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

11 files changed, 203 insertions, 181 deletions

diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index f96d901fb..aeaf830de 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -340,7 +340,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 			}
 		}
 
-		if (counter % 16 == 0) {
+		if (counter % 24 == 0) {
 			if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
 
 			if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
@@ -371,7 +371,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 		}
 
 		/* run at approximately 200 Hz */
-		usleep(5000);
+		usleep(4500);
 
 		counter++;
 	}
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index b25e61229..6533390bc 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -63,6 +63,7 @@
 #include <drivers/drv_hrt.h>
 
 #include <systemlib/systemlib.h>
+#include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
 #include "codegen/attitudeKalmanfilter_initialize.h"
@@ -255,6 +256,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
 	unsigned offset_count = 0;
 
+	/* register the perf counter */
+	perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");
+
 	/* Main loop*/
 	while (!thread_should_exit) {
 
@@ -306,6 +310,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					}
 				} else {
 
+					perf_begin(ekf_loop_perf);
+
 					/* Calculate data time difference in seconds */
 					dt = (raw.timestamp - last_measurement) / 1000000.0f;
 					last_measurement = raw.timestamp;
@@ -400,41 +406,6 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						/* due to inputs or numerical failure the output is invalid, skip it */
 						continue;
 					}
-					
-					// uint64_t timing_diff = hrt_absolute_time() - timing_start;
-
-					// /* print rotation matrix every 200th time */
-					if (printcounter % 200 == 0) {
-						// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
-						// 	x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
-						// 	x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
-						// 	x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
-
-
-						// }
-
-						//printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
-						//printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
-						//printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
-						// 	printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
-						// 	       (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
-						// 	       (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
-					}
-
-					// 				int i = printcounter % 9;
-
-					// 	// for (int i = 0; i < 9; i++) {
-					// 		char name[10];
-					// 		sprintf(name, "xapo #%d", i);
-					// 		memcpy(dbg.key, name, sizeof(dbg.key));
-					// 		dbg.value = x_aposteriori[i];
-					// if (pub_dbg < 0) {
-							// pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
-					// } else {
-					// 		orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
-					// }
-
-					printcounter++;
 
 					if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
 
@@ -463,6 +434,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					} else {
 						warnx("NaN in roll/pitch/yaw estimate!");
 					}
+
+					perf_end(ekf_loop_perf);
 				}
 			}
 		}
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 891efe9d7..657c9af9a 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -213,6 +213,24 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 	/* 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("[commander] new state: %s\n", system_state_txt[current_status->state_machine]);
 }
diff --git a/apps/drivers/drv_led.h b/apps/drivers/drv_led.h
index 7eb9e4b7c..21044f620 100644
--- a/apps/drivers/drv_led.h
+++ b/apps/drivers/drv_led.h
@@ -47,9 +47,9 @@
 #define _LED_BASE		0x2800
 
 /* PX4 LED colour codes */
-#define LED_AMBER		0
-#define LED_RED			0	/* some boards have red rather than amber */
-#define LED_BLUE		1
+#define LED_AMBER		1
+#define LED_RED			1	/* some boards have red rather than amber */
+#define LED_BLUE		0
 #define LED_SAFETY		2
 
 #define LED_ON			_IOC(_LED_BASE, 0)
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp
index 81bc8954b..a1587b783 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/apps/drivers/hmc5883/hmc5883.cpp
@@ -634,8 +634,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (mag_scale *)arg, sizeof(_scale));
-		(void)check_calibration();
-		return 0;
+		return check_calibration();
 
 	case MAGIOCGSCALE:
 		/* copy out scale factors */
@@ -1012,7 +1011,12 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 out:
 
 	if (ret == OK) {
-		warnx("mag scale calibration successfully finished.");
+		if (!check_calibration()) {
+			warnx("mag scale calibration successfully finished.");
+		} else {
+			warnx("mag scale calibration finished with invalid results.");
+			ret == ERROR;
+		}
 
 	} else {
 		warnx("mag scale calibration failed.");
diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c
index 604dba05c..7ba4f52b0 100644
--- a/apps/gps/mtk.c
+++ b/apps/gps/mtk.c
@@ -410,6 +410,8 @@ void *mtk_watchdog_loop(void *args)
 		} else {
 			/* gps healthy */
 			mtk_success_count++;
+			mtk_fail_count = 0;
+			once_ok = true; // XXX Should this be true on a single success, or on same criteria as mtk_healthy?
 
 			if (!mtk_healthy && mtk_success_count >= MTK_HEALTH_SUCCESS_COUNTER_LIMIT) {
 				printf("[gps] MTK module found, status ok (baud=%d)\r\n", current_gps_speed);
@@ -418,11 +420,8 @@ void *mtk_watchdog_loop(void *args)
 				mtk_gps->satellite_info_available = 0;
 				// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
 				mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
+				mtk_healthy = true;
 			}
-
-			mtk_healthy = true;
-			mtk_fail_count = 0;
-			once_ok = true;
 		}
 
 		usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
index 21e917bf8..2bbecb12e 100644
--- a/apps/gps/ubx.c
+++ b/apps/gps/ubx.c
@@ -786,22 +786,18 @@ void *ubx_watchdog_loop(void *args)
 			sleep(1);
 
 		} else {
+			/* gps healthy */
+			ubx_success_count++;
+			ubx_fail_count = 0;
+			once_ok = true; // XXX Should this be true on a single success, or on same criteria as ubx_healthy?
 
 			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
 				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
 				// global_data_send_subsystem_info(&ubx_present_enabled_healthy);
 				mavlink_log_info(mavlink_fd, "[gps] UBX module found, status ok\n");
 				ubx_healthy = true;
-				ubx_fail_count = 0;
-				once_ok = true;
 			}
-
-			/* gps healthy */
-			ubx_success_count++;
-			ubx_healthy = true;
-			ubx_fail_count = 0;
 		}
-
 		usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);
 	}
 
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 29463d744..fd29e3660 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -65,6 +65,7 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/parameter_update.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
@@ -104,6 +105,7 @@ mc_thread_main(int argc, char *argv[])
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int param_sub = orb_subscribe(ORB_ID(parameter_update));
 	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -118,7 +120,10 @@ mc_thread_main(int argc, char *argv[])
 	 * rate-limit the attitude subscription to 200Hz to pace our loop
 	 * orb_set_interval(att_sub, 5);
 	 */
-	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
+	struct pollfd fds[2] = {
+					{ .fd = att_sub, .events = POLLIN },
+					{ .fd = param_sub, .events = POLLIN }
+				};
 
 	/* publish actuator controls */
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
@@ -131,7 +136,9 @@ mc_thread_main(int argc, char *argv[])
 	int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
 
 	/* register the perf counter */
-	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
+	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime");
+	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval");
+	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err");
 
 	/* welcome user */
 	printf("[multirotor_att_control] starting\n");
@@ -140,143 +147,163 @@ mc_thread_main(int argc, char *argv[])
 	bool flag_control_manual_enabled = false;
 	bool flag_control_attitude_enabled = false;
 	bool flag_system_armed = false;
-	bool man_yaw_zero_once = false;
 
 	while (!thread_should_exit) {
 
 		/* wait for a sensor update, check for exit condition every 500 ms */
-		poll(&fds, 1, 500);
+		int ret = poll(fds, 2, 500);
+
+		if (ret < 0) {
+			/* poll error, count it in perf */
+			perf_count(mc_err_perf);
+		} else if (ret == 0) {
+			/* no return value, ignore */
+		} else {
+
+			/* only update parameters if they changed */
+			if (fds[1].revents & POLLIN) {
+				/* read from param to clear updated flag */
+				struct parameter_update_s update;
+				orb_copy(ORB_ID(parameter_update), param_sub, &update);
+
+				/* update parameters */
+				// XXX no params here yet
+			}
 
-		perf_begin(mc_loop_perf);
+			/* only run controller if attitude changed */
+			if (fds[0].revents & POLLIN) {
 
-		/* get a local copy of system state */
-		bool updated;
-		orb_check(state_sub, &updated);
-		if (updated) {
-			orb_copy(ORB_ID(vehicle_status), state_sub, &state);
-		}
-		/* get a local copy of manual setpoint */
-		orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
-		/* get a local copy of attitude */
-		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-		/* get a local copy of attitude setpoint */
-		orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
-		/* get a local copy of rates setpoint */
-		orb_check(setpoint_sub, &updated);
-		if (updated) {
-			orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
-		}
-		/* get a local copy of the current sensor values */
-		orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
-
-
-		/** STEP 1: Define which input is the dominating control input */
-		if (state.flag_control_offboard_enabled) {
-					/* offboard inputs */
-					if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
-						rates_sp.roll = offboard_sp.p1;
-						rates_sp.pitch = offboard_sp.p2;
-						rates_sp.yaw = offboard_sp.p3;
-						rates_sp.thrust = offboard_sp.p4;
-//						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
+				perf_begin(mc_loop_perf);
+
+				/* get a local copy of system state */
+				bool updated;
+				orb_check(state_sub, &updated);
+				if (updated) {
+					orb_copy(ORB_ID(vehicle_status), state_sub, &state);
+				}
+				/* get a local copy of manual setpoint */
+				orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual);
+				/* get a local copy of attitude */
+				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+				/* get a local copy of attitude setpoint */
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
+				/* get a local copy of rates setpoint */
+				orb_check(setpoint_sub, &updated);
+				if (updated) {
+					orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp);
+				}
+				/* get a local copy of the current sensor values */
+				orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+
+
+				/** STEP 1: Define which input is the dominating control input */
+				if (state.flag_control_offboard_enabled) {
+							/* offboard inputs */
+							if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
+								rates_sp.roll = offboard_sp.p1;
+								rates_sp.pitch = offboard_sp.p2;
+								rates_sp.yaw = offboard_sp.p3;
+								rates_sp.thrust = offboard_sp.p4;
+		//						printf("thrust_rate=%8.4f\n",offboard_sp.p4);
+								rates_sp.timestamp = hrt_absolute_time();
+								orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
+							} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
+								att_sp.roll_body = offboard_sp.p1;
+								att_sp.pitch_body = offboard_sp.p2;
+								att_sp.yaw_body = offboard_sp.p3;
+								att_sp.thrust = offboard_sp.p4;
+		//						printf("thrust_att=%8.4f\n",offboard_sp.p4);
+								att_sp.timestamp = hrt_absolute_time();
+								/* STEP 2: publish the result to the vehicle actuators */
+								orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+							}
+
+							/* decide wether we want rate or position input */
+						}
+				else if (state.flag_control_manual_enabled) {
+					/* manual inputs, from RC control or joystick */
+
+					if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
+						rates_sp.roll = manual.roll;
+
+						rates_sp.pitch = manual.pitch;
+						rates_sp.yaw = manual.yaw;
+						rates_sp.thrust = manual.throttle;
 						rates_sp.timestamp = hrt_absolute_time();
-						orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-					} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
-						att_sp.roll_body = offboard_sp.p1;
-						att_sp.pitch_body = offboard_sp.p2;
-						att_sp.yaw_body = offboard_sp.p3;
-						att_sp.thrust = offboard_sp.p4;
-//						printf("thrust_att=%8.4f\n",offboard_sp.p4);
+					}
+
+					if (state.flag_control_attitude_enabled) {
+
+						/* initialize to current yaw if switching to manual or att control */
+						if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
+					 	    state.flag_control_manual_enabled != flag_control_manual_enabled ||
+					 	    state.flag_system_armed != flag_system_armed) {
+							att_sp.yaw_body = att.yaw;
+						}
+
+						att_sp.roll_body = manual.roll;
+						att_sp.pitch_body = manual.pitch;
+
+						/* only move setpoint if manual input is != 0 */
+						// XXX turn into param
+						if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+							att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
+						} else if (manual.throttle <= 0.3f) {
+							att_sp.yaw_body = att.yaw;
+						}
+						att_sp.thrust = manual.throttle;
+						att_sp.timestamp = hrt_absolute_time();
+					}
+					/* STEP 2: publish the result to the vehicle actuators */
+					orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+
+					if (motor_test_mode) {
+						printf("testmode");
+						att_sp.roll_body = 0.0f;
+						att_sp.pitch_body = 0.0f;
+						att_sp.yaw_body = 0.0f;
+						att_sp.thrust = 0.1f;
 						att_sp.timestamp = hrt_absolute_time();
 						/* STEP 2: publish the result to the vehicle actuators */
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 					}
 
-					/* decide wether we want rate or position input */
 				}
-		else if (state.flag_control_manual_enabled) {
-			/* manual inputs, from RC control or joystick */
-
-			if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
-				rates_sp.roll = manual.roll;
-
-				rates_sp.pitch = manual.pitch;
-				rates_sp.yaw = manual.yaw;
-				rates_sp.thrust = manual.throttle;
-				rates_sp.timestamp = hrt_absolute_time();
-			}
-
-			if (state.flag_control_attitude_enabled) {
 
-				/* initialize to current yaw if switching to manual or att control */
-				if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
-			 	    state.flag_control_manual_enabled != flag_control_manual_enabled ||
-			 	    state.flag_system_armed != flag_system_armed) {
-					att_sp.yaw_body = att.yaw;
+				/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
+				if (state.flag_control_attitude_enabled) {
+				 	multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
+				 	orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
 				}
 
-				att_sp.roll_body = manual.roll;
-				att_sp.pitch_body = manual.pitch;
+				/* measure in what intervals the controller runs */
+				perf_count(mc_interval_perf);
 
-				/* only move setpoint if manual input is != 0 */
-				// XXX turn into param
-				if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
-					att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
-				} else if (manual.throttle <= 0.3f) {
-					att_sp.yaw_body = att.yaw;
-				}
-				att_sp.thrust = manual.throttle;
-				att_sp.timestamp = hrt_absolute_time();
-			}
-			/* STEP 2: publish the result to the vehicle actuators */
-			orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-
-			if (motor_test_mode) {
-				printf("testmode");
-				att_sp.roll_body = 0.0f;
-				att_sp.pitch_body = 0.0f;
-				att_sp.yaw_body = 0.0f;
-				att_sp.thrust = 0.1f;
-				att_sp.timestamp = hrt_absolute_time();
-				/* STEP 2: publish the result to the vehicle actuators */
-				orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-			}
-
-		}
-
-		/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
-		if (state.flag_control_attitude_enabled) {
-		 	multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
-		 	orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
-		}
+				float gyro[3];
 
+				/* get current rate setpoint */
+				bool rates_sp_valid = false;
+				orb_check(rates_sp_sub, &rates_sp_valid);
+				if (rates_sp_valid) {
+					orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
+				}
 
-		if (state.flag_control_rates_enabled) {
-
-			float gyro[3];
-
-			/* get current rate setpoint */
-			bool rates_sp_valid = false;
-			orb_check(rates_sp_sub, &rates_sp_valid);
-			if (rates_sp_valid) {
-				orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp);
-			}
-
-			/* apply controller */
-			gyro[0] = att.rollspeed;
-			gyro[1] = att.pitchspeed;
-			gyro[2] = att.yawspeed;
+				/* apply controller */
+				gyro[0] = att.rollspeed;
+				gyro[1] = att.pitchspeed;
+				gyro[2] = att.yawspeed;
 
-			multirotor_control_rates(&rates_sp, gyro, &actuators);
-			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-		}
+				multirotor_control_rates(&rates_sp, gyro, &actuators);
+				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
-		/* update state */
-		flag_control_attitude_enabled = state.flag_control_attitude_enabled;
-		flag_control_manual_enabled = state.flag_control_manual_enabled;
-		flag_system_armed = state.flag_system_armed;
+				/* update state */
+				flag_control_attitude_enabled = state.flag_control_attitude_enabled;
+				flag_control_manual_enabled = state.flag_control_manual_enabled;
+				flag_system_armed = state.flag_system_armed;
 
-		perf_end(mc_loop_perf);
+				perf_end(mc_loop_perf);
+			} /* end of poll call for attitude updates */
+		} /* end of poll return value check */
 	}
 
 	printf("[multirotor att control] stopping, disarming motors.\n");
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 839d56d29..8ffa90238 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -199,9 +199,9 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 
-		/* apply parameters */
-		printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
+		//printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
 
+		/* apply parameters */
 		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 	}
diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c
index c33af1311..c5960e757 100644
--- a/apps/px4/tests/test_adc.c
+++ b/apps/px4/tests/test_adc.c
@@ -127,18 +127,18 @@ int test_adc(int argc, char *argv[])
 
 				message("channel: %d value: %d\n",
 					(int)sample1.am_channel1, sample1.am_data1);
-				message("channel: %d value: %d",
+				message("channel: %d value: %d\n",
 					(int)sample1.am_channel2, sample1.am_data2);
-				message("channel: %d value: %d",
+				message("channel: %d value: %d\n",
 					(int)sample1.am_channel3, sample1.am_data3);
-				message("channel: %d value: %d",
+				message("channel: %d value: %d\n",
 					(int)sample1.am_channel4, sample1.am_data4);
 			}
 		}
 		fflush(stdout);
 	}
 
-	message("\t ADC test successful.");
+	message("\t ADC test successful.\n");
 
 errout_with_dev:
 
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 7c1503f0d..eea51cc1e 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -870,7 +870,12 @@ Sensors::ppm_poll()
 	/* we are accepting this message */
 	_ppm_last_valid = ppm_last_valid_decode;
 
-	if (ppm_decoded_channels > 2 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
+	/*
+	 * relying on two decoded channels is very noise-prone,
+	 * in particular if nothing is connected to the pins.
+	 * requiring a minimum of four channels
+	 */
+	if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
 
 		for (int i = 0; i < ppm_decoded_channels; i++) {
 			raw.values[i] = ppm_buffer[i];
@@ -898,8 +903,8 @@ Sensors::ppm_poll()
 
 		struct manual_control_setpoint_s manual_control;
 
-		/* require at least two chanels to consider the signal valid */
-		if (rc_input.channel_count < 2)
+		/* require at least four channels to consider the signal valid */
+		if (rc_input.channel_count < 4)
 			return;
 
 		unsigned channel_limit = rc_input.channel_count;