Merge branch 'development' of github.com:PX4/Firmware into development

25 files changed, 468 insertions, 219 deletions

diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m
index 88bcfec96..48399f1eb 100644
--- a/ROMFS/logging/logconv.m
+++ b/ROMFS/logging/logconv.m
@@ -32,7 +32,7 @@ if exist(filePath, 'file')
     fileSize = fileInfo.bytes;
     
     fid = fopen(filePath, 'r');
-    elements = int64(fileSize./(16*4+8))/4
+    elements = int64(fileSize./(8+(3+3+3+1+1+1+4+8+1+3+3+3+3+9+6+4+6)*4))
     
     for i=1:elements       
         % timestamp
@@ -79,6 +79,15 @@ if exist(filePath, 'file')
         
         % RotMatrix (9 channels)
         sensors(i,39:47) = fread(fid, 9, 'float', 0, 'ieee-le');
+
+        % vicon position (6 channels)
+        sensors(i,48:53) = fread(fid, 6, 'float', 0, 'ieee-le');
+
+        % actuator control effective (4 channels) 
+        sensors(i,54:57) = fread(fid, 4, 'float', 0, 'ieee-le');
+
+        % optical flow (6 values) 
+        sensors(i,58:63) = fread(fid, 6, 'float', 0, 'ieee-le');
     end
     time_us = sensors(elements,1) - sensors(1,1);
     time_s = time_us*1e-6
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c
index 70b8ad6de..f15c74a22 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/apps/ardrone_interface/ardrone_motor_control.c
@@ -45,6 +45,7 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls_effective.h>
 #include <systemlib/err.h>
 
 #include "ardrone_motor_control.h"
@@ -385,6 +386,11 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	const float startpoint_full_control = 0.25f;	/**< start full control at 25% thrust */
 	float yaw_factor = 1.0f;
 
+	static bool initialized = false;
+	/* publish effective outputs */
+	static struct actuator_controls_effective_s actuator_controls_effective;
+	static orb_advert_t actuator_controls_effective_pub;
+
 	if (motor_thrust <= min_thrust) {
 		motor_thrust = min_thrust;
 		output_band = 0.0f;
@@ -417,17 +423,18 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	      && motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) {
 
 		yaw_factor = 0.5f;
+		yaw_control *= yaw_factor;
 		// FRONT (MOTOR 1)
-		motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control * yaw_factor);
+		motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control);
 
 		// RIGHT (MOTOR 2)
-		motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control * yaw_factor);
+		motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control);
 
 		// BACK (MOTOR 3)
-		motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control * yaw_factor);
+		motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control);
 
 		// LEFT (MOTOR 4)
-		motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control * yaw_factor);
+		motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
 	}
 
 	for (int i = 0; i < 4; i++) {
@@ -441,6 +448,23 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 		}
 	}
 
+	/* publish effective outputs */
+	actuator_controls_effective.control_effective[0] = roll_control;
+	actuator_controls_effective.control_effective[1] = pitch_control;
+	/* yaw output after limiting */
+	actuator_controls_effective.control_effective[2] = yaw_control;
+	/* possible motor thrust limiting */
+	actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f;
+
+	if (!initialized) {
+		/* advertise and publish */
+		actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective);
+		initialized = true;
+	} else {
+		/* already initialized, just publishing */
+		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective);
+	}
+
 	/* set the motor values */
 
 	/* scale up from 0..1 to 10..512) */
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index c3e825a86..7277e9fa4 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -1393,7 +1393,7 @@ int commander_thread_main(int argc, char *argv[])
 		else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) {
 			if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
 				critical_battery_voltage_actions_done = true;
-				mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CIRITICAL BATTERY!");
+				mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY! CRITICAL BATTERY!");
 				state_machine_emergency(stat_pub, &current_status, mavlink_fd);
 			}
 
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index bf50ebad2..46793c89b 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -257,7 +257,9 @@ void state_machine_emergency_always_critical(int status_pub, struct vehicle_stat
 		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
 
 	} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
+		
+		// DO NOT abort mission
+		//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
 
 	} else {
 		fprintf(stderr, "[commander] Unknown system state: #%d\n", current_status->state_machine);
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index 18b290f99..334b95226 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -143,10 +143,10 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	}
 
 	/* Roll (P) */
-	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0);
+	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
 
 	/* Pitch (P) */
-	float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
+	float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
 	rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control.h b/apps/fixedwing_pos_control/fixedwing_pos_control.h
index f631c90a1..90d717d9f 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control.h
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control.h
@@ -42,26 +42,7 @@
 #ifndef FIXEDWING_POS_CONTROL_H_
 #define FIXEDWING_POS_CONTROL_H_
 
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
 
-#endif 
-
-
-struct planned_path_segments_s {
-	bool segment_type;
-	double start_lat;			// Start of line or center of arc
-	double start_lon;
-	double end_lat;
-	double end_lon;
-	float radius;				// Radius of arc
-	float arc_start_bearing;		// Bearing from center to start of arc
-	float arc_sweep;				// Angle (radians) swept out by arc around center.  
-								// Positive for clockwise, negative for counter-clockwise
-};
 
 
 float _wrap180(float bearing);
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 443048913..a70b9bd30 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -91,6 +91,19 @@ struct fw_pos_control_param_handles {
 };
 
 
+struct planned_path_segments_s {
+	bool segment_type;
+	double start_lat;			// Start of line or center of arc
+	double start_lon;
+	double end_lat;
+	double end_lon;
+	float radius;				// Radius of arc
+	float arc_start_bearing;		// Bearing from center to start of arc
+	float arc_sweep;				// Angle (radians) swept out by arc around center.  
+								// Positive for clockwise, negative for counter-clockwise
+};
+
+
 /* Prototypes */
 /* Internal Prototypes */
 static int parameters_init(struct fw_pos_control_param_handles *h);
@@ -177,9 +190,9 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
 
 		/* publish attitude setpoint */
-		attitude_setpoint.roll_tait_bryan = 0.0f;
-		attitude_setpoint.pitch_tait_bryan = 0.0f;
-		attitude_setpoint.yaw_tait_bryan = 0.0f;
+		attitude_setpoint.roll_body = 0.0f;
+		attitude_setpoint.pitch_body = 0.0f;
+		attitude_setpoint.yaw_body = 0.0f;
 		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
 
 		/* subscribe */
@@ -243,7 +256,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				global_sp_updated_set_once = true;
 				psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
 						(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-				printf("psi_track: %0.4f\n", psi_track);
+				printf("psi_track: %0.4f\n", (double)psi_track);
 			}
 
 			/* Control */
@@ -265,21 +278,21 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 					float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
 
-					if(delta_psi_c > 60.0f*M_DEG_TO_RAD)
-						delta_psi_c = 60.0f*M_DEG_TO_RAD;
+					if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F)
+						delta_psi_c = 60.0f*M_DEG_TO_RAD_F;
 
-					if(delta_psi_c < -60.0f*M_DEG_TO_RAD)
-						delta_psi_c = -60.0f*M_DEG_TO_RAD;
+					if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
+						delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
 
 					float psi_c = psi_track + delta_psi_c;
 
 					float psi_e = psi_c - att.yaw;
 
 					/* shift error to prevent wrapping issues */
-					psi_e = _wrapPI(psi_e);
+					psi_e = _wrap_pi(psi_e);
 
 					/* calculate roll setpoint, do this artificially around zero */
-					attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
+					attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
 
 //					if (counter % 100 == 0)
 //						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
@@ -296,7 +309,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 			{
 
 				//TODO: take care of relative vs. ab. altitude
-				attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
+				attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
 
 			}
 			/*Publish the attitude setpoint */
@@ -378,64 +391,3 @@ int fixedwing_pos_control_main(int argc, char *argv[])
 	usage("unrecognized command");
 	exit(1);
 }
-
-
-float _wrapPI(float bearing)
-{
-
-	while (bearing > M_PI_F) {
-		bearing = bearing - M_TWOPI_F;
-	}
-
-	while (bearing <=  -M_PI_F) {
-		bearing = bearing + M_TWOPI_F;
-	}
-
-	return bearing;
-}
-
-float _wrap2PI(float bearing)
-{
-
-	while (bearing >= M_TWOPI_F) {
-		bearing = bearing - M_TWOPI_F;
-	}
-
-	while (bearing <  0.0f) {
-		bearing = bearing + M_TWOPI_F;
-	}
-
-	return bearing;
-}
-
-float _wrap180(float bearing)
-{
-
-	while (bearing > 180.0f) {
-		bearing = bearing - 360.0f;
-	}
-
-	while (bearing <=  -180.0f) {
-		bearing = bearing + 360.0f;
-	}
-
-	return bearing;
-}
-
-float _wrap360(float bearing)
-{
-
-	while (bearing >= 360.0f) {
-		bearing = bearing - 360.0f;
-	}
-
-	while (bearing <  0.0f) {
-		bearing = bearing + 360.0f;
-	}
-
-	return bearing;
-}
-
-
-
-
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index 3e485274e..6b4375445 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -206,6 +206,10 @@ handle_message(mavlink_message_t *msg)
 		vicon_position.y = pos.y;
 		vicon_position.z = pos.z;
 
+		vicon_position.roll = pos.roll;
+		vicon_position.pitch = pos.pitch;
+		vicon_position.yaw = pos.yaw;
+
 		if (vicon_position_pub <= 0) {
 			vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
 		} else {
@@ -335,6 +339,11 @@ handle_message(mavlink_message_t *msg)
 			struct manual_control_setpoint_s mc;
 			static orb_advert_t mc_pub = 0;
 
+			int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+
+			/* get a copy first, to prevent altering values that are not sent by the mavlink command */
+			orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc);
+
 			mc.timestamp = rc_hil.timestamp;
 			mc.roll = man.x / 1000.0f;
 			mc.pitch = man.y / 1000.0f;
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 3ac229d73..4567a08f8 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -113,6 +113,7 @@ static void	l_actuator_armed(struct listener *l);
 static void	l_manual_control_setpoint(struct listener *l);
 static void	l_vehicle_attitude_controls(struct listener *l);
 static void	l_debug_key_value(struct listener *l);
+static void	l_optical_flow(struct listener *l);
 
 struct listener listeners[] = {
 	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
@@ -134,6 +135,7 @@ struct listener listeners[] = {
 	{l_manual_control_setpoint,	&mavlink_subs.man_control_sp_sub, 0},
 	{l_vehicle_attitude_controls,	&mavlink_subs.actuators_sub,	0},
 	{l_debug_key_value,		&mavlink_subs.debug_key_value,	0},
+	{l_optical_flow,		&mavlink_subs.optical_flow,	0},
 };
 
 static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@@ -586,6 +588,17 @@ l_debug_key_value(struct listener *l)
 					   debug.value);
 }
 
+void
+l_optical_flow(struct listener *l)
+{
+	struct optical_flow_s flow;
+
+	orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow);
+
+	mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
+		flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
+}
+
 static void *
 uorb_receive_thread(void *arg)
 {
@@ -710,6 +723,10 @@ uorb_receive_start(void)
 	mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
 	orb_set_interval(mavlink_subs.debug_key_value, 100);	/* 10Hz updates */
 
+	/* --- FLOW SENSOR --- */
+	mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
+	orb_set_interval(mavlink_subs.optical_flow, 200); 	/* 5Hz updates */
+
 	/* start the listener loop */
 	pthread_attr_t uorb_attr;
 	pthread_attr_init(&uorb_attr);
diff --git a/apps/mavlink/orb_topics.h b/apps/mavlink/orb_topics.h
index 6860702d2..1b371e5cd 100644
--- a/apps/mavlink/orb_topics.h
+++ b/apps/mavlink/orb_topics.h
@@ -77,6 +77,7 @@ struct mavlink_subscriptions {
 	int spg_sub;
 	int debug_key_value;
 	int input_rc_sub;
+	int optical_flow;
 };
 
 extern struct mavlink_subscriptions mavlink_subs;
diff --git a/apps/mavlink_onboard/mavlink_receiver.c b/apps/mavlink_onboard/mavlink_receiver.c
index 45784eca7..87e2496d8 100644
--- a/apps/mavlink_onboard/mavlink_receiver.c
+++ b/apps/mavlink_onboard/mavlink_receiver.c
@@ -145,7 +145,7 @@ handle_message(mavlink_message_t *msg)
 
 		struct optical_flow_s f;
 
-		f.timestamp = flow.time_usec;
+		f.timestamp = hrt_absolute_time();
 		f.flow_raw_x = flow.flow_x;
 		f.flow_raw_y = flow.flow_y;
 		f.flow_comp_x_m = flow.flow_comp_m_x;
@@ -161,6 +161,8 @@ handle_message(mavlink_message_t *msg)
 			/* publish */
 			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
 		}
+
+		printf("GOT FLOW!\n");
 	}
 
 	if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
@@ -288,7 +290,7 @@ receive_thread(void *arg)
 
 	mavlink_message_t msg;
 
-	prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
+	prctl(PR_SET_NAME, "mavlink offb rcv", getpid());
 
 	while (!thread_should_exit) {
 
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 7e390bc6c..ce1e52c1b 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -105,6 +105,7 @@ mc_thread_main(int argc, char *argv[])
 	memset(&rates_sp, 0, sizeof(rates_sp));
 
 	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -151,10 +152,17 @@ mc_thread_main(int argc, char *argv[])
 	bool flag_control_attitude_enabled = false;
 	bool flag_system_armed = false;
 
+	/* store if yaw position or yaw speed has been changed */
+	bool control_yaw_position = true;
+
+	/* store if we stopped a yaw movement */
+	bool first_time_after_yaw_speed_control = true;
+
 	/* prepare the handle for the failsafe throttle */
 	param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR");
 	float failsafe_throttle = 0.0f;
 
+
 	while (!thread_should_exit) {
 
 		/* wait for a sensor update, check for exit condition every 500 ms */
@@ -205,28 +213,27 @@ mc_thread_main(int argc, char *argv[])
 
 				/** STEP 1: Define which input is the dominating control input */
 				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 */
-						}
+					/* 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 */
@@ -273,13 +280,30 @@ mc_thread_main(int argc, char *argv[])
 							att_sp.roll_body = manual.roll;
 							att_sp.pitch_body = manual.pitch;
 
-							/* only move setpoint if manual input is != 0 */
-							// XXX turn into param
-							if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
-								att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
-							} else if (manual.throttle <= 0.3f) {
+							/* set attitude if arming */
+							if (!flag_control_attitude_enabled && state.flag_system_armed) {
 								att_sp.yaw_body = att.yaw;
 							}
+
+							/* only move setpoint if manual input is != 0 */
+
+							if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) {
+								if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+									rates_sp.yaw = manual.yaw;
+									control_yaw_position = false;
+									first_time_after_yaw_speed_control = true;
+								} else {
+									if (first_time_after_yaw_speed_control) {
+										att_sp.yaw_body = att.yaw;
+										first_time_after_yaw_speed_control = false;
+									}
+									control_yaw_position = true;
+								}
+							} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
+								rates_sp.yaw = manual.yaw;
+								control_yaw_position = false;
+							}
+
 							att_sp.thrust = manual.throttle;
 							att_sp.timestamp = hrt_absolute_time();
 						}
@@ -302,7 +326,8 @@ mc_thread_main(int argc, char *argv[])
 
 				/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
 				if (state.flag_control_attitude_enabled) {
-				 	multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
+				 	multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
+
 				 	orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
 				}
 
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 8ffa90238..e94d7c55d 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -158,7 +158,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-		const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators)
+		const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
 {
 	static uint64_t last_run = 0;
 	static uint64_t last_input = 0;
@@ -181,6 +181,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	static bool initialized = false;
 
+	static float yaw_error;
+
 	/* initialize the pid controllers when the function is called for the first time */
 	if (initialized == false) {
 		parameters_init(&h);
@@ -199,8 +201,6 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 
-		//printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
-
 		/* apply parameters */
 		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
@@ -216,9 +216,22 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
 			att->roll, att->rollspeed, deltaT);
 
-	/* control yaw rate */
-	rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed);
+	if(control_yaw_position) {
+		/* control yaw rate */
+
+		/* positive error: rotate to right, negative error, rotate to left (NED frame) */
+		// yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw);
 
+		yaw_error = att_sp->yaw_body - att->yaw;
+
+		if (yaw_error > M_PI_F) {
+			yaw_error -= M_TWOPI_F;
+		} else if (yaw_error < -M_PI_F) {
+			yaw_error += M_TWOPI_F;
+		}
+
+		rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
+	}
 	rates_sp->thrust = att_sp->thrust;
 
 	motor_skip_counter++;
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h
index d9d3c0444..abc94d617 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.h
+++ b/apps/multirotor_att_control/multirotor_attitude_control.h
@@ -52,6 +52,6 @@
 #include <uORB/topics/actuator_controls.h>
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-	const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators);
+	const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
 
 #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index bbaec3033..93f7085ae 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -209,6 +209,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* control yaw rate */
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
+	/* increase resilience to faulty control inputs */
+	if (!isfinite(yaw_rate_control)) {
+		yaw_rate_control = 0.0f;
+		warnx("rej. NaN ctrl yaw");
+	}
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
index eed72125a..d38bf9122 100644
--- a/apps/sdlog/sdlog.c
+++ b/apps/sdlog/sdlog.c
@@ -59,10 +59,13 @@
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_vicon_position.h>
+#include <uORB/topics/optical_flow.h>
 
 #include <systemlib/systemlib.h>
 
@@ -295,10 +298,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
 		struct vehicle_attitude_setpoint_s att_sp;
 		struct actuator_outputs_s act_outputs;
 		struct actuator_controls_s act_controls;
+		struct actuator_controls_effective_s act_controls_effective;
 		struct vehicle_command_s cmd;
 		struct vehicle_local_position_s local_pos;
 		struct vehicle_global_position_s global_pos;
 		struct vehicle_gps_position_s gps_pos;
+		struct vehicle_vicon_position_s vicon_pos;
+		struct optical_flow_s flow;
 	} buf;
 	memset(&buf, 0, sizeof(buf));
 
@@ -308,10 +314,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
 		int att_sub;
 		int spa_sub;
 		int act_0_sub;
-		int controls0_sub;
+		int controls_0_sub;
+		int controls_effective_0_sub;
 		int local_pos_sub;
 		int global_pos_sub;
 		int gps_pos_sub;
+		int vicon_pos_sub;
+		int flow_sub;
 	} subs;
 
 	/* --- MANAGEMENT - LOGGING COMMAND --- */
@@ -353,8 +362,15 @@ int sdlog_thread_main(int argc, char *argv[]) {
 
 	/* --- ACTUATOR CONTROL VALUE --- */
 	/* subscribe to ORB for actuator control */
-	subs.controls0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-	fds[fdsc_count].fd = subs.controls0_sub;
+	subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	fds[fdsc_count].fd = subs.controls_0_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
+	/* subscribe to ORB for actuator control */
+	subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
+	fds[fdsc_count].fd = subs.controls_effective_0_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
@@ -379,6 +395,20 @@ int sdlog_thread_main(int argc, char *argv[]) {
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- VICON POSITION --- */
+	/* subscribe to ORB for vicon position */
+	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
+	fds[fdsc_count].fd = subs.vicon_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- FLOW measurements --- */
+	/* subscribe to ORB for flow measurements */
+	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
+	fds[fdsc_count].fd = subs.flow_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* WARNING: If you get the error message below,
 	 * then the number of registered messages (fdsc)
 	 * differs from the number of messages in the above list.
@@ -481,7 +511,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
 
 		/* copy sensors raw data into local buffer */
 		orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
+		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
+		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
 		/* copy actuator data into local buffer */
 		orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
 		orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
@@ -489,6 +520,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
 		orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
 		orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
 		orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
+		orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
+		orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
 
 		#pragma pack(push, 1)
 		struct {
@@ -507,6 +540,9 @@ int sdlog_thread_main(int argc, char *argv[]) {
 			int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
 			float attitude[3]; //pitch, roll, yaw [rad]
 			float rotMatrix[9]; //unitvectors
+			float vicon[6];
+			float control_effective[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
+			float flow[6]; // flow raw x, y, flow metric x, y, flow ground dist, flow quality
 		} sysvector = {
 			.timestamp = buf.raw.timestamp,
 			.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
@@ -523,13 +559,16 @@ int sdlog_thread_main(int argc, char *argv[]) {
 			.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
 			.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
 			.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
-			.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}
+			.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
+			.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
+			.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
+			.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}
 		};
 		#pragma pack(pop)
 
 		sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector));
 
-		usleep(10000);   //10000 corresponds in reality to ca. 76 Hz
+		usleep(3500);   // roughly 150 Hz
 	}
 
 	fsync(sysvector_file);
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index eea51cc1e..466284a1b 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -151,6 +151,7 @@ private:
 	int		_baro_sub;			/**< raw baro data subscription */
 	int		_vstatus_sub;			/**< vehicle status subscription */
 	int 		_params_sub;			/**< notification of parameter updates */
+	int 		_manual_control_sub;			/**< notification of manual control updates */
 
 	orb_advert_t	_sensor_pub;			/**< combined sensor data topic */
 	orb_advert_t	_manual_control_pub;		/**< manual control signal topic */
@@ -341,6 +342,7 @@ Sensors::Sensors() :
 	_baro_sub(-1),
 	_vstatus_sub(-1),
 	_params_sub(-1),
+	_manual_control_sub(-1),
 
 	/* publications */
 	_sensor_pub(-1),
@@ -903,6 +905,9 @@ Sensors::ppm_poll()
 
 		struct manual_control_setpoint_s manual_control;
 
+		/* get a copy first, to prevent altering values */
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &manual_control);
+
 		/* require at least four channels to consider the signal valid */
 		if (rc_input.channel_count < 4)
 			return;
@@ -1023,6 +1028,7 @@ Sensors::task_main()
 	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vstatus_sub, 200);
@@ -1052,20 +1058,18 @@ Sensors::task_main()
 	_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
 
 	/* advertise the manual_control topic */
-	{
-		struct manual_control_setpoint_s manual_control;
-		manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_RATE;
-		manual_control.roll = 0.0f;
-		manual_control.pitch = 0.0f;
-		manual_control.yaw = 0.0f;
-		manual_control.throttle = 0.0f;
-		manual_control.aux1_cam_pan_flaps = 0.0f;
-		manual_control.aux2_cam_tilt = 0.0f;
-		manual_control.aux3_cam_zoom = 0.0f;
-		manual_control.aux4_cam_roll = 0.0f;
-
-		_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
-	}
+	struct manual_control_setpoint_s manual_control;
+	manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_POS;
+	manual_control.roll = 0.0f;
+	manual_control.pitch = 0.0f;
+	manual_control.yaw = 0.0f;
+	manual_control.throttle = 0.0f;
+	manual_control.aux1_cam_pan_flaps = 0.0f;
+	manual_control.aux2_cam_tilt = 0.0f;
+	manual_control.aux3_cam_zoom = 0.0f;
+	manual_control.aux4_cam_roll = 0.0f;
+
+	_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
 
 	/* advertise the rc topic */
 	{
diff --git a/apps/systemlib/geo/geo.c b/apps/systemlib/geo/geo.c
index 2f4b37e79..6746e8ff3 100644
--- a/apps/systemlib/geo/geo.c
+++ b/apps/systemlib/geo/geo.c
@@ -60,14 +60,7 @@ static double cos_phi_1;
 static double lambda_0;
 static double scale;
 
-/**
- * Initializes the map transformation.
- *
- * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
+__EXPORT void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
 {
 	/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
 	phi_1 = lat_0 / 180.0 * M_PI;
@@ -105,14 +98,7 @@ __EXPORT static void map_projection_init(double lat_0, double lon_0) //lat_0, lo
 
 }
 
-/**
- * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT static void map_projection_project(double lat, double lon, float *x, float *y)
+__EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
 {
 	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
 	double phi = lat / 180.0 * M_PI;
@@ -135,15 +121,7 @@ __EXPORT static void map_projection_project(double lat, double lon, float *x, fl
 //	printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
 }
 
-/**
- * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT static void map_projection_reproject(float x, float y, double *lat, double *lon)
+__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon)
 {
 	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
 
@@ -228,7 +206,7 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
 	/* conscious mix of double and float trig function to maximize speed and efficiency */
 	float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
 
-	theta = _wrapPI(theta);
+	theta = _wrap_pi(theta);
 
 	return theta;
 }
@@ -257,7 +235,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
 	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
 	bearing_diff = bearing_track - bearing_end;
-	bearing_diff = _wrapPI(bearing_diff);
+	bearing_diff = _wrap_pi(bearing_diff);
 
 	// Return past_end = true if past end point of line
 	if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
@@ -270,10 +248,10 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
 	crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
 
 	if (sin(bearing_diff) >= 0) {
-		crosstrack_error->bearing = _wrapPI(bearing_track - M_PI_2_F);
+		crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
 
 	} else {
-		crosstrack_error->bearing = _wrapPI(bearing_track + M_PI_2_F);
+		crosstrack_error->bearing = _wrap_pi(bearing_track + M_PI_2_F);
 	}
 
 	return_value = OK;
@@ -380,22 +358,36 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d
 	return return_value;
 }
 
-float _wrapPI(float bearing)
+__EXPORT float _wrap_pi(float bearing)
 {
+	/* value is inf or NaN */
+	if (!isfinite(bearing) || bearing == 0) {
+		return bearing;
+	}
 
-	while (bearing > M_PI_F) {
-		bearing = bearing - M_TWOPI_F;
+	int c = 0;
+
+	while (bearing > M_PI_F && c < 30) {
+		bearing -= M_TWOPI_F;
+		c++;
 	}
 
-	while (bearing <=  -M_PI_F) {
-		bearing = bearing + M_TWOPI_F;
+	c = 0;
+
+	while (bearing <=  -M_PI_F && c < 30) {
+		bearing += M_TWOPI_F;
+		c++;
 	}
 
 	return bearing;
 }
 
-float _wrap2PI(float bearing)
+__EXPORT float _wrap_2pi(float bearing)
 {
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
 
 	while (bearing >= M_TWOPI_F) {
 		bearing = bearing - M_TWOPI_F;
@@ -408,8 +400,12 @@ float _wrap2PI(float bearing)
 	return bearing;
 }
 
-float _wrap180(float bearing)
+__EXPORT float _wrap_180(float bearing)
 {
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
 
 	while (bearing > 180.0f) {
 		bearing = bearing - 360.0f;
@@ -422,8 +418,12 @@ float _wrap180(float bearing)
 	return bearing;
 }
 
-float _wrap360(float bearing)
+__EXPORT float _wrap_360(float bearing)
 {
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
 
 	while (bearing >= 360.0f) {
 		bearing = bearing - 360.0f;
diff --git a/apps/systemlib/geo/geo.h b/apps/systemlib/geo/geo.h
index 7aad79a8c..0c0b5c533 100644
--- a/apps/systemlib/geo/geo.h
+++ b/apps/systemlib/geo/geo.h
@@ -54,24 +54,44 @@ struct crosstrack_error_s {
 	float bearing;		// Bearing in radians to closest point on line/arc
 } ;
 
-__EXPORT static void map_projection_init(double lat_0, double lon_0);
+/**
+ * Initializes the map transformation.
+ *
+ * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT void map_projection_init(double lat_0, double lon_0);
 
-__EXPORT static void map_projection_project(double lat, double lon, float *x, float *y);
+/**
+ * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
+ * @param x north
+ * @param y east
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT void map_projection_project(double lat, double lon, float *x, float *y);
 
-__EXPORT static void map_projection_reproject(float x, float y, double *lat, double *lon);
+/**
+ * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
+ *
+ * @param x north
+ * @param y east
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
 
 __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
-//
-
 __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
 
 __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
 		float radius, float arc_start_bearing, float arc_sweep);
 
-float _wrap180(float bearing);
-float _wrap360(float bearing);
-float _wrapPI(float bearing);
-float _wrap2PI(float bearing);
+__EXPORT float _wrap_180(float bearing);
+__EXPORT float _wrap_360(float bearing);
+__EXPORT float _wrap_pi(float bearing);
+__EXPORT float _wrap_2pi(float bearing);
diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index b5e1d739c..dbee15050 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -95,6 +95,9 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi
 #include "topics/vehicle_global_position_setpoint.h"
 ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
 
+#include "topics/vehicle_global_position_set_triplet.h"
+ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
+
 #include "topics/vehicle_attitude_setpoint.h"
 ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
 
@@ -110,6 +113,7 @@ ORB_DEFINE(optical_flow, struct optical_flow_s);
 #include "topics/subsystem_info.h"
 ORB_DEFINE(subsystem_info, struct subsystem_info_s);
 
+/* actuator controls, as requested by controller */
 #include "topics/actuator_controls.h"
 ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
@@ -117,6 +121,13 @@ ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
 ORB_DEFINE(actuator_armed, struct actuator_armed_s);
 
+/* actuator controls, as set by actuators / mixers after limiting */
+#include "topics/actuator_controls_effective.h"
+ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
+
 #include "topics/actuator_outputs.h"
 ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
diff --git a/apps/uORB/topics/actuator_controls_effective.h b/apps/uORB/topics/actuator_controls_effective.h
new file mode 100644
index 000000000..3c72e4cb7
--- /dev/null
+++ b/apps/uORB/topics/actuator_controls_effective.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   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 actuator_controls.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_ACTUATOR_CONTROLS_EFFECTIVE_H
+#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_ACTUATOR_CONTROLS		8
+#define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
+
+struct actuator_controls_effective_s {
+	uint64_t timestamp;
+	float	control_effective[NUM_ACTUATOR_CONTROLS];
+};
+
+/* actuator control sets; this list can be expanded as more controllers emerge */
+ORB_DECLARE(actuator_controls_effective_0);
+ORB_DECLARE(actuator_controls_effective_1);
+ORB_DECLARE(actuator_controls_effective_2);
+ORB_DECLARE(actuator_controls_effective_3);
+
+/* control sets with pre-defined applications */
+#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
+
+#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
\ No newline at end of file
diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h
index a7f5be708..1368cb716 100644
--- a/apps/uORB/topics/manual_control_setpoint.h
+++ b/apps/uORB/topics/manual_control_setpoint.h
@@ -48,13 +48,6 @@
  * @{
  */
 
-/**
- * Defines how RC channels map to control inputs.
- *
- * The default mode on quadrotors and fixed wing is
- * roll and pitch position of the right stick and
- * throttle and yaw rate on the left stick
- */
 enum MANUAL_CONTROL_MODE
 {
 	MANUAL_CONTROL_MODE_DIRECT = 0,
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h
index 8663846fc..a7cda34a8 100644
--- a/apps/uORB/topics/vehicle_attitude_setpoint.h
+++ b/apps/uORB/topics/vehicle_attitude_setpoint.h
@@ -56,18 +56,13 @@ struct vehicle_attitude_setpoint_s
 {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	//float tait_bryan_valid;			/**< Set to true if Tait-Bryan angles are valid */
-
 	float roll_body;				/**< body angle in NED frame		*/
 	float pitch_body;				/**< body angle in NED frame		*/
 	float yaw_body;					/**< body angle in NED frame		*/
 	//float body_valid;				/**< Set to true if body angles are valid */
 
-	//float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
-	//bool R_valid;					/**< Set to true if rotation matrix is valid */
+	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
+	bool R_valid;					/**< Set to true if rotation matrix is valid */
 
 	float thrust;					/**< Thrust in Newton the power system should generate */
 
diff --git a/apps/uORB/topics/vehicle_global_position_set_triplet.h b/apps/uORB/topics/vehicle_global_position_set_triplet.h
new file mode 100644
index 000000000..318abba89
--- /dev/null
+++ b/apps/uORB/topics/vehicle_global_position_set_triplet.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @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 vehicle_global_position_setpoint.h
+ * Definition of the global WGS84 position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
+#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+#include "vehicle_global_position_setpoint.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Global position setpoint triplet in WGS84 coordinates.
+ *
+ * This are the three next waypoints (or just the next two or one).
+ */
+struct vehicle_global_position_set_triplet_s
+{
+	bool previous_valid;
+	bool next_valid;
+
+	struct vehicle_global_position_setpoint_s previous;
+	struct vehicle_global_position_setpoint_s current;
+	struct vehicle_global_position_setpoint_s next;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position_set_triplet);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_vicon_position.h b/apps/uORB/topics/vehicle_vicon_position.h
index 91d933f44..0822fa89a 100644
--- a/apps/uORB/topics/vehicle_vicon_position.h
+++ b/apps/uORB/topics/vehicle_vicon_position.h
@@ -60,9 +60,9 @@ struct vehicle_vicon_position_s
 	float x;				/**< X positin in meters in NED earth-fixed frame */
 	float y;				/**< X positin in meters in NED earth-fixed frame */
 	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
-	float vx;
-	float vy;
-	float vz;
+	float roll;
+	float pitch;
+	float yaw;
 
 	// TODO Add covariances here