-			offboard_control_sp.p4 = quad_motors_setpoint.thrust[mavlink_system.sysid] / (float)UINT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
+			//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
+
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
+				ml_armed = false;
+
+			}
+
 			offboard_control_sp.armed = ml_armed;
 			offboard_control_sp.mode = ml_mode;
 
@@ -1720,14 +1737,6 @@ int mavlink_thread_main(int argc, char *argv[])
 	/* all subscriptions are now active, set up initial guess about rate limits */
 	if (baudrate >= 460800) {
 		/* 200 Hz / 5 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 5);
-		/* 200 Hz / 5 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 3);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
-		/* 5 Hz */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
 	} else if (baudrate >= 230400) {
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
@@ -1741,13 +1750,13 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
 	} else if (baudrate >= 115200) {
 		/* 50 Hz / 20 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
 		/* 20 Hz / 50 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
 		/* 10 Hz / 100 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 100);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
 		/* 1 Hz */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
 	} else if (baudrate >= 57600) {
@@ -1824,7 +1833,9 @@ int mavlink_thread_main(int argc, char *argv[])
 		mavlink_pm_queued_send();
 		/* sleep quarter the time */
 		usleep(25000);
-		mavlink_pm_queued_send();
+		if (baudrate > 57600) {
+			mavlink_pm_queued_send();
+		}
 
 		/* sleep 10 ms */
 		usleep(10000);
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 18efe1ae2..7d5821d3f 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -165,8 +165,30 @@ mc_thread_main(int argc, char *argv[])
 
 
 		/** STEP 1: Define which input is the dominating control input */
-
-		if (state.flag_control_manual_enabled) {
+		if (state.flag_control_offboard_enabled) {
+					/* offboard inputs */
+					if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
+						rates_sp.roll = offboard_sp.p1;
+						rates_sp.pitch = offboard_sp.p2;
+						rates_sp.yaw = offboard_sp.p3;
+						rates_sp.thrust = offboard_sp.p4;
+						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
+						rates_sp.timestamp = hrt_absolute_time();
+						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+					} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
+						att_sp.roll_body = offboard_sp.p1;
+						att_sp.pitch_body = offboard_sp.p2;
+						att_sp.yaw_body = offboard_sp.p3;
+						att_sp.thrust = offboard_sp.p4;
+						printf("thrust_att=%8.4f\n",offboard_sp.p4);
+						att_sp.timestamp = hrt_absolute_time();
+						/* STEP 2: publish the result to the vehicle actuators */
+						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+					}
+
+					/* decide wether we want rate or position input */
+				}
+		else if (state.flag_control_manual_enabled) {
 			/* manual inputs, from RC control or joystick */
 
 			if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
@@ -188,7 +210,7 @@ mc_thread_main(int argc, char *argv[])
 			}
 			/* STEP 2: publish the result to the vehicle actuators */
 			orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-			
+
 			if (motor_test_mode) {
 				att_sp.roll_body = 0.0f;
 				att_sp.pitch_body = 0.0f;
@@ -199,38 +221,19 @@ mc_thread_main(int argc, char *argv[])
 				orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 			}
 
-		} else if (state.flag_control_offboard_enabled) {
-			/* offboard inputs */
-			if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
-				rates_sp.roll = offboard_sp.p1;
-				rates_sp.pitch = offboard_sp.p2;
-				rates_sp.yaw = offboard_sp.p3;
-				rates_sp.thrust = offboard_sp.p4;
-				rates_sp.timestamp = hrt_absolute_time();
-				orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-			} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
-				att_sp.roll_body = offboard_sp.p1;
-				att_sp.pitch_body = offboard_sp.p2;
-				att_sp.yaw_body = offboard_sp.p3;
-				att_sp.thrust = offboard_sp.p4;
-				att_sp.timestamp = hrt_absolute_time();
-				/* STEP 2: publish the result to the vehicle actuators */
-				orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-			}
-
-			/* decide wether we want rate or position input */
 		}
 
 		/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
 
+
 		/* run attitude controller */
-		if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
-			multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
-			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-		} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
-			multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
-			orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-		}
+		 if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
+		 	multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
+		 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+		 } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
+		 	multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
+		 	orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+		 }
 
 
 		if (state.flag_control_rates_enabled) {
@@ -253,7 +256,6 @@ mc_thread_main(int argc, char *argv[])
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		}
 
-
 		perf_end(mc_loop_perf);
 	}
 
@@ -321,7 +323,7 @@ int multirotor_att_control_main(int argc, char *argv[])
 		mc_task = task_spawn("multirotor_att_control",
 				     SCHED_DEFAULT,
 				     SCHED_PRIORITY_MAX - 15,
-				     4096,
+				     6000,
 				     mc_thread_main,
 				     NULL);
 		exit(0);
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index d332660f6..7532dffa2 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -56,18 +56,21 @@
 // PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
 
 PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
-PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
 PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 8.0f);	/**< roughly < 500 deg/s limit */
 
 struct mc_rate_control_params {
 
 	float yawrate_p;
+	float yawrate_d;
 	float yawrate_i;
 	float yawrate_awu;
 	float yawrate_lim;
 
 	float attrate_p;
+	float attrate_d;
 	float attrate_i;
 	float attrate_awu;
 	float attrate_lim;
@@ -79,11 +82,13 @@ struct mc_rate_control_param_handles {
 
 	param_t yawrate_p;
 	param_t yawrate_i;
+	param_t yawrate_d;
 	param_t yawrate_awu;
 	param_t yawrate_lim;
 
 	param_t attrate_p;
 	param_t attrate_i;
+	param_t attrate_d;
 	param_t attrate_awu;
 	param_t attrate_lim;
 };
@@ -106,11 +111,13 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
 	/* PID parameters */
 	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
 	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
+	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
 	h->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
 	h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
 
 	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
 	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
+	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
 	h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
 	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
 
@@ -121,11 +128,13 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 {
 	param_get(h->yawrate_p, &(p->yawrate_p));
 	param_get(h->yawrate_i, &(p->yawrate_i));
+	param_get(h->yawrate_d, &(p->yawrate_d));
 	param_get(h->yawrate_awu, &(p->yawrate_awu));
 	param_get(h->yawrate_lim, &(p->yawrate_lim));
 
 	param_get(h->attrate_p, &(p->attrate_p));
 	param_get(h->attrate_i, &(p->attrate_i));
+	param_get(h->attrate_d, &(p->attrate_d));
 	param_get(h->attrate_awu, &(p->attrate_awu));
 	param_get(h->attrate_lim, &(p->attrate_lim));
 
@@ -135,6 +144,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	const float rates[], struct actuator_controls_s *actuators)
 {
+	static float roll_control_last=0;
+	static float pitch_control_last=0;
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	last_run = hrt_absolute_time();
@@ -157,83 +168,26 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (motor_skip_counter % 2500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		printf("p.yawrate_p: %8.4f", (double)p.yawrate_p);
+		printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
 	}
 
 	/* calculate current control outputs */
 	
 	/* control pitch (forward) output */
-	float pitch_control = 5 * deltaT * (rates[1] - rate_sp->pitch);
+
+	float pitch_control = p.attrate_p * deltaT *(rate_sp->pitch-rates[1])-p.attrate_d*(pitch_control_last);
+	pitch_control_last=pitch_control;
 	/* control roll (left/right) output */
-	float roll_control = p.attrate_p * deltaT * (rates[0] - rate_sp->roll);
 
+	float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0])-p.attrate_d*(roll_control_last);
+	roll_control_last=roll_control;
 	/* control yaw rate */
-	float yaw_rate_control = p.yawrate_p * deltaT * (rates[2] - rate_sp->yaw);
-
-	/*
-	 * compensate the vertical loss of thrust
-	 * when thrust plane has an angle.
-	 * start with a factor of 1.0 (no change)
-	 */
-	float zcompensation = 1.0f;
-
-	// if (fabsf(att->roll) > 0.3f) {
-	// 	zcompensation *= 1.04675160154f;
-
-	// } else {
-	// 	zcompensation *= 1.0f / cosf(att->roll);
-	// }
-
-	// if (fabsf(att->pitch) > 0.3f) {
-	// 	zcompensation *= 1.04675160154f;
-
-	// } else {
-	// 	zcompensation *= 1.0f / cosf(att->pitch);
-	// }
-
-	float motor_thrust = 0.0f;
-
-	motor_thrust = rate_sp->thrust;
-
-	/* compensate thrust vector for roll / pitch contributions */
-	motor_thrust *= zcompensation;
-
-	// /* limit yaw rate output */
-	// if (yaw_rate_control > p.yawrate_lim) {
-	// 	yaw_rate_control = p.yawrate_lim;
-	// 	yaw_speed_controller.saturated = 1;
-	// }
-
-	// if (yaw_rate_control < -p.yawrate_lim) {
-	// 	yaw_rate_control = -p.yawrate_lim;
-	// 	yaw_speed_controller.saturated = 1;
-	// }
-
-	// if (pitch_control > p.attrate_lim) {
-	// 	pitch_control = p.attrate_lim;
-	// 	pitch_controller.saturated = 1;
-	// }
-
-	// if (pitch_control < -p.attrate_lim) {
-	// 	pitch_control = -p.attrate_lim;
-	// 	pitch_controller.saturated = 1;
-	// }
-
-
-	// if (roll_control > p.attrate_lim) {
-	// 	roll_control = p.attrate_lim;
-	// 	roll_controller.saturated = 1;
-	// }
-
-	// if (roll_control < -p.attrate_lim) {
-	// 	roll_control = -p.attrate_lim;
-	// 	roll_controller.saturated = 1;
-	// }
+	float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2]  );
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;
 	actuators->control[2] = yaw_rate_control;
-	actuators->control[3] = motor_thrust;
+	actuators->control[3] = rate_sp->thrust;
 
 	motor_skip_counter++;
 }
diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index e6f2f7e76..52316993e 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -56,9 +56,9 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
 
-PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 0.0f);
-PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 0.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
 
 PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 7106edc6b..b84b58406 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -101,8 +101,6 @@ extern "C" {
 /* PPM Settings */
 #  define PPM_MIN 1000
 #  define PPM_MAX 2000
-/* Internal resolution is 10000 */
-#  define PPM_SCALE 10000/((PPM_MAX-PPM_MIN)/2)
 #  define PPM_MID (PPM_MIN+PPM_MAX)/2
 #endif
 
@@ -136,10 +134,6 @@ public:
 private:	
 	static const unsigned _rc_max_chan_count = 8;	/**< maximum number of r/c channels we handle */
 
-	/* legacy sensor descriptors */
-	int 		_fd_bma180;			/**< old accel driver */
-	int 		_fd_gyro_l3gd20;		/**< old gyro driver */
-
 #if CONFIG_HRT_PPM
 	hrt_abstime	_ppm_last_valid;		/**< last time we got a valid ppm signal */
 
@@ -334,8 +328,6 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
-	_fd_bma180(-1),
-	_fd_gyro_l3gd20(-1),
 	_ppm_last_valid(0),
 
 	_fd_adc(-1),
@@ -562,19 +554,7 @@ Sensors::accel_init()
 	fd = open(ACCEL_DEVICE_PATH, 0);
 	if (fd < 0) {
 		warn("%s", ACCEL_DEVICE_PATH);
-
-		/* fall back to bma180 here (new driver would be better...) */
-		_fd_bma180 = open("/dev/bma180", O_RDONLY);
-		if (_fd_bma180 < 0) {
-			warn("/dev/bma180");
-			warn("FATAL: no accelerometer found");
-		}
-	
-		/* discard first (junk) reading */
-		int16_t junk_buf[3];
-		read(_fd_bma180, junk_buf, sizeof(junk_buf));
-
-		warnx("using BMA180");
+		errx(1, "FATAL: no accelerometer found");
 	} else {
 		/* set the accel internal sampling rate up to at leat 500Hz */
 		ioctl(fd, ACCELIOCSSAMPLERATE, 500);
@@ -595,19 +575,7 @@ Sensors::gyro_init()
 	fd = open(GYRO_DEVICE_PATH, 0);
 	if (fd < 0) {
 		warn("%s", GYRO_DEVICE_PATH);
-
-		/* fall back to bma180 here (new driver would be better...) */
-		_fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY);
-		if (_fd_gyro_l3gd20 < 0) {
-			warn("/dev/l3gd20");
-			warn("FATAL: no gyro found");
-		}
-
-		/* discard first (junk) reading */
-		int16_t junk_buf[3];
-		read(_fd_gyro_l3gd20, junk_buf, sizeof(junk_buf));
-
-		warn("using L3GD20");
+		errx(1, "FATAL: no gyro found");
 	} else {
 		/* set the gyro internal sampling rate up to at leat 500Hz */
 		ioctl(fd, GYROIOCSSAMPLERATE, 500);
@@ -648,7 +616,7 @@ Sensors::baro_init()
 	fd = open(BARO_DEVICE_PATH, 0);
 	if (fd < 0) {
 		warn("%s", BARO_DEVICE_PATH);
-		errx(1, "FATAL: no barometer found");
+		warnx("No barometer found, ignoring");
 	}
 
 	/* set the driver to poll at 150Hz */
@@ -671,67 +639,36 @@ Sensors::adc_init()
 void
 Sensors::accel_poll(struct sensor_combined_s &raw)
 {
-	struct accel_report	accel_report;
+	bool accel_updated;
+	orb_check(_accel_sub, &accel_updated);
 
-	if (_fd_bma180 >= 0) {
-		/* do ORB emulation for BMA180 */
-		int16_t		buf[3];
+	if (accel_updated) {
+		struct accel_report	accel_report;
 
-		read(_fd_bma180, buf, sizeof(buf));
+		orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
 
-		accel_report.timestamp = hrt_absolute_time();
+		raw.accelerometer_m_s2[0] = accel_report.x;
+		raw.accelerometer_m_s2[1] = accel_report.y;
+		raw.accelerometer_m_s2[2] = accel_report.z;
 
-		accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1];
-		accel_report.y_raw = buf[0];
-		accel_report.z_raw = buf[2];
+		raw.accelerometer_raw[0] = accel_report.x_raw;
+		raw.accelerometer_raw[1] = accel_report.y_raw;
+		raw.accelerometer_raw[2] = accel_report.z_raw;
 
-		const float range_g = 4.0f;
-		/* scale from 14 bit to m/s2 */
-		accel_report.x = (((accel_report.x_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
-		accel_report.y = (((accel_report.y_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
-		accel_report.z = (((accel_report.z_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
 		raw.accelerometer_counter++;
-
-	} else {
-		bool accel_updated;
-		orb_check(_accel_sub, &accel_updated);
-
-		if (accel_updated) {
-			orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
-			raw.accelerometer_counter++;
-		}
 	}
-
-	raw.accelerometer_m_s2[0] = accel_report.x;
-	raw.accelerometer_m_s2[1] = accel_report.y;
-	raw.accelerometer_m_s2[2] = accel_report.z;
-
-	raw.accelerometer_raw[0] = accel_report.x_raw;
-	raw.accelerometer_raw[1] = accel_report.y_raw;
-	raw.accelerometer_raw[2] = accel_report.z_raw;
 }
 
 void
 Sensors::gyro_poll(struct sensor_combined_s &raw)
 {
-	struct gyro_report	gyro_report;
+	bool gyro_updated;
+	orb_check(_gyro_sub, &gyro_updated);
 
-	if (_fd_gyro_l3gd20 >= 0) {
-		/* do ORB emulation for L3GD20 */
-		int16_t		buf[3];
+	if (gyro_updated) {
+		struct gyro_report	gyro_report;
 
-		read(_fd_gyro_l3gd20, buf, sizeof(buf));
-
-		gyro_report.timestamp = hrt_absolute_time();
-
-		gyro_report.x_raw = buf[1];
-		gyro_report.y_raw = ((buf[0] == -32768) ? 32767 : -buf[0]);
-		gyro_report.z_raw = buf[2];
-
-		/* scaling calculated as: raw * (1/(32768*(500/180*PI))) */
-		gyro_report.x = (gyro_report.x_raw - _parameters.gyro_offset[0]) * 0.000266316109f;
-		gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f;
-		gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f;
+		orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
 
 		raw.gyro_rad_s[0] = gyro_report.x;
 		raw.gyro_rad_s[1] = gyro_report.y;
@@ -742,25 +679,6 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 		raw.gyro_raw[2] = gyro_report.z_raw;
 
 		raw.gyro_counter++;
-
-	} else {
-
-		bool gyro_updated;
-		orb_check(_gyro_sub, &gyro_updated);
-
-		if (gyro_updated) {
-			orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
-
-			raw.gyro_rad_s[0] = gyro_report.x;
-			raw.gyro_rad_s[1] = gyro_report.y;
-			raw.gyro_rad_s[2] = gyro_report.z;
-
-			raw.gyro_raw[0] = gyro_report.x_raw;
-			raw.gyro_raw[1] = gyro_report.y_raw;
-			raw.gyro_raw[2] = gyro_report.z_raw;
-
-			raw.gyro_counter++;
-		}
 	}
 }
 
@@ -974,7 +892,13 @@ Sensors::ppm_poll()
 		}
 
 		/* reverse channel if required */
-		_rc.chan[i].scaled *= _parameters.rev[i];
+		if (i == _rc.function[THROTTLE]) {
+			if ((int)_parameters.rev[i] == -1) {
+				_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
+			}
+		} else {
+			_rc.chan[i].scaled *= _parameters.rev[i];
+		}
 
 		/* handle any parameter-induced blowups */
 		if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled))
diff --git a/apps/systemcmds/bl_update/bl_update.c b/apps/systemcmds/bl_update/bl_update.c
index 8bfc29234..752c01986 100644
--- a/apps/systemcmds/bl_update/bl_update.c
+++ b/apps/systemcmds/bl_update/bl_update.c
@@ -51,16 +51,20 @@
 #include <arch/board/board.h>
 
 #include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
 #include "systemlib/err.h"
 
 __EXPORT int bl_update_main(int argc, char *argv[]);
 
+static void setopt(void);
+
 int
 bl_update_main(int argc, char *argv[])
 {
 	if (argc != 2)
-		errx(1, "missing firmware filename");
+		errx(1, "missing firmware filename or command");
+
+	if (!strcmp(argv[1], "setopt"))
+		setopt();
 
 	int fd = open(argv[1], O_RDONLY);
 	if (fd < 0)
@@ -172,3 +176,33 @@ flash_end:
 	free(buf);
 	exit(0);
 }
+
+static void
+setopt(void)
+{
+	volatile uint32_t *optcr = (volatile uint32_t *)0x40023c14;
+
+	const uint16_t opt_mask = (3 << 2);		/* BOR_LEV bitmask */
+	const uint16_t opt_bits = (0 << 2);		/* BOR = 0, setting for 2.7-3.6V operation */
+
+	if ((*optcr & opt_mask) == opt_bits)
+		errx(0, "option bits are already set as required");
+
+	/* unlock the control register */
+	volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08;
+	*optkeyr = 0x08192a3bU;
+	*optkeyr = 0x4c5d6e7fU;
+
+	if (*optcr & 1)
+		errx(1, "option control register unlock failed");
+
+	/* program the new option value */
+	*optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1);
+
+	usleep(1000);
+
+	if ((*optcr & opt_mask) == opt_bits)
+		errx(0, "option bits set");
+	errx(1, "option bits setting failed; readback 0x%04x", *optcr);
+
+}
\ No newline at end of file
diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c
index a0b15f77b..fa88fa09e 100644
--- a/apps/systemcmds/eeprom/eeprom.c
+++ b/apps/systemcmds/eeprom/eeprom.c
@@ -193,6 +193,8 @@ eeprom_save(const char *name)
 	if (!name) 
 		err(1, "missing argument for device name, try '/eeprom/parameters'");
 
+	warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
+
 	/* delete the file in case it exists */
 	unlink(name);
 
@@ -222,6 +224,8 @@ eeprom_load(const char *name)
 	if (!name) 
 		err(1, "missing argument for device name, try '/eeprom/parameters'");
 	
+	warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
+
 	int fd = open(name, O_RDONLY);
 
 	if (fd < 0)
diff --git a/apps/systemcmds/param/Makefile b/apps/systemcmds/param/Makefile
new file mode 100644
index 000000000..603746a20
--- /dev/null
+++ b/apps/systemcmds/param/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Build the parameters tool.
+#
+
+APPNAME		 = param
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 4096
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c
new file mode 100644
index 000000000..d70d15da4
--- /dev/null
+++ b/apps/systemcmds/param/param.c
@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file param.c
+ *
+ * Parameter tool.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+__EXPORT int param_main(int argc, char *argv[]);
+
+static void	do_save(void);
+static void	do_load(void);
+static void	do_import(void);
+static void	do_show(void);
+static void	do_show_print(void *arg, param_t param);
+
+static const char *param_file_name = "/eeprom/parameters";
+
+int
+param_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "save"))
+			do_save();
+		if (!strcmp(argv[1], "load"))
+			do_load();
+		if (!strcmp(argv[1], "import"))
+			do_import();
+		if (!strcmp(argv[1], "show"))
+			do_show();
+	}
+
+	errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
+}
+
+static void
+do_save(void)
+{
+	/* delete the parameter file in case it exists */
+	unlink(param_file_name);
+
+	/* create the file */
+	int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0)
+		err(1, "opening '%s' failed", param_file_name);
+
+	int result = param_export(fd, false);
+	close(fd);
+
+	if (result < 0) {
+		unlink(param_file_name);
+		errx(1, "error exporting to '%s'", param_file_name);
+	}
+
+	exit(0);
+}
+
+static void
+do_load(void)
+{
+	int fd = open(param_file_name, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "open '%s'", param_file_name);
+
+	int result = param_load(fd);
+	close(fd);
+
+	if (result < 0)
+		errx(1, "error importing from '%s'", param_file_name);
+
+	exit(0);
+}
+
+static void
+do_import(void)
+{
+	int fd = open(param_file_name, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "open '%s'", param_file_name);
+
+	int result = param_import(fd);
+	close(fd);
+
+	if (result < 0)
+		errx(1, "error importing from '%s'", param_file_name);
+
+	exit(0);
+}
+
+static void
+do_show(void)
+{
+	printf(" + = saved, * = unsaved\n");
+	param_foreach(do_show_print, NULL, false);
+
+	exit(0);
+}
+
+static void
+do_show_print(void *arg, param_t param)
+{
+	int32_t i;
+	float f;
+
+	printf("%c %s: ",
+		param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+		param_name(param));
+
+	/*
+	 * This case can be expanded to handle printing common structure types.
+	 */
+
+	switch (param_type(param)) {
+	case PARAM_TYPE_INT32:
+		if (!param_get(param, &i)) {
+			printf("%d\n", i);
+			return;
+		}
+		break;
+	case PARAM_TYPE_FLOAT:
+		if (!param_get(param, &f)) {
+			printf("%4.4f\n", (double)f);
+			return;
+		}
+		break;
+	case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
+		printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param));
+		return;
+	default:
+		printf("<unknown type %d>\n", 0 + param_type(param));
+		return;
+	}
+	printf("<error fetching parameter %d>\n", param);
+}
diff --git a/apps/systemlib/bson/tinybson.c b/apps/systemlib/bson/tinybson.c
index 46ced013d..10b736fd6 100644
--- a/apps/systemlib/bson/tinybson.c
+++ b/apps/systemlib/bson/tinybson.c
@@ -106,7 +106,9 @@ bson_decoder_next(bson_decoder_t decoder)
 
 		/* if the nesting level is now zero, the top-level document is done */
 		if (decoder->nesting == 0) {
-			CODER_KILL(decoder, "nesting is zero, document is done");
+			/* like kill but not an error */
+			debug("nesting is zero, document is done");
+			decoder->fd = -1;
 
 			/* return end-of-file to the caller */
 			return 0;
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
index 0ab7c0ea3..9e886ea65 100644
--- a/apps/systemlib/param/param.c
+++ b/apps/systemlib/param/param.c
@@ -242,6 +242,25 @@ param_name(param_t param)
 	return NULL;
 }
 
+bool
+param_value_is_default(param_t param)
+{
+	return param_find_changed(param) ? false : true;
+}
+
+bool
+param_value_unsaved(param_t param)
+{
+	static struct param_wbuf_s *s;
+
+	s = param_find_changed(param);
+
+	if (s && s->unsaved)
+		return true;
+
+	return false;
+}
+
 enum param_type_e
 param_type(param_t param)
 {
@@ -330,8 +349,8 @@ param_get(param_t param, void *val)
 	return result;
 }
 
-int
-param_set(param_t param, const void *val)
+static int
+param_set_internal(param_t param, const void *val, bool mark_saved)
 {
 	int result = -1;
 	bool params_changed = false;
@@ -394,7 +413,7 @@ param_set(param_t param, const void *val)
 			goto out;
 		}
 
-		s->unsaved = true;
+		s->unsaved = !mark_saved;
 		params_changed = true;
 		result = 0;
 	}
@@ -412,6 +431,12 @@ out:
 	return result;
 }
 
+int
+param_set(param_t param, const void *val)
+{
+	return param_set_internal(param, val, false);
+}
+
 void
 param_reset(param_t param)
 {
@@ -535,6 +560,11 @@ out:
 	return result;
 }
 
+struct param_import_state
+{
+	bool mark_saved;
+};
+
 static int
 param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 {
@@ -542,13 +572,13 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 	int32_t i;
 	void *v, *tmp = NULL;
 	int result = -1;
+	struct param_import_state *state = (struct param_import_state *)private;
 
 	/*
 	 * EOO means the end of the parameter object. (Currently not supporting
 	 * nested BSON objects).
 	 */
 	if (node->type == BSON_EOO) {
-		*(bool *)private = true;
 		debug("end of parameters");
 		return 0;
 	}
@@ -621,7 +651,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 		goto out;
 	}
 
-	if (param_set(param, v)) {
+	if (param_set_internal(param, v, state->mark_saved)) {
 		debug("error setting value for '%s'", node->name);
 		goto out;
 	}
@@ -642,19 +672,19 @@ out:
 	return result;
 }
 
-int
-param_import(int fd)
+static int
+param_import_internal(int fd, bool mark_saved)
 {
-	bool done;
 	struct bson_decoder_s decoder;
 	int result = -1;
+	struct param_import_state state;
 
-	if (bson_decoder_init(&decoder, fd, param_import_callback, &done)) {
+	if (bson_decoder_init(&decoder, fd, param_import_callback, &state)) {
 		debug("decoder init failed");
 		goto out;
 	}
 
-	done = false;
+	state.mark_saved = mark_saved;
 
 	do {
 		result = bson_decoder_next(&decoder);
@@ -669,10 +699,16 @@ out:
 }
 
 int
+param_import(int fd)
+{
+	return param_import_internal(fd, false);
+}
+
+int
 param_load(int fd)
 {
 	param_reset_all();
-	return param_import(fd);
+	return param_import_internal(fd, true);
 }
 
 void
diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h
index ffce07a4e..41e268db0 100644
--- a/apps/systemlib/param/param.h
+++ b/apps/systemlib/param/param.h
@@ -122,6 +122,20 @@ __EXPORT int		param_get_index(param_t param);
 __EXPORT const char	*param_name(param_t param);
 
 /**
+ * Test whether a parameter's value has changed from the default.
+ *
+ * @return		If true, the parameter's value has not been changed from the default.
+ */
+__EXPORT bool		param_value_is_default(param_t param);
+
+/**
+ * Test whether a parameter's value has been changed but not saved.
+ *
+ * @return		If true, the parameter's value has not been saved.
+ */
+__EXPORT bool		param_value_unsaved(param_t param);
+
+/**
  * Obtain the type of a parameter.
  *
  * @param param		A handle returned by param_find or passed by param_foreach.
@@ -160,7 +174,8 @@ __EXPORT int		param_set(param_t param, const void *val);
 /**
  * Reset a parameter to its default value.
  *
- * This function frees any storage used by struct parameters, but scalar parameters 
+ * This function frees any storage used by struct parameters, and returns the parameter
+ * to its default value.
  *
  * @param param		A handle returned by param_find or passed by param_foreach.
  */
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index e76c4cf48..be0a3d1d7 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -53,6 +53,7 @@ CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
 CONFIGURED_APPS += systemcmds/eeprom
 CONFIGURED_APPS += systemcmds/led
+CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/bl_update
 #CONFIGURED_APPS += systemcmds/calibration
 
diff --git a/nuttx/lib/stdio/lib_libdtoa.c b/nuttx/lib/stdio/lib_libdtoa.c
index 1e022a8eb..667c49c53 100644
--- a/nuttx/lib/stdio/lib_libdtoa.c
+++ b/nuttx/lib/stdio/lib_libdtoa.c
@@ -224,8 +224,15 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
 
           for (i = expt; i > 0; i--)
             {
-              obj->put(obj, *digits);
-              digits++;
+              if (*digits != '\0')
+                { 
+                  obj->put(obj, *digits);
+                  digits++;
+                }
+              else
+                {
+                  obj->put(obj, '0');
+                }
             }
 
           /* Get the length of the fractional part */