Merge working changes into export-build branch.

8 files changed, 0 insertions, 3525 deletions

diff --git a/apps/commander/.context b/apps/commander/.context
deleted file mode 100644
index e69de29bb..000000000
--- a/apps/commander/.context
+++ /dev/null
diff --git a/apps/commander/Makefile b/apps/commander/Makefile
deleted file mode 100644
index d12697274..000000000
--- a/apps/commander/Makefile
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-#
-# Commander application
-#
-
-APPNAME		 = commander
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
-
-INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
-
-include $(APPDIR)/mk/app.mk
-
diff --git a/apps/commander/calibration_routines.c b/apps/commander/calibration_routines.c
deleted file mode 100644
index a26938637..000000000
--- a/apps/commander/calibration_routines.c
+++ /dev/null
@@ -1,219 +0,0 @@
-/****************************************************************************
- *
- *   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 calibration_routines.c
- * Calibration routines implementations.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <math.h>
-
-#include "calibration_routines.h"
-
-
-int sphere_fit_least_squares(const float x[], const float y[], const float z[],
-			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius)
-{
-
-	float x_sumplain = 0.0f;
-	float x_sumsq = 0.0f;
-	float x_sumcube = 0.0f;
-
-	float y_sumplain = 0.0f;
-	float y_sumsq = 0.0f;
-	float y_sumcube = 0.0f;
-
-	float z_sumplain = 0.0f;
-	float z_sumsq = 0.0f;
-	float z_sumcube = 0.0f;
-
-	float xy_sum = 0.0f;
-	float xz_sum = 0.0f;
-	float yz_sum = 0.0f;
-
-	float x2y_sum = 0.0f;
-	float x2z_sum = 0.0f;
-	float y2x_sum = 0.0f;
-	float y2z_sum = 0.0f;
-	float z2x_sum = 0.0f;
-	float z2y_sum = 0.0f;
-
-	for (unsigned int i = 0; i < size; i++) {
-
-		float x2 = x[i] * x[i];
-		float y2 = y[i] * y[i];
-		float z2 = z[i] * z[i];
-
-		x_sumplain += x[i];
-		x_sumsq += x2;
-		x_sumcube += x2 * x[i];
-
-		y_sumplain += y[i];
-		y_sumsq += y2;
-		y_sumcube += y2 * y[i];
-
-		z_sumplain += z[i];
-		z_sumsq += z2;
-		z_sumcube += z2 * z[i];
-
-		xy_sum += x[i] * y[i];
-		xz_sum += x[i] * z[i];
-		yz_sum += y[i] * z[i];
-
-		x2y_sum += x2 * y[i];
-		x2z_sum += x2 * z[i];
-
-		y2x_sum += y2 * x[i];
-		y2z_sum += y2 * z[i];
-
-		z2x_sum += z2 * x[i];
-		z2y_sum += z2 * y[i];
-	}
-
-	//
-	//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
-	//
-	//    P is a structure that has been computed with the data earlier.
-	//    P.npoints is the number of elements; the length of X,Y,Z are identical.
-	//    P's members are logically named.
-	//
-	//    X[n] is the x component of point n
-	//    Y[n] is the y component of point n
-	//    Z[n] is the z component of point n
-	//
-	//    A is the x coordiante of the sphere
-	//    B is the y coordiante of the sphere
-	//    C is the z coordiante of the sphere
-	//    Rsq is the radius squared of the sphere.
-	//
-	//This method should converge; maybe 5-100 iterations or more.
-	//
-	float x_sum = x_sumplain / size;        //sum( X[n] )
-	float x_sum2 = x_sumsq / size;    //sum( X[n]^2 )
-	float x_sum3 = x_sumcube / size;    //sum( X[n]^3 )
-	float y_sum = y_sumplain / size;        //sum( Y[n] )
-	float y_sum2 = y_sumsq / size;    //sum( Y[n]^2 )
-	float y_sum3 = y_sumcube / size;    //sum( Y[n]^3 )
-	float z_sum = z_sumplain / size;        //sum( Z[n] )
-	float z_sum2 = z_sumsq / size;    //sum( Z[n]^2 )
-	float z_sum3 = z_sumcube / size;    //sum( Z[n]^3 )
-
-	float XY = xy_sum / size;        //sum( X[n] * Y[n] )
-	float XZ = xz_sum / size;        //sum( X[n] * Z[n] )
-	float YZ = yz_sum / size;        //sum( Y[n] * Z[n] )
-	float X2Y = x2y_sum / size;    //sum( X[n]^2 * Y[n] )
-	float X2Z = x2z_sum / size;    //sum( X[n]^2 * Z[n] )
-	float Y2X = y2x_sum / size;    //sum( Y[n]^2 * X[n] )
-	float Y2Z = y2z_sum / size;    //sum( Y[n]^2 * Z[n] )
-	float Z2X = z2x_sum / size;    //sum( Z[n]^2 * X[n] )
-	float Z2Y = z2y_sum / size;    //sum( Z[n]^2 * Y[n] )
-
-	//Reduction of multiplications
-	float F0 = x_sum2 + y_sum2 + z_sum2;
-	float F1 =  0.5f * F0;
-	float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
-	float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
-	float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
-
-	//Set initial conditions:
-	float A = x_sum;
-	float B = y_sum;
-	float C = z_sum;
-
-	//First iteration computation:
-	float A2 = A * A;
-	float B2 = B * B;
-	float C2 = C * C;
-	float QS = A2 + B2 + C2;
-	float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
-
-	//Set initial conditions:
-	float Rsq = F0 + QB + QS;
-
-	//First iteration computation:
-	float Q0 = 0.5f * (QS - Rsq);
-	float Q1 = F1 + Q0;
-	float Q2 = 8.0f * (QS - Rsq + QB + F0);
-	float aA, aB, aC, nA, nB, nC, dA, dB, dC;
-
-	//Iterate N times, ignore stop condition.
-	int n = 0;
-
-	while (n < max_iterations) {
-		n++;
-
-		//Compute denominator:
-		aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
-		aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
-		aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
-		aA = (aA == 0.0f) ? 1.0f : aA;
-		aB = (aB == 0.0f) ? 1.0f : aB;
-		aC = (aC == 0.0f) ? 1.0f : aC;
-
-		//Compute next iteration
-		nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
-		nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB);
-		nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC);
-
-		//Check for stop condition
-		dA = (nA - A);
-		dB = (nB - B);
-		dC = (nC - C);
-
-		if ((dA * dA + dB * dB + dC * dC) <= delta) { break; }
-
-		//Compute next iteration's values
-		A = nA;
-		B = nB;
-		C = nC;
-		A2 = A * A;
-		B2 = B * B;
-		C2 = C * C;
-		QS = A2 + B2 + C2;
-		QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
-		Rsq = F0 + QB + QS;
-		Q0 = 0.5f * (QS - Rsq);
-		Q1 = F1 + Q0;
-		Q2 = 8.0f * (QS - Rsq + QB + F0);
-	}
-
-	*sphere_x = A;
-	*sphere_y = B;
-	*sphere_z = C;
-	*sphere_radius = sqrtf(Rsq);
-
-	return 0;
-}
diff --git a/apps/commander/calibration_routines.h b/apps/commander/calibration_routines.h
deleted file mode 100644
index e3e7fbafd..000000000
--- a/apps/commander/calibration_routines.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/****************************************************************************
- *
- *   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 calibration_routines.h
- * Calibration routines definitions.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-/**
- * Least-squares fit of a sphere to a set of points.
- *
- * Fits a sphere to a set of points on the sphere surface.
- *
- * @param x point coordinates on the X axis
- * @param y point coordinates on the Y axis
- * @param z point coordinates on the Z axis
- * @param size number of points
- * @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
- * @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
- * @param sphere_x coordinate of the sphere center on the X axis
- * @param sphere_y coordinate of the sphere center on the Y axis
- * @param sphere_z coordinate of the sphere center on the Z axis
- * @param sphere_radius sphere radius
- *
- * @return 0 on success, 1 on failure
- */
-int sphere_fit_least_squares(const float x[], const float y[], const float z[],
-			     unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
\ No newline at end of file
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
deleted file mode 100644
index 7c0a25f86..000000000
--- a/apps/commander/commander.c
+++ /dev/null
@@ -1,2181 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
- *           Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.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 commander.c
- * Main system state machine implementation.
- *
- * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- *
- */
-
-#include "commander.h"
-
-#include <nuttx/config.h>
-#include <pthread.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <sys/prctl.h>
-#include <string.h>
-#include <drivers/drv_led.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_tone_alarm.h>
-#include "state_machine_helper.h"
-#include "systemlib/systemlib.h"
-#include <math.h>
-#include <poll.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/offboard_control_setpoint.h>
-#include <uORB/topics/home_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/subsystem_info.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/differential_pressure.h>
-#include <mavlink/mavlink_log.h>
-
-#include <systemlib/param/param.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/err.h>
-
-/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-#include <drivers/drv_baro.h>
-
-#include "calibration_routines.h"
-
-
-PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0);	/**< Go into low-level failsafe after 0 ms */
-//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0);	/**< Go into high-level failsafe after 0 ms */
-PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
-PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
-PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
-
-#include <systemlib/cpuload.h>
-extern struct system_load_s system_load;
-
-/* Decouple update interval and hysteris counters, all depends on intervals */
-#define COMMANDER_MONITORING_INTERVAL 50000
-#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
-#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
-#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
-
-#define STICK_ON_OFF_LIMIT 0.75f
-#define STICK_THRUST_RANGE 1.0f
-#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
-#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
-
-#define GPS_FIX_TYPE_2D 2
-#define GPS_FIX_TYPE_3D 3
-#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000
-#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
-
-/* File descriptors */
-static int leds;
-static int buzzer;
-static int mavlink_fd;
-static bool commander_initialized = false;
-static struct vehicle_status_s current_status; /**< Main state machine */
-static orb_advert_t stat_pub;
-
-// static uint16_t nofix_counter = 0;
-// static uint16_t gotfix_counter = 0;
-
-static unsigned int failsafe_lowlevel_timeout_ms;
-
-static bool thread_should_exit = false;		/**< daemon exit flag */
-static bool thread_running = false;		/**< daemon status flag */
-static int daemon_task;				/**< Handle of daemon task / thread */
-
-/* pthread loops */
-static void *orb_receive_loop(void *arg);
-
-__EXPORT int commander_main(int argc, char *argv[]);
-
-/**
- * Mainloop of commander.
- */
-int commander_thread_main(int argc, char *argv[]);
-
-static int buzzer_init(void);
-static void buzzer_deinit(void);
-static int led_init(void);
-static void led_deinit(void);
-static int led_toggle(int led);
-static int led_on(int led);
-static int led_off(int led);
-static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status);
-static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
-static void do_rc_calibration(int status_pub, struct vehicle_status_s *status);
-static void do_accel_calibration(int status_pub, struct vehicle_status_s *status);
-static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
-
-int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
-
-
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/**
- * Sort calibration values.
- *
- * Sorts the calibration values with bubble sort.
- *
- * @param a 	The array to sort
- * @param n 	The number of entries in the array
- */
-// static void cal_bsort(float a[], int n);
-
-static int buzzer_init()
-{
-	buzzer = open("/dev/tone_alarm", O_WRONLY);
-
-	if (buzzer < 0) {
-		warnx("Buzzer: open fail\n");
-		return ERROR;
-	}
-
-	return 0;
-}
-
-static void buzzer_deinit()
-{
-	close(buzzer);
-}
-
-
-static int led_init()
-{
-	leds = open(LED_DEVICE_PATH, 0);
-
-	if (leds < 0) {
-		warnx("LED: open fail\n");
-		return ERROR;
-	}
-
-	if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
-		warnx("LED: ioctl fail\n");
-		return ERROR;
-	}
-
-	return 0;
-}
-
-static void led_deinit()
-{
-	close(leds);
-}
-
-static int led_toggle(int led)
-{
-	static int last_blue = LED_ON;
-	static int last_amber = LED_ON;
-
-	if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
-
-	if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
-
-	return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
-}
-
-static int led_on(int led)
-{
-	return ioctl(leds, LED_ON, led);
-}
-
-static int led_off(int led)
-{
-	return ioctl(leds, LED_OFF, led);
-}
-
-enum AUDIO_PATTERN {
-	AUDIO_PATTERN_ERROR = 2,
-	AUDIO_PATTERN_NOTIFY_POSITIVE = 3,
-	AUDIO_PATTERN_NOTIFY_NEUTRAL = 4,
-	AUDIO_PATTERN_NOTIFY_NEGATIVE = 5,
-	AUDIO_PATTERN_NOTIFY_CHARGE = 6
-};
-
-int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state)
-{
-
-	/* Trigger alarm if going into any error state */
-	if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) ||
-	    ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) {
-		ioctl(buzzer, TONE_SET_ALARM, 0);
-		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR);
-	}
-
-	/* Trigger neutral on arming / disarming */
-	if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) {
-		ioctl(buzzer, TONE_SET_ALARM, 0);
-		ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL);
-	}
-
-	/* Trigger Tetris on being bored */
-
-	return 0;
-}
-
-void tune_confirm(void)
-{
-	ioctl(buzzer, TONE_SET_ALARM, 3);
-}
-
-void tune_error(void)
-{
-	ioctl(buzzer, TONE_SET_ALARM, 4);
-}
-
-void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
-{
-	if (current_status.offboard_control_signal_lost) {
-		mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
-		return;
-	}
-
-	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
-	struct manual_control_setpoint_s sp;
-	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
-
-	/* set parameters */
-
-	float p = sp.roll;
-	param_set(param_find("TRIM_ROLL"), &p);
-	p = sp.pitch;
-	param_set(param_find("TRIM_PITCH"), &p);
-	p = sp.yaw;
-	param_set(param_find("TRIM_YAW"), &p);
-
-	/* store to permanent storage */
-	/* auto-save to EEPROM */
-	int save_ret = param_save_default();
-
-	if (save_ret != 0) {
-		mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
-	}
-
-	mavlink_log_info(mavlink_fd, "trim calibration done");
-}
-
-void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
-{
-
-	/* set to mag calibration mode */
-	status->flag_preflight_mag_calibration = true;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
-	struct mag_report mag;
-
-	/* 45 seconds */
-	uint64_t calibration_interval = 45 * 1000 * 1000;
-
-	/* maximum 2000 values */
-	const unsigned int calibration_maxcount = 500;
-	unsigned int calibration_counter = 0;
-
-	/* limit update rate to get equally spaced measurements over time (in ms) */
-	orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
-
-	// XXX old cal
-	//  * FLT_MIN is not the most negative float number,
-	//  * but the smallest number by magnitude float can
-	//  * represent. Use -FLT_MAX to initialize the most
-	//  * negative number
-
-	// float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
-	// float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX};
-
-	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
-
-	/* erase old calibration */
-	struct mag_scale mscale_null = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
-
-	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
-		warn("WARNING: failed to set scale / offsets for mag");
-		mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag");
-	}
-
-	/* calibrate range */
-	if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
-		warnx("failed to calibrate scale");
-	}
-
-	close(fd);
-
-	/* calibrate offsets */
-
-	// uint64_t calibration_start = hrt_absolute_time();
-
-	uint64_t axis_deadline = hrt_absolute_time();
-	uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
-
-	const char axislabels[3] = { 'X', 'Y', 'Z'};
-	int axis_index = -1;
-
-	float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
-	float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
-	float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
-
-	if (x == NULL || y == NULL || z == NULL) {
-		warnx("mag cal failed: out of memory");
-		mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
-		warnx("x:%p y:%p z:%p\n", x, y, z);
-		return;
-	}
-
-	tune_confirm();
-	sleep(2);
-	tune_confirm();
-
-	while (hrt_absolute_time() < calibration_deadline &&
-	       calibration_counter < calibration_maxcount) {
-
-		/* wait blocking for new data */
-		struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
-
-		/* user guidance */
-		if (hrt_absolute_time() >= axis_deadline &&
-		    axis_index < 3) {
-
-			axis_index++;
-
-			char buf[50];
-			sprintf(buf, "Please rotate around %c", axislabels[axis_index]);
-			mavlink_log_info(mavlink_fd, buf);
-			tune_confirm();
-
-			axis_deadline += calibration_interval / 3;
-		}
-
-		if (!(axis_index < 3)) {
-			break;
-		}
-
-		// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
-
-		// if ((axis_left / 1000) == 0 && axis_left > 0) {
-		// 	char buf[50];
-		// 	sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
-		// 	mavlink_log_info(mavlink_fd, buf);
-		// }
-
-		int poll_ret = poll(fds, 1, 1000);
-
-		if (poll_ret) {
-			orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
-
-			x[calibration_counter] = mag.x;
-			y[calibration_counter] = mag.y;
-			z[calibration_counter] = mag.z;
-
-			/* get min/max values */
-
-			// if (mag.x < mag_min[0]) {
-			// 	mag_min[0] = mag.x;
-			// }
-			// else if (mag.x > mag_max[0]) {
-			// 	mag_max[0] = mag.x;
-			// }
-
-			// if (raw.magnetometer_ga[1] < mag_min[1]) {
-			// 	mag_min[1] = raw.magnetometer_ga[1];
-			// }
-			// else if (raw.magnetometer_ga[1] > mag_max[1]) {
-			// 	mag_max[1] = raw.magnetometer_ga[1];
-			// }
-
-			// if (raw.magnetometer_ga[2] < mag_min[2]) {
-			// 	mag_min[2] = raw.magnetometer_ga[2];
-			// }
-			// else if (raw.magnetometer_ga[2] > mag_max[2]) {
-			// 	mag_max[2] = raw.magnetometer_ga[2];
-			// }
-
-			calibration_counter++;
-
-		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)");
-			break;
-		}
-	}
-
-	float sphere_x;
-	float sphere_y;
-	float sphere_z;
-	float sphere_radius;
-
-	sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
-
-	free(x);
-	free(y);
-	free(z);
-
-	if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) {
-
-		fd = open(MAG_DEVICE_PATH, 0);
-
-		struct mag_scale mscale;
-
-		if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
-			warn("WARNING: failed to get scale / offsets for mag");
-
-		mscale.x_offset = sphere_x;
-		mscale.y_offset = sphere_y;
-		mscale.z_offset = sphere_z;
-
-		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
-			warn("WARNING: failed to set scale / offsets for mag");
-
-		close(fd);
-
-		/* announce and set new offset */
-
-		if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
-			warnx("Setting X mag offset failed!\n");
-		}
-
-		if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
-			warnx("Setting Y mag offset failed!\n");
-		}
-
-		if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
-			warnx("Setting Z mag offset failed!\n");
-		}
-
-		if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
-			warnx("Setting X mag scale failed!\n");
-		}
-
-		if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
-			warnx("Setting Y mag scale failed!\n");
-		}
-
-		if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
-			warnx("Setting Z mag scale failed!\n");
-		}
-
-		/* auto-save to EEPROM */
-		int save_ret = param_save_default();
-
-		if (save_ret != 0) {
-			warn("WARNING: auto-save of params to storage failed");
-			mavlink_log_info(mavlink_fd, "FAILED storing calibration");
-		}
-
-		warnx("\tscale: %.6f %.6f %.6f\n         \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
-		       (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
-		       (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
-
-		char buf[52];
-		sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
-			(double)mscale.y_offset, (double)mscale.z_offset);
-		mavlink_log_info(mavlink_fd, buf);
-
-		sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
-			(double)mscale.y_scale, (double)mscale.z_scale);
-		mavlink_log_info(mavlink_fd, buf);
-
-		mavlink_log_info(mavlink_fd, "mag calibration done");
-
-		tune_confirm();
-		sleep(2);
-		tune_confirm();
-		sleep(2);
-		/* third beep by cal end routine */
-
-	} else {
-		mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)");
-	}
-
-	/* disable calibration mode */
-	status->flag_preflight_mag_calibration = false;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	close(sub_mag);
-}
-
-void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
-{
-	/* set to gyro calibration mode */
-	status->flag_preflight_gyro_calibration = true;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	const int calibration_count = 5000;
-
-	int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
-	struct sensor_combined_s raw;
-
-	int calibration_counter = 0;
-	float gyro_offset[3] = {0.0f, 0.0f, 0.0f};
-
-	/* set offsets to zero */
-	int fd = open(GYRO_DEVICE_PATH, 0);
-	struct gyro_scale gscale_null = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
-
-	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
-		warn("WARNING: failed to set scale / offsets for gyro");
-
-	close(fd);
-
-	while (calibration_counter < calibration_count) {
-
-		/* wait blocking for new data */
-		struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
-
-		int poll_ret = poll(fds, 1, 1000);
-
-		if (poll_ret) {
-			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
-			gyro_offset[0] += raw.gyro_rad_s[0];
-			gyro_offset[1] += raw.gyro_rad_s[1];
-			gyro_offset[2] += raw.gyro_rad_s[2];
-			calibration_counter++;
-
-		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
-			return;
-		}
-	}
-
-	gyro_offset[0] = gyro_offset[0] / calibration_count;
-	gyro_offset[1] = gyro_offset[1] / calibration_count;
-	gyro_offset[2] = gyro_offset[2] / calibration_count;
-
-	/* exit gyro calibration mode */
-	status->flag_preflight_gyro_calibration = false;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
-
-		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))
-			|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))
-			|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
-			mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!");
-		}
-
-		/* set offsets to actual value */
-		fd = open(GYRO_DEVICE_PATH, 0);
-		struct gyro_scale gscale = {
-			gyro_offset[0],
-			1.0f,
-			gyro_offset[1],
-			1.0f,
-			gyro_offset[2],
-			1.0f,
-		};
-
-		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
-			warn("WARNING: failed to set scale / offsets for gyro");
-
-		close(fd);
-
-		/* auto-save to EEPROM */
-		int save_ret = param_save_default();
-
-		if (save_ret != 0) {
-			warn("WARNING: auto-save of params to storage failed");
-		}
-
-		// char buf[50];
-		// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
-		// mavlink_log_info(mavlink_fd, buf);
-		mavlink_log_info(mavlink_fd, "gyro calibration done");
-
-		tune_confirm();
-		sleep(2);
-		tune_confirm();
-		sleep(2);
-		/* third beep by cal end routine */
-
-	} else {
-		mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
-	}
-
-	close(sub_sensor_combined);
-}
-
-void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
-{
-	/* announce change */
-
-	mavlink_log_info(mavlink_fd, "keep it level and still");
-	/* set to accel calibration mode */
-	status->flag_preflight_accel_calibration = true;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	const int calibration_count = 2500;
-
-	int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
-	struct sensor_combined_s raw;
-
-	int calibration_counter = 0;
-	float accel_offset[3] = {0.0f, 0.0f, 0.0f};
-
-	int fd = open(ACCEL_DEVICE_PATH, 0);
-	struct accel_scale ascale_null = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
-
-	if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null))
-		warn("WARNING: failed to set scale / offsets for accel");
-
-	close(fd);
-
-	while (calibration_counter < calibration_count) {
-
-		/* wait blocking for new data */
-		struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
-
-		int poll_ret = poll(fds, 1, 1000);
-
-		if (poll_ret) {
-			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
-			accel_offset[0] += raw.accelerometer_m_s2[0];
-			accel_offset[1] += raw.accelerometer_m_s2[1];
-			accel_offset[2] += raw.accelerometer_m_s2[2];
-			calibration_counter++;
-
-		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "acceleration calibration aborted");
-			return;
-		}
-	}
-
-	accel_offset[0] = accel_offset[0] / calibration_count;
-	accel_offset[1] = accel_offset[1] / calibration_count;
-	accel_offset[2] = accel_offset[2] / calibration_count;
-
-	if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
-
-		/* add the removed length from x / y to z, since we induce a scaling issue else */
-		float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]);
-
-		/* if length is correct, zero results here */
-		accel_offset[2] = accel_offset[2] + total_len;
-
-		float scale = 9.80665f / total_len;
-
-		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))
-			|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))
-			|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))
-			|| param_set(param_find("SENS_ACC_XSCALE"), &(scale))
-			|| param_set(param_find("SENS_ACC_YSCALE"), &(scale))
-			|| param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
-			mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!");
-		}
-
-		fd = open(ACCEL_DEVICE_PATH, 0);
-		struct accel_scale ascale = {
-			accel_offset[0],
-			scale,
-			accel_offset[1],
-			scale,
-			accel_offset[2],
-			scale,
-		};
-
-		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
-			warn("WARNING: failed to set scale / offsets for accel");
-
-		close(fd);
-
-		/* auto-save to EEPROM */
-		int save_ret = param_save_default();
-
-		if (save_ret != 0) {
-			warn("WARNING: auto-save of params to storage failed");
-		}
-
-		//char buf[50];
-		//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
-		//mavlink_log_info(mavlink_fd, buf);
-		mavlink_log_info(mavlink_fd, "accel calibration done");
-
-		tune_confirm();
-		sleep(2);
-		tune_confirm();
-		sleep(2);
-		/* third beep by cal end routine */
-
-	} else {
-		mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)");
-	}
-
-	/* exit accel calibration mode */
-	status->flag_preflight_accel_calibration = false;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	close(sub_sensor_combined);
-}
-
-void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status)
-{
-	/* announce change */
-
-	mavlink_log_info(mavlink_fd, "keep it still");
-	/* set to accel calibration mode */
-	status->flag_preflight_airspeed_calibration = true;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	const int calibration_count = 2500;
-
-	int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure));
-	struct differential_pressure_s differential_pressure;
-
-	int calibration_counter = 0;
-	float airspeed_offset = 0.0f;
-
-	while (calibration_counter < calibration_count) {
-
-		/* wait blocking for new data */
-		struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } };
-
-		int poll_ret = poll(fds, 1, 1000);
-
-		if (poll_ret) {
-			orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure);
-			airspeed_offset += differential_pressure.voltage;
-			calibration_counter++;
-
-		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "airspeed calibration aborted");
-			return;
-		}
-	}
-
-	airspeed_offset = airspeed_offset / calibration_count;
-
-	if (isfinite(airspeed_offset)) {
-
-		if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_offset))) {
-			mavlink_log_critical(mavlink_fd, "Setting offs failed!");
-		}
-
-		/* auto-save to EEPROM */
-		int save_ret = param_save_default();
-
-		if (save_ret != 0) {
-			warn("WARNING: auto-save of params to storage failed");
-		}
-
-		//char buf[50];
-		//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
-		//mavlink_log_info(mavlink_fd, buf);
-		mavlink_log_info(mavlink_fd, "airspeed calibration done");
-
-		tune_confirm();
-		sleep(2);
-		tune_confirm();
-		sleep(2);
-		/* third beep by cal end routine */
-
-	} else {
-		mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
-	}
-
-	/* exit airspeed calibration mode */
-	status->flag_preflight_airspeed_calibration = false;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	close(sub_differential_pressure);
-}
-
-
-
-void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd)
-{
-	/* result of the command */
-	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-
-	/* announce command handling */
-	tune_confirm();
-
-
-	/* supported command handling start */
-
-	/* request to set different system mode */
-	switch (cmd->command) {
-	case VEHICLE_CMD_DO_SET_MODE: {
-			if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
-				result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-			} else {
-				result = VEHICLE_CMD_RESULT_DENIED;
-			}
-		}
-		break;
-
-	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
-			/* request to arm */
-			if ((int)cmd->param1 == 1) {
-				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-
-				/* request to disarm */
-
-			} else if ((int)cmd->param1 == 0) {
-				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-			}
-		}
-		break;
-
-		/* request for an autopilot reboot */
-	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
-			if ((int)cmd->param1 == 1) {
-				if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
-					/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					/* system may return here */
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-			}
-		}
-		break;
-
-//		/* request to land */
-//		case VEHICLE_CMD_NAV_LAND:
-//		 {
-//				//TODO: add check if landing possible
-//				//TODO: add landing maneuver
-//
-//				if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) {
-//					result = VEHICLE_CMD_RESULT_ACCEPTED;
-//		}		}
-//		break;
-//
-//		/* request to takeoff */
-//		case VEHICLE_CMD_NAV_TAKEOFF:
-//		{
-//			//TODO: add check if takeoff possible
-//			//TODO: add takeoff maneuver
-//
-//			if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) {
-//				result = VEHICLE_CMD_RESULT_ACCEPTED;
-//			}
-//		}
-//		break;
-//
-		/* preflight calibration */
-	case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
-			bool handled = false;
-
-			/* gyro calibration */
-			if ((int)(cmd->param1) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
-
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "starting gyro cal");
-					tune_confirm();
-					do_gyro_calibration(status_pub, &current_status);
-					mavlink_log_info(mavlink_fd, "finished gyro cal");
-					tune_confirm();
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					mavlink_log_critical(mavlink_fd, "REJECTING gyro cal");
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-
-				handled = true;
-			}
-
-			/* magnetometer calibration */
-			if ((int)(cmd->param2) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
-
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "starting mag cal");
-					tune_confirm();
-					do_mag_calibration(status_pub, &current_status);
-					mavlink_log_info(mavlink_fd, "finished mag cal");
-					tune_confirm();
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					mavlink_log_critical(mavlink_fd, "REJECTING mag cal");
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-
-				handled = true;
-			}
-
-			/* zero-altitude pressure calibration */
-			if ((int)(cmd->param3) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
-
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented");
-					tune_confirm();
-
-				} else {
-					mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration");
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-
-				handled = true;
-			}
-
-			/* trim calibration */
-			if ((int)(cmd->param4) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
-
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "starting trim cal");
-					tune_confirm();
-					do_rc_calibration(status_pub, &current_status);
-					mavlink_log_info(mavlink_fd, "finished trim cal");
-					tune_confirm();
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					mavlink_log_critical(mavlink_fd, "REJECTING trim cal");
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-
-				handled = true;
-			}
-
-			/* accel calibration */
-			if ((int)(cmd->param5) == 1) {
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
-
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "CMD starting accel cal");
-					tune_confirm();
-					do_accel_calibration(status_pub, &current_status);
-					tune_confirm();
-					mavlink_log_info(mavlink_fd, "CMD finished accel cal");
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					mavlink_log_critical(mavlink_fd, "REJECTING accel cal");
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-
-				handled = true;
-			}
-
-			/* airspeed calibration */
-			if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol
-				/* transition to calibration state */
-				do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
-
-				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
-					mavlink_log_info(mavlink_fd, "CMD starting airspeed cal");
-					tune_confirm();
-					do_airspeed_calibration(status_pub, &current_status);
-					tune_confirm();
-					mavlink_log_info(mavlink_fd, "CMD finished airspeed cal");
-					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-				} else {
-					mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal");
-					result = VEHICLE_CMD_RESULT_DENIED;
-				}
-
-				handled = true;
-			}
-
-			/* none found */
-			if (!handled) {
-				//warnx("refusing unsupported calibration request\n");
-				mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request");
-				result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-			}
-		}
-		break;
-
-	case VEHICLE_CMD_PREFLIGHT_STORAGE: {
-			if (current_status.flag_system_armed &&
-			    ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-			     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-			     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
-				/* do not perform expensive memory tasks on multirotors in flight */
-				// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
-				mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed");
-
-			} else {
-
-				// XXX move this to LOW PRIO THREAD of commander app
-				/* Read all parameters from EEPROM to RAM */
-
-				if (((int)(cmd->param1)) == 0)	{
-
-					/* read all parameters from EEPROM to RAM */
-					int read_ret = param_load_default();
-
-					if (read_ret == OK) {
-						//warnx("[mavlink pm] Loaded EEPROM params in RAM\n");
-						mavlink_log_info(mavlink_fd, "OK loading params from");
-						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-					} else if (read_ret == 1) {
-						mavlink_log_info(mavlink_fd, "OK no changes in");
-						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-					} else {
-						if (read_ret < -1) {
-							mavlink_log_info(mavlink_fd, "ERR loading params from");
-							mavlink_log_info(mavlink_fd, param_get_default_file());
-
-						} else {
-							mavlink_log_info(mavlink_fd, "ERR no param file named");
-							mavlink_log_info(mavlink_fd, param_get_default_file());
-						}
-
-						result = VEHICLE_CMD_RESULT_FAILED;
-					}
-
-				} else if (((int)(cmd->param1)) == 1)	{
-
-					/* write all parameters from RAM to EEPROM */
-					int write_ret = param_save_default();
-
-					if (write_ret == OK) {
-						mavlink_log_info(mavlink_fd, "OK saved param file");
-						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = VEHICLE_CMD_RESULT_ACCEPTED;
-
-					} else {
-						if (write_ret < -1) {
-							mavlink_log_info(mavlink_fd, "ERR params file does not exit:");
-							mavlink_log_info(mavlink_fd, param_get_default_file());
-
-						} else {
-							mavlink_log_info(mavlink_fd, "ERR writing params to");
-							mavlink_log_info(mavlink_fd, param_get_default_file());
-						}
-
-						result = VEHICLE_CMD_RESULT_FAILED;
-					}
-
-				} else {
-					mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
-					result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-				}
-			}
-		}
-		break;
-
-	default: {
-			mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
-			result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-			/* announce command rejection */
-			ioctl(buzzer, TONE_SET_ALARM, 4);
-		}
-		break;
-	}
-
-	/* supported command handling stop */
-	if (result == VEHICLE_CMD_RESULT_FAILED ||
-	    result == VEHICLE_CMD_RESULT_DENIED ||
-	    result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
-		ioctl(buzzer, TONE_SET_ALARM, 5);
-
-	} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
-		tune_confirm();
-	}
-
-	/* send any requested ACKs */
-	if (cmd->confirmation > 0) {
-		/* send acknowledge command */
-		// XXX TODO
-	}
-
-}
-
-static void *orb_receive_loop(void *arg)  //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "commander orb rcv", getpid());
-
-	/* Subscribe to command topic */
-	int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
-	struct subsystem_info_s info;
-
-	struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg;
-
-	while (!thread_should_exit) {
-		struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } };
-
-		if (poll(fds, 1, 5000) == 0) {
-			/* timeout, but this is no problem, silently ignore */
-		} else {
-			/* got command */
-			orb_copy(ORB_ID(subsystem_info), subsys_sub, &info);
-
-			warnx("Subsys changed: %d\n", (int)info.subsystem_type);
-
-			/* mark / unmark as present */
-			if (info.present) {
-				vstatus->onboard_control_sensors_present |= info.subsystem_type;
-
-			} else {
-				vstatus->onboard_control_sensors_present &= ~info.subsystem_type;
-			}
-
-			/* mark / unmark as enabled */
-			if (info.enabled) {
-				vstatus->onboard_control_sensors_enabled |= info.subsystem_type;
-
-			} else {
-				vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type;
-			}
-
-			/* mark / unmark as ok */
-			if (info.ok) {
-				vstatus->onboard_control_sensors_health |= info.subsystem_type;
-
-			} else {
-				vstatus->onboard_control_sensors_health &= ~info.subsystem_type;
-			}
-		}
-	}
-
-	close(subsys_sub);
-
-	return NULL;
-}
-
-/*
- * Provides a coarse estimate of remaining battery power.
- *
- * The estimate is very basic and based on decharging voltage curves.
- *
- * @return the estimated remaining capacity in 0..1
- */
-float battery_remaining_estimate_voltage(float voltage);
-
-PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
-PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
-PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
-
-float battery_remaining_estimate_voltage(float voltage)
-{
-	float ret = 0;
-	static param_t bat_volt_empty;
-	static param_t bat_volt_full;
-	static param_t bat_n_cells;
-	static bool initialized = false;
-	static unsigned int counter = 0;
-	static float ncells = 3;
-	// XXX change cells to int (and param to INT32)
-
-	if (!initialized) {
-		bat_volt_empty = param_find("BAT_V_EMPTY");
-		bat_volt_full = param_find("BAT_V_FULL");
-		bat_n_cells = param_find("BAT_N_CELLS");
-		initialized = true;
-	}
-
-	static float chemistry_voltage_empty = 3.2f;
-	static float chemistry_voltage_full = 4.05f;
-
-	if (counter % 100 == 0) {
-		param_get(bat_volt_empty, &chemistry_voltage_empty);
-		param_get(bat_volt_full, &chemistry_voltage_full);
-		param_get(bat_n_cells, &ncells);
-	}
-
-	counter++;
-
-	ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
-
-	/* limit to sane values */
-	ret = (ret < 0) ? 0 : ret;
-	ret = (ret > 1) ? 1 : ret;
-	return ret;
-}
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
-	exit(1);
-}
-
-/**
- * The daemon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int commander_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			warnx("commander already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		daemon_task = task_spawn("commander",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 40,
-					 3000,
-					 commander_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("\tcommander is running\n");
-
-		} else {
-			warnx("\tcommander not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int commander_thread_main(int argc, char *argv[])
-{
-	/* not yet initialized */
-	commander_initialized = false;
-	bool home_position_set = false;
-
-	/* set parameters */
-	failsafe_lowlevel_timeout_ms = 0;
-	param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
-
-	param_t _param_sys_type = param_find("MAV_TYPE");
-	param_t _param_system_id = param_find("MAV_SYS_ID");
-	param_t _param_component_id = param_find("MAV_COMP_ID");
-
-	/* welcome user */
-	warnx("I am in command now!\n");
-
-	/* pthreads for command and subsystem info handling */
-	// pthread_t command_handling_thread;
-	pthread_t subsystem_info_thread;
-
-	/* initialize */
-	if (led_init() != 0) {
-		warnx("ERROR: Failed to initialize leds\n");
-	}
-
-	if (buzzer_init() != 0) {
-		warnx("ERROR: Failed to initialize buzzer\n");
-	}
-
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	if (mavlink_fd < 0) {
-		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
-	}
-
-	/* make sure we are in preflight state */
-	memset(&current_status, 0, sizeof(current_status));
-	current_status.state_machine = SYSTEM_STATE_PREFLIGHT;
-	current_status.flag_system_armed = false;
-	/* neither manual nor offboard control commands have been received */
-	current_status.offboard_control_signal_found_once = false;
-	current_status.rc_signal_found_once = false;
-	/* mark all signals lost as long as they haven't been found */
-	current_status.rc_signal_lost = true;
-	current_status.offboard_control_signal_lost = true;
-	/* allow manual override initially */
-	current_status.flag_external_manual_override_ok = true;
-	/* flag position info as bad, do not allow auto mode */
-	current_status.flag_vector_flight_mode_ok = false;
-	/* set battery warning flag */
-	current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
-
-	/* advertise to ORB */
-	stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
-	/* publish current state machine */
-	state_machine_publish(stat_pub, &current_status, mavlink_fd);
-
-	/* home position */
-	orb_advert_t home_pub = -1;
-	struct home_position_s home;
-	memset(&home, 0, sizeof(home));
-
-	if (stat_pub < 0) {
-		warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
-		warnx("exiting.");
-		exit(ERROR);
-	}
-
-	mavlink_log_info(mavlink_fd, "system is running");
-
-	/* create pthreads */
-	pthread_attr_t subsystem_info_attr;
-	pthread_attr_init(&subsystem_info_attr);
-	pthread_attr_setstacksize(&subsystem_info_attr, 2048);
-	pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, &current_status);
-
-	/* Start monitoring loop */
-	uint16_t counter = 0;
-	uint8_t flight_env;
-
-	/* Initialize to 0.0V */
-	float battery_voltage = 0.0f;
-	bool battery_voltage_valid = false;
-	bool low_battery_voltage_actions_done = false;
-	bool critical_battery_voltage_actions_done = false;
-	uint8_t low_voltage_counter = 0;
-	uint16_t critical_voltage_counter = 0;
-	int16_t mode_switch_rc_value;
-	float bat_remain = 1.0f;
-
-	uint16_t stick_off_counter = 0;
-	uint16_t stick_on_counter = 0;
-
-	/* Subscribe to manual control data */
-	int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	struct manual_control_setpoint_s sp_man;
-	memset(&sp_man, 0, sizeof(sp_man));
-
-	/* Subscribe to offboard control data */
-	int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
-	struct offboard_control_setpoint_s sp_offboard;
-	memset(&sp_offboard, 0, sizeof(sp_offboard));
-
-	int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	struct vehicle_global_position_s global_position;
-	memset(&global_position, 0, sizeof(global_position));
-	uint64_t last_global_position_time = 0;
-
-	int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	struct vehicle_local_position_s local_position;
-	memset(&local_position, 0, sizeof(local_position));
-	uint64_t last_local_position_time = 0;
-
-	/* 
-	 * The home position is set based on GPS only, to prevent a dependency between
-	 * position estimator and commander. RAW GPS is more than good enough for a
-	 * non-flying vehicle.
-	 */
-	int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	struct vehicle_gps_position_s gps_position;
-	memset(&gps_position, 0, sizeof(gps_position));
-
-	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	struct sensor_combined_s sensors;
-	memset(&sensors, 0, sizeof(sensors));
-
-	int differential_pressure_sub = orb_subscribe(ORB_ID(differential_pressure));
-	struct differential_pressure_s differential_pressure;
-	memset(&differential_pressure, 0, sizeof(differential_pressure));
-	uint64_t last_differential_pressure_time = 0;
-
-	/* Subscribe to command topic */
-	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	struct vehicle_command_s cmd;
-	memset(&cmd, 0, sizeof(cmd));
-
-	/* Subscribe to parameters changed topic */
-	int param_changed_sub = orb_subscribe(ORB_ID(parameter_update));
-	struct parameter_update_s param_changed;
-	memset(&param_changed, 0, sizeof(param_changed));
-
-	/* subscribe to battery topic */
-	int battery_sub = orb_subscribe(ORB_ID(battery_status));
-	struct battery_status_s battery;
-	memset(&battery, 0, sizeof(battery));
-	battery.voltage_v = 0.0f;
-
-	// uint8_t vehicle_state_previous = current_status.state_machine;
-	float voltage_previous = 0.0f;
-
-	uint64_t last_idle_time = 0;
-
-	/* now initialized */
-	commander_initialized = true;
-	thread_running = true;
-
-	uint64_t start_time = hrt_absolute_time();
-	uint64_t failsave_ll_start_time = 0;
-
-	bool state_changed = true;
-	bool param_init_forced = true;
-
-	while (!thread_should_exit) {
-
-		/* Get current values */
-		bool new_data;
-		orb_check(sp_man_sub, &new_data);
-
-		if (new_data) {
-			orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
-		}
-
-		orb_check(sp_offboard_sub, &new_data);
-
-		if (new_data) {
-			orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
-		}
-
-		orb_check(sensor_sub, &new_data);
-
-		if (new_data) {
-			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
-		}
-
-		orb_check(differential_pressure_sub, &new_data);
-
-		if (new_data) {
-			orb_copy(ORB_ID(differential_pressure), differential_pressure_sub, &differential_pressure);
-			last_differential_pressure_time = differential_pressure.timestamp;
-		}
-
-		orb_check(cmd_sub, &new_data);
-
-		if (new_data) {
-			/* got command */
-			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
-
-			/* handle it */
-			handle_command(stat_pub, &current_status, &cmd);
-		}
-
-		/* update parameters */
-		orb_check(param_changed_sub, &new_data);
-
-		if (new_data || param_init_forced) {
-			param_init_forced = false;
-			/* parameters changed */
-			orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
-
-
-			/* update parameters */
-			if (!current_status.flag_system_armed) {
-				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
-					warnx("failed setting new system type");
-				}
-
-				/* disable manual override for all systems that rely on electronic stabilization */
-				if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
-				    current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
-				    current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
-					current_status.flag_external_manual_override_ok = false;
-
-				} else {
-					current_status.flag_external_manual_override_ok = true;
-				}
-
-				/* check and update system / component ID */
-				param_get(_param_system_id, &(current_status.system_id));
-				param_get(_param_component_id, &(current_status.component_id));
-
-			}
-		}
-
-		/* update global position estimate */
-		orb_check(global_position_sub, &new_data);
-
-		if (new_data) {
-			/* position changed */
-			orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
-			last_global_position_time = global_position.timestamp;
-		}
-
-		/* update local position estimate */
-		orb_check(local_position_sub, &new_data);
-
-		if (new_data) {
-			/* position changed */
-			orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
-			last_local_position_time = local_position.timestamp;
-		}
-
-		/* update battery status */
-		orb_check(battery_sub, &new_data);
-		if (new_data) {
-			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
-			battery_voltage = battery.voltage_v;
-			battery_voltage_valid = true;
-
-			/*
-			 * Only update battery voltage estimate if system has
-			 * been running for two and a half seconds.
-			 */
-			if (hrt_absolute_time() - start_time > 2500000) {
-				bat_remain = battery_remaining_estimate_voltage(battery_voltage);
-			}
-		}
-
-		/* Slow but important 8 Hz checks */
-		if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) {
-			/* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */
-			if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
-			     current_status.state_machine == SYSTEM_STATE_AUTO  ||
-			     current_status.state_machine == SYSTEM_STATE_MANUAL)) {
-				/* armed */
-				led_toggle(LED_BLUE);
-
-			} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
-				/* not armed */
-				led_toggle(LED_BLUE);
-			}
-
-			/* toggle error led at 5 Hz in HIL mode */
-			if (current_status.flag_hil_enabled) {
-				/* hil enabled */
-				led_toggle(LED_AMBER);
-
-			} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
-				/* toggle error (red) at 5 Hz on low battery or error */
-				led_toggle(LED_AMBER);
-
-			} else {
-				// /* Constant error indication in standby mode without GPS */
-				// if (!current_status.gps_valid) {
-				// 	led_on(LED_AMBER);
-
-				// } else {
-				// 	led_off(LED_AMBER);
-				// }
-			}
-
-			if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
-				/* compute system load */
-				uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
-
-				if (last_idle_time > 0)
-					current_status.load = 1000 - (interval_runtime / 1000);	//system load is time spent in non-idle
-
-				last_idle_time = system_load.tasks[0].total_runtime;
-			}
-		}
-
-		// // XXX Export patterns and threshold to parameters
-		/* Trigger audio event for low battery */
-		if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) {
-			/* For less than 10%, start be really annoying at 5 Hz */
-			ioctl(buzzer, TONE_SET_ALARM, 0);
-			ioctl(buzzer, TONE_SET_ALARM, 3);
-
-		} else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) {
-			ioctl(buzzer, TONE_SET_ALARM, 0);
-
-		} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) {
-			/* For less than 20%, start be slightly annoying at 1 Hz */
-			ioctl(buzzer, TONE_SET_ALARM, 0);
-			tune_confirm();
-
-		} else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) {
-			ioctl(buzzer, TONE_SET_ALARM, 0);
-		}
-
-		/* Check battery voltage */
-		/* write to sys_status */
-		if (battery_voltage_valid) {
-			current_status.voltage_battery = battery_voltage;
-
-		} else {
-			current_status.voltage_battery = 0.0f;
-		}
-
-		/* if battery voltage is getting lower, warn using buzzer, etc. */
-		if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
-
-			if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
-				low_battery_voltage_actions_done = true;
-				mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!");
-				current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING;
-			}
-
-			low_voltage_counter++;
-		}
-
-		/* Critical, this is rather an emergency, kill signal to sdlog and change state machine */
-		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, "[cmd] EMERGENCY! CRITICAL BATTERY!");
-				current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT;
-				state_machine_emergency(stat_pub, &current_status, mavlink_fd);
-			}
-
-			critical_voltage_counter++;
-
-		} else {
-			low_voltage_counter = 0;
-			critical_voltage_counter = 0;
-		}
-
-		/* End battery voltage check */
-
-
-		/*
-		 * Check for valid position information.
-		 *
-		 * If the system has a valid position source from an onboard
-		 * position estimator, it is safe to operate it autonomously.
-		 * The flag_vector_flight_mode_ok flag indicates that a minimum
-		 * set of position measurements is available.
-		 */
-
-		/* store current state to reason later about a state change */
-		bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok;
-		bool global_pos_valid = current_status.flag_global_position_valid;
-		bool local_pos_valid = current_status.flag_local_position_valid;
-		bool airspeed_valid = current_status.flag_airspeed_valid;
-
-		/* check for global or local position updates, set a timeout of 2s */
-		if (hrt_absolute_time() - last_global_position_time < 2000000) {
-			current_status.flag_global_position_valid = true;
-			// XXX check for controller status and home position as well
-
-		} else {
-			current_status.flag_global_position_valid = false;
-		}
-
-		if (hrt_absolute_time() - last_local_position_time < 2000000) {
-			current_status.flag_local_position_valid = true;
-			// XXX check for controller status and home position as well
-
-		} else {
-			current_status.flag_local_position_valid = false;
-		}
-
-		/* Check for valid airspeed/differential pressure measurements */
-		if (hrt_absolute_time() - last_differential_pressure_time < 2000000) {
-			current_status.flag_airspeed_valid = true;
-
-		} else {
-			current_status.flag_airspeed_valid = false;
-		}
-
-		/*
-		 * Consolidate global position and local position valid flags
-		 * for vector flight mode.
-		 */
-		if (current_status.flag_local_position_valid ||
-		    current_status.flag_global_position_valid) {
-			current_status.flag_vector_flight_mode_ok = true;
-
-		} else {
-			current_status.flag_vector_flight_mode_ok = false;
-		}
-
-		/* consolidate state change, flag as changed if required */
-		if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok ||
-		    global_pos_valid != current_status.flag_global_position_valid ||
-		    local_pos_valid != current_status.flag_local_position_valid ||
-		    airspeed_valid != current_status.flag_airspeed_valid) {
-			state_changed = true;
-		}
-
-		/*
-		 * Mark the position of the first position lock as return to launch (RTL)
-		 * position. The MAV will return here on command or emergency.
-		 *
-		 * Conditions:
-		 *
-		 * 	1) The system aquired position lock just now
-		 *	2) The system has not aquired position lock before
-		 *	3) The system is not armed (on the ground)
-		 */
-		if (!current_status.flag_valid_launch_position &&
-		    !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
-		    !current_status.flag_system_armed) {
-			/* first time a valid position, store it and emit it */
-
-			// XXX implement storage and publication of RTL position
-			current_status.flag_valid_launch_position = true;
-			current_status.flag_auto_flight_mode_ok = true;
-			state_changed = true;
-		}
-
-		if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
-
-			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
-
-			/* check for first, long-term and valid GPS lock -> set home position */
-			float hdop_m = gps_position.eph_m;
-			float vdop_m = gps_position.epv_m;
-
-			/* check if gps fix is ok */
-			// XXX magic number
-			float hdop_threshold_m = 4.0f;
-			float vdop_threshold_m = 8.0f;
-
-			/*
-			 * If horizontal dilution of precision (hdop / eph)
-			 * and vertical diluation of precision (vdop / epv)
-			 * are below a certain threshold (e.g. 4 m), AND
-			 * home position is not yet set AND the last GPS
-			 * GPS measurement is not older than two seconds AND
-			 * the system is currently not armed, set home
-			 * position to the current position.
-			 */
-
-			if (gps_position.fix_type == GPS_FIX_TYPE_3D
-				&& (hdop_m < hdop_threshold_m)
-				&& (vdop_m < vdop_threshold_m)
-				&& !home_position_set
-				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
-				&& !current_status.flag_system_armed) {
-				warnx("setting home position");
-
-				/* copy position data to uORB home message, store it locally as well */
-				home.lat = gps_position.lat;
-				home.lon = gps_position.lon;
-				home.alt = gps_position.alt;
-
-				home.eph_m = gps_position.eph_m;
-				home.epv_m = gps_position.epv_m;
-
-				home.s_variance_m_s = gps_position.s_variance_m_s;
-				home.p_variance_m = gps_position.p_variance_m;
-
-				/* announce new home position */
-				if (home_pub > 0) {
-					orb_publish(ORB_ID(home_position), home_pub, &home);
-				} else {
-					home_pub = orb_advertise(ORB_ID(home_position), &home);
-				}
-
-				/* mark home position as set */
-				home_position_set = true;
-				tune_confirm();
-			}
-		}
-
-		/* ignore RC signals if in offboard control mode */
-		if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
-			/* Start RC state check */
-
-			if ((hrt_absolute_time() - sp_man.timestamp) < 100000) {
-
-				// /*
-				//  * Check if manual control modes have to be switched
-				//  */
-				// if (!isfinite(sp_man.manual_mode_switch)) {
-				// 	warnx("man mode sw not finite\n");
-
-				// 	/* this switch is not properly mapped, set default */
-				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
-
-				// 		/* assuming a rotary wing, fall back to SAS */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-				// 		current_status.flag_control_attitude_enabled = true;
-				// 		current_status.flag_control_rates_enabled = true;
-				// 	} else {
-
-				// 		/* assuming a fixed wing, fall back to direct pass-through */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
-				// 		current_status.flag_control_attitude_enabled = false;
-				// 		current_status.flag_control_rates_enabled = false;
-				// 	}
-
-				// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
-
-				// 	/* bottom stick position, set direct mode for vehicles supporting it */
-				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
-
-				// 		/* assuming a rotary wing, fall back to SAS */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-				// 		current_status.flag_control_attitude_enabled = true;
-				// 		current_status.flag_control_rates_enabled = true;
-				// 	} else {
-
-				// 		/* assuming a fixed wing, set to direct pass-through as requested */
-				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
-				// 		current_status.flag_control_attitude_enabled = false;
-				// 		current_status.flag_control_rates_enabled = false;
-				// 	}
-
-				// } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) {
-
-				// 	/* top stick position, set SAS for all vehicle types */
-				// 	current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-				// 	current_status.flag_control_attitude_enabled = true;
-				// 	current_status.flag_control_rates_enabled = true;
-
-				// } else {
-				// 	/* center stick position, set rate control */
-				// 	current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES;
-				// 	current_status.flag_control_attitude_enabled = false;
-				// 	current_status.flag_control_rates_enabled = true;
-				// }
-
-				// warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode);
-
-				/*
-				 * Check if manual stability control modes have to be switched
-				 */
-				if (!isfinite(sp_man.manual_sas_switch)) {
-
-					/* this switch is not properly mapped, set default */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
-
-				} else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) {
-
-					/* bottom stick position, set altitude hold */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE;
-
-				} else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) {
-
-					/* top stick position */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE;
-
-				} else {
-					/* center stick position, set default */
-					current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS;
-				}
-
-				/*
-				 * Check if left stick is in lower left position --> switch to standby state.
-				 * Do this only for multirotors, not for fixed wing aircraft.
-				 */
-				if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
-				     (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
-				     (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
-				    ) &&
-				    ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
-				    (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
-					if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
-						update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
-						stick_on_counter = 0;
-
-					} else {
-						stick_off_counter++;
-						stick_on_counter = 0;
-					}
-				}
-
-				/* check if left stick is in lower right position --> arm */
-				if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) {
-					if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
-						update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
-						stick_on_counter = 0;
-
-					} else {
-						stick_on_counter++;
-						stick_off_counter = 0;
-					}
-				}
-
-				/* check manual override switch - switch to manual or auto mode */
-				if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) {
-					/* enable manual override */
-					update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
-
-				} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
-					// /* check auto mode switch for correct mode */
-					// if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
-					// 	/* enable guided mode */
-					// 	update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
-
-					// } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
-						// XXX hardcode to auto for now
-						update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
-
-					// }
-
-				} else {
-					/* center stick position, set SAS for all vehicle types */
-					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
-				}
-
-				/* handle the case where RC signal was regained */
-				if (!current_status.rc_signal_found_once) {
-					current_status.rc_signal_found_once = true;
-					mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME.");
-
-				} else {
-					if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!");
-				}
-
-				current_status.rc_signal_cutting_off = false;
-				current_status.rc_signal_lost = false;
-				current_status.rc_signal_lost_interval = 0;
-
-			} else {
-				static uint64_t last_print_time = 0;
-
-				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
-				if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) {
-					/* only complain if the offboard control is NOT active */
-					current_status.rc_signal_cutting_off = true;
-					mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!");
-					last_print_time = hrt_absolute_time();
-				}
-
-				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
-				current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp;
-
-				/* if the RC signal is gone for a full second, consider it lost */
-				if (current_status.rc_signal_lost_interval > 1000000) {
-					current_status.rc_signal_lost = true;
-					current_status.failsave_lowlevel = true;
-					state_changed = true;
-				}
-
-				// if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) {
-				// 	publish_armed_status(&current_status);
-				// }
-			}
-		}
-
-
-
-
-		/* End mode switch */
-
-		/* END RC state check */
-
-
-		/* State machine update for offboard control */
-		if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) {
-			if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) {
-
-				/* decide about attitude control flag, enable in att/pos/vel */
-				bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE ||
-							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY ||
-							      sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION);
-
-				/* decide about rate control flag, enable it always XXX (for now) */
-				bool rates_ctrl_enabled = true;
-
-				/* set up control mode */
-				if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) {
-					current_status.flag_control_attitude_enabled = attitude_ctrl_enabled;
-					state_changed = true;
-				}
-
-				if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) {
-					current_status.flag_control_rates_enabled = rates_ctrl_enabled;
-					state_changed = true;
-				}
-
-				/* handle the case where offboard control signal was regained */
-				if (!current_status.offboard_control_signal_found_once) {
-					current_status.offboard_control_signal_found_once = true;
-					/* enable offboard control, disable manual input */
-					current_status.flag_control_manual_enabled = false;
-					current_status.flag_control_offboard_enabled = true;
-					state_changed = true;
-					tune_confirm();
-
-					mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST");
-
-				} else {
-					if (current_status.offboard_control_signal_lost) {
-						mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL");
-						state_changed = true;
-						tune_confirm();
-					}
-				}
-
-				current_status.offboard_control_signal_weak = false;
-				current_status.offboard_control_signal_lost = false;
-				current_status.offboard_control_signal_lost_interval = 0;
-
-				/* arm / disarm on request */
-				if (sp_offboard.armed && !current_status.flag_system_armed) {
-					update_state_machine_arm(stat_pub, &current_status, mavlink_fd);
-					/* switch to stabilized mode = takeoff */
-					update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
-
-				} else if (!sp_offboard.armed && current_status.flag_system_armed) {
-					update_state_machine_disarm(stat_pub, &current_status, mavlink_fd);
-				}
-
-			} else {
-				static uint64_t last_print_time = 0;
-
-				/* print error message for first RC glitch and then every 5 s / 5000 ms) */
-				if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) {
-					current_status.offboard_control_signal_weak = true;
-					mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!");
-					last_print_time = hrt_absolute_time();
-				}
-
-				/* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */
-				current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp;
-
-				/* if the signal is gone for 0.1 seconds, consider it lost */
-				if (current_status.offboard_control_signal_lost_interval > 100000) {
-					current_status.offboard_control_signal_lost = true;
-					current_status.failsave_lowlevel_start_time = hrt_absolute_time();
-					tune_confirm();
-
-					/* kill motors after timeout */
-					if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) {
-						current_status.failsave_lowlevel = true;
-						state_changed = true;
-					}
-				}
-			}
-		}
-
-
-		current_status.counter++;
-		current_status.timestamp = hrt_absolute_time();
-
-
-		/* If full run came back clean, transition to standby */
-		if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT &&
-		    current_status.flag_preflight_gyro_calibration == false &&
-		    current_status.flag_preflight_mag_calibration == false &&
-		    current_status.flag_preflight_accel_calibration == false) {
-			/* All ok, no calibration going on, go to standby */
-			do_state_update(stat_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-		}
-
-		/* publish at least with 1 Hz */
-		if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) {
-			publish_armed_status(&current_status);
-			orb_publish(ORB_ID(vehicle_status), stat_pub, &current_status);
-			state_changed = false;
-		}
-
-		/* Store old modes to detect and act on state transitions */
-		voltage_previous = current_status.voltage_battery;
-
-		fflush(stdout);
-		counter++;
-		usleep(COMMANDER_MONITORING_INTERVAL);
-	}
-
-	/* wait for threads to complete */
-	// pthread_join(command_handling_thread, NULL);
-	pthread_join(subsystem_info_thread, NULL);
-
-	/* close fds */
-	led_deinit();
-	buzzer_deinit();
-	close(sp_man_sub);
-	close(sp_offboard_sub);
-	close(global_position_sub);
-	close(sensor_sub);
-	close(cmd_sub);
-
-	warnx("exiting..\n");
-	fflush(stdout);
-
-	thread_running = false;
-
-	return 0;
-}
diff --git a/apps/commander/commander.h b/apps/commander/commander.h
deleted file mode 100644
index 04b4e72ab..000000000
--- a/apps/commander/commander.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
- *           Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.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 commander.h
- * Main system state machine definition.
- *
- * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- *
- */
-
-#ifndef COMMANDER_H_
-#define COMMANDER_H_
-
-#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
-#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
-
-void tune_confirm(void);
-void tune_error(void);
-
-#endif /* COMMANDER_H_ */
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
deleted file mode 100644
index bea388a10..000000000
--- a/apps/commander/state_machine_helper.c
+++ /dev/null
@@ -1,752 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.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 state_machine_helper.c
- * State machine helper functions implementations
- */
-
-#include <stdio.h>
-#include <unistd.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_controls.h>
-#include <systemlib/systemlib.h>
-#include <drivers/drv_hrt.h>
-#include <mavlink/mavlink_log.h>
-
-#include "state_machine_helper.h"
-
-static const char *system_state_txt[] = {
-	"SYSTEM_STATE_PREFLIGHT",
-	"SYSTEM_STATE_STANDBY",
-	"SYSTEM_STATE_GROUND_READY",
-	"SYSTEM_STATE_MANUAL",
-	"SYSTEM_STATE_STABILIZED",
-	"SYSTEM_STATE_AUTO",
-	"SYSTEM_STATE_MISSION_ABORT",
-	"SYSTEM_STATE_EMCY_LANDING",
-	"SYSTEM_STATE_EMCY_CUTOFF",
-	"SYSTEM_STATE_GROUND_ERROR",
-	"SYSTEM_STATE_REBOOT",
-
-};
-
-/**
- * Transition from one state to another
- */
-int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state)
-{
-	int invalid_state = false;
-	int ret = ERROR;
-
-	commander_state_machine_t old_state = current_status->state_machine;
-
-	switch (new_state) {
-	case SYSTEM_STATE_MISSION_ABORT: {
-			/* Indoor or outdoor */
-			// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-			ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
-
-			// } else {
-			// 	ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
-			// }
-		}
-		break;
-
-	case SYSTEM_STATE_EMCY_LANDING:
-		/* Tell the controller to land */
-
-		/* set system flags according to state */
-		current_status->flag_system_armed = true;
-
-		warnx("EMERGENCY LANDING!\n");
-		mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!");
-		break;
-
-	case SYSTEM_STATE_EMCY_CUTOFF:
-		/* Tell the controller to cutoff the motors (thrust = 0) */
-
-		/* set system flags according to state */
-		current_status->flag_system_armed = false;
-
-		warnx("EMERGENCY MOTOR CUTOFF!\n");
-		mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!");
-		break;
-
-	case SYSTEM_STATE_GROUND_ERROR:
-
-		/* set system flags according to state */
-
-		/* prevent actuators from arming */
-		current_status->flag_system_armed = false;
-
-		warnx("GROUND ERROR, locking down propulsion system\n");
-		mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system");
-		break;
-
-	case SYSTEM_STATE_PREFLIGHT:
-		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-		    || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
-			/* set system flags according to state */
-			current_status->flag_system_armed = false;
-			mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state");
-
-		} else {
-			invalid_state = true;
-			mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state");
-		}
-
-		break;
-
-	case SYSTEM_STATE_REBOOT:
-		if (current_status->state_machine == SYSTEM_STATE_STANDBY
-			|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT
-			|| current_status->flag_hil_enabled) {
-			invalid_state = false;
-			/* set system flags according to state */
-			current_status->flag_system_armed = false;
-			mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
-			usleep(500000);
-			up_systemreset();
-			/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
-
-		} else {
-			invalid_state = true;
-			mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
-		}
-
-		break;
-
-	case SYSTEM_STATE_STANDBY:
-		/* set system flags according to state */
-
-		/* standby enforces disarmed */
-		current_status->flag_system_armed = false;
-
-		mavlink_log_critical(mavlink_fd, "Switched to STANDBY state");
-		break;
-
-	case SYSTEM_STATE_GROUND_READY:
-
-		/* set system flags according to state */
-
-		/* ground ready has motors / actuators armed */
-		current_status->flag_system_armed = true;
-
-		mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state");
-		break;
-
-	case SYSTEM_STATE_AUTO:
-
-		/* set system flags according to state */
-
-		/* auto is airborne and in auto mode, motors armed */
-		current_status->flag_system_armed = true;
-
-		mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode");
-		break;
-
-	case SYSTEM_STATE_STABILIZED:
-
-		/* set system flags according to state */
-		current_status->flag_system_armed = true;
-
-		mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode");
-		break;
-
-	case SYSTEM_STATE_MANUAL:
-
-		/* set system flags according to state */
-		current_status->flag_system_armed = true;
-
-		mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode");
-		break;
-
-	default:
-		invalid_state = true;
-		break;
-	}
-
-	if (invalid_state == false || old_state != new_state) {
-		current_status->state_machine = new_state;
-		state_machine_publish(status_pub, current_status, mavlink_fd);
-		publish_armed_status(current_status);
-		ret = OK;
-	}
-
-	if (invalid_state) {
-		mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition");
-		ret = ERROR;
-	}
-
-	return ret;
-}
-
-void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	/* publish the new state */
-	current_status->counter++;
-	current_status->timestamp = hrt_absolute_time();
-
-	/* assemble state vector based on flag values */
-	if (current_status->flag_control_rates_enabled) {
-		current_status->onboard_control_sensors_present |= 0x400;
-
-	} else {
-		current_status->onboard_control_sensors_present &= ~0x400;
-	}
-
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
-	current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
-
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
-	current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
-
-	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-	printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]);
-}
-
-void publish_armed_status(const struct vehicle_status_s *current_status)
-{
-	struct actuator_armed_s armed;
-	armed.armed = current_status->flag_system_armed;
-	/* lock down actuators if required, only in HIL */
-	armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
-	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
-	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
-}
-
-
-/*
- * Private functions, update the state machine
- */
-void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	warnx("EMERGENCY HANDLER\n");
-	/* Depending on the current state go to one of the error states */
-
-	if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
-		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 NOT abort mission
-		//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
-
-	} else {
-		warnx("Unknown system state: #%d\n", current_status->state_machine);
-	}
-}
-
-void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors
-{
-	if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself
-		state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd);
-
-	} else {
-		//global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
-	}
-
-}
-
-
-
-// /*
-//  * Wrapper functions (to be used in the commander), all functions assume lock on current_status
-//  */
-
-// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR
-//  *
-//  * START SUBSYSTEM/EMERGENCY FUNCTIONS
-//  * */
-
-// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_present |= 1 << *subsystem_type;
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-// }
-
-// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type);
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-
-// 	/* if a subsystem was removed something went completely wrong */
-
-// 	switch (*subsystem_type) {
-// 	case SUBSYSTEM_TYPE_GYRO:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_ACC:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_MAG:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_GPS:
-// 		{
-// 			uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV];
-
-// 			if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-// 				//global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY);
-// 				state_machine_emergency(status_pub, current_status);
-// 			}
-// 		}
-// 		break;
-
-// 	default:
-// 		break;
-// 	}
-
-// }
-
-// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type;
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-// }
-
-// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type);
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-
-// 	/* if a subsystem was disabled something went completely wrong */
-
-// 	switch (*subsystem_type) {
-// 	case SUBSYSTEM_TYPE_GYRO:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_ACC:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_MAG:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_GPS:
-// 		{
-// 			uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
-
-// 			if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-// 				//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY);
-// 				state_machine_emergency(status_pub, current_status);
-// 			}
-// 		}
-// 		break;
-
-// 	default:
-// 		break;
-// 	}
-
-// }
-
-
-// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_health |= 1 << *subsystem_type;
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-
-// 	switch (*subsystem_type) {
-// 	case SUBSYSTEM_TYPE_GYRO:
-// 		//TODO state machine change (recovering)
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_ACC:
-// 		//TODO state machine change
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_MAG:
-// 		//TODO state machine change
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_GPS:
-// 		//TODO state machine change
-// 		break;
-
-// 	default:
-// 		break;
-// 	}
-
-
-// }
-
-
-// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type);
-// 	current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type);
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-
-// 	/* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */
-
-// 	switch (*subsystem_type) {
-// 	case SUBSYSTEM_TYPE_GYRO:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL);
-
-// 		if (previosly_healthy) 	//only throw emergency if previously healthy
-// 			state_machine_emergency_always_critical(status_pub, current_status);
-
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_ACC:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL);
-
-// 		if (previosly_healthy) 	//only throw emergency if previously healthy
-// 			state_machine_emergency_always_critical(status_pub, current_status);
-
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_MAG:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL);
-
-// 		if (previosly_healthy) 	//only throw emergency if previously healthy
-// 			state_machine_emergency_always_critical(status_pub, current_status);
-
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_GPS:
-// //			//TODO: remove this block
-// //			break;
-// //			///////////////////
-// 		//global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL);
-
-// //				printf("previosly_healthy = %u\n", previosly_healthy);
-// 		if (previosly_healthy) 	//only throw emergency if previously healthy
-// 			state_machine_emergency(status_pub, current_status);
-
-// 		break;
-
-// 	default:
-// 		break;
-// 	}
-
-// }
-
-
-/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
-
-
-void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	/* Depending on the current state switch state */
-	if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
-	}
-}
-
-void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	/* Depending on the current state switch state */
-	if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) {
-		state_machine_emergency(status_pub, current_status, mavlink_fd);
-	}
-}
-
-void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
-		printf("[cmd] arming\n");
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
-	}
-}
-
-void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
-		printf("[cmd] going standby\n");
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
-
-	} else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
-		printf("[cmd] MISSION ABORT!\n");
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
-	}
-}
-
-void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	int old_mode = current_status->flight_mode;
-	current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
-
-	current_status->flag_control_manual_enabled = true;
-
-	/* set behaviour based on airframe */
-	if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
-	    (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
-	    (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
-
-		/* assuming a rotary wing, set to SAS */
-		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-		current_status->flag_control_attitude_enabled = true;
-		current_status->flag_control_rates_enabled = true;
-
-	} else {
-
-		/* assuming a fixed wing, set to direct pass-through */
-		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
-		current_status->flag_control_attitude_enabled = false;
-		current_status->flag_control_rates_enabled = false;
-	}
-
-	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) {
-		printf("[cmd] manual mode\n");
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
-	}
-}
-
-void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
-		int old_mode = current_status->flight_mode;
-		int old_manual_control_mode = current_status->manual_control_mode;
-		current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
-		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-		current_status->flag_control_attitude_enabled = true;
-		current_status->flag_control_rates_enabled = true;
-		current_status->flag_control_manual_enabled = true;
-
-		if (old_mode != current_status->flight_mode ||
-		    old_manual_control_mode != current_status->manual_control_mode) {
-			printf("[cmd] att stabilized mode\n");
-			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
-			state_machine_publish(status_pub, current_status, mavlink_fd);
-		}
-
-	}
-}
-
-void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	if (!current_status->flag_vector_flight_mode_ok) {
-		mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE");
-		tune_error();
-		return;
-	}
-
-	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
-		printf("[cmd] position guided mode\n");
-		int old_mode = current_status->flight_mode;
-		current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB;
-		current_status->flag_control_manual_enabled = false;
-		current_status->flag_control_attitude_enabled = true;
-		current_status->flag_control_rates_enabled = true;
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
-
-		if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
-
-	}
-}
-
-void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
-{
-	if (!current_status->flag_vector_flight_mode_ok) {
-		mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE");
-		return;
-	}
-
-	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
-		printf("[cmd] auto mode\n");
-		int old_mode = current_status->flight_mode;
-		current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
-		current_status->flag_control_manual_enabled = false;
-		current_status->flag_control_attitude_enabled = true;
-		current_status->flag_control_rates_enabled = true;
-		do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
-
-		if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
-	}
-}
-
-
-uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
-{
-	uint8_t ret = 1;
-
-	/* Switch on HIL if in standby and not already in HIL mode */
-	if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
-	    && !current_status->flag_hil_enabled) {
-		if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
-			/* Enable HIL on request */
-			current_status->flag_hil_enabled = true;
-			ret = OK;
-			state_machine_publish(status_pub, current_status, mavlink_fd);
-			publish_armed_status(current_status);
-			printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
-
-		} else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
-			   current_status->flag_system_armed) {
-
-			mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
-
-		} else {
-
-			mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
-		}
-	}
-
-	/* switch manual / auto */
-	if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
-		update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
-
-	} else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
-		update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
-
-	} else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
-		update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
-
-	} else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
-		update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
-	}
-
-	/* vehicle is disarmed, mode requests arming */
-	if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-		/* only arm in standby state */
-		// XXX REMOVE
-		if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
-			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
-			ret = OK;
-			printf("[cmd] arming due to command request\n");
-		}
-	}
-
-	/* vehicle is armed, mode requests disarming */
-	if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-		/* only disarm in ground ready */
-		if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
-			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
-			ret = OK;
-			printf("[cmd] disarming due to command request\n");
-		}
-	}
-
-	/* NEVER actually switch off HIL without reboot */
-	if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
-		warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
-		mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
-		ret = ERROR;
-	}
-
-	return ret;
-}
-
-uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations
-{
-	commander_state_machine_t current_system_state = current_status->state_machine;
-
-	uint8_t ret = 1;
-
-	switch (custom_mode) {
-	case SYSTEM_STATE_GROUND_READY:
-		break;
-
-	case SYSTEM_STATE_STANDBY:
-		break;
-
-	case SYSTEM_STATE_REBOOT:
-		printf("try to reboot\n");
-
-		if (current_system_state == SYSTEM_STATE_STANDBY
-				|| current_system_state == SYSTEM_STATE_PREFLIGHT
-				|| current_status->flag_hil_enabled) {
-			printf("system will reboot\n");
-			mavlink_log_critical(mavlink_fd, "Rebooting..");
-			usleep(200000);
-			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
-			ret = 0;
-		}
-
-		break;
-
-	case SYSTEM_STATE_AUTO:
-		printf("try to switch to auto/takeoff\n");
-
-		if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) {
-			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
-			printf("state: auto\n");
-			ret = 0;
-		}
-
-		break;
-
-	case SYSTEM_STATE_MANUAL:
-		printf("try to switch to manual\n");
-
-		if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) {
-			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
-			printf("state: manual\n");
-			ret = 0;
-		}
-
-		break;
-
-	default:
-		break;
-	}
-
-	return ret;
-}
-
diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h
deleted file mode 100644
index 2f2ccc729..000000000
--- a/apps/commander/state_machine_helper.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.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 state_machine_helper.h
- * State machine helper functions definitions
- */
-
-#ifndef STATE_MACHINE_HELPER_H_
-#define STATE_MACHINE_HELPER_H_
-
-#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
-#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
-
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_status.h>
-
-/**
- * Switch to new state with no checking.
- *
- * do_state_update: this is the functions that all other functions have to call in order to update the state.
- * the function does not question the state change, this must be done before
- * The function performs actions that are connected with the new state (buzzer, reboot, ...)
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- *
- * @return 0 (macro OK) or 1 on error (macro ERROR)
- */
-int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state);
-
-/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */
-// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-
-// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-
-// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
-
-
-/**
- * Handle state machine if got position fix
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if position fix lost
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if user wants to arm
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if user wants to disarm
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is manual
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is stabilized
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is guided
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Handle state machine if mode switch is auto
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Publish current state information
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-
-/*
- *  Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app).
- *  If the request is obeyed the functions return 0
- *
- */
-
-/**
- * Handles *incoming request* to switch to a specific state, if state change is successful returns 0
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode);
-
-/**
- * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode);
-
-/**
- * Always switches to critical mode under any circumstances.
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Switches to emergency if required.
- *
- * @param status_pub file descriptor for state update topic publication
- * @param current_status pointer to the current state machine to operate on
- * @param mavlink_fd file descriptor for MAVLink statustext messages
- */
-void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
-
-/**
- * Publish the armed state depending on the current system state
- *
- * @param current_status the current system status
- */
-void publish_armed_status(const struct vehicle_status_s *current_status);
-
-
-
-#endif /* STATE_MACHINE_HELPER_H_ */