Merged PX4Flow driver changes

32 files changed, 245 insertions, 150 deletions

diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 293690d27..6db6713c4 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -147,7 +147,7 @@ Airspeed::init()
 		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
 
 		if (_airspeed_pub < 0)
-			warnx("failed to create airspeed sensor object. uORB started?");
+			warnx("uORB started?");
 	}
 
 	ret = OK;
@@ -159,13 +159,15 @@ out:
 int
 Airspeed::probe()
 {
-	/* on initial power up the device needs more than one retry
-	   for detection. Once it is running then retries aren't
-	   needed 
+	/* on initial power up the device may need more than one retry
+	   for detection. Once it is running the number of retries can
+	   be reduced
 	*/
 	_retries = 4;
 	int ret = measure();
-	_retries = 0;
+
+        // drop back to 2 retries once initialised
+	_retries = 2;
 	return ret;
 }
 
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index e5bb772b3..9d2c1441d 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -89,8 +89,8 @@ static void
 usage(const char *reason)
 {
 	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
+		warnx("%s\n", reason);
+	warnx("usage: {start|stop|status} [-d <UART>]\n\n");
 	exit(1);
 }
 
@@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			printf("ardrone_interface already running\n");
+			warnx("already running\n");
 			/* this is not an error */
 			exit(0);
 		}
@@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tardrone_interface is running\n");
+			warnx("running");
 		} else {
-			printf("\tardrone_interface not started\n");
+			warnx("not started");
 		}
 		exit(0);
 	}
@@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
 
 	/* Back up the original uart configuration to restore it after exit */
 	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
+		warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
@@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
 
 	/* Set baud rate */
 	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
 
 
 	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		warnx("ERR: tcsetattr: %s", uart_name);
 		close(uart);
 		return -1;
 	}
@@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 
 	char *device = "/dev/ttyS1";
 
-	/* welcome user */
-	printf("[ardrone_interface] Control started, taking over motors\n");
-
 	/* File descriptors */
 	int gpios;
 
@@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	struct termios uart_config_original;
 
 	if (motor_test_mode) {
-		printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
+		warnx("setting 10 %% thrust.\n");
 	}
 
 	/* Led animation */
@@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
 	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
-	printf("[ardrone_interface] Motors initialized - ready.\n");
-	fflush(stdout);
-
 	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
 	ardrone_write = ardrone_open_uart(device, &uart_config_original);
 
@@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	gpios = ar_multiplexing_init();
 
 	if (ardrone_write < 0) {
-		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
+		warnx("No UART, exiting.");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	/* initialize motors */
 	if (OK != ar_init_motors(ardrone_write, gpios)) {
 		close(ardrone_write);
-		fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
+		warnx("motor init fail");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	gpios = ar_multiplexing_init();
 
 	if (ardrone_write < 0) {
-		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
+		warnx("write fail");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	/* initialize motors */
 	if (OK != ar_init_motors(ardrone_write, gpios)) {
 		close(ardrone_write);
-		fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
+		warnx("motor init fail");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	int termios_state;
 
 	if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
+		warnx("ERR: tcsetattr");
 	}
 
-	printf("[ardrone_interface] Restored original UART config, exiting..\n");
-
 	/* close uarts */
 	close(ardrone_write);
 	ar_multiplexing_deinit(gpios);
diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index fc017dd58..4fa24275f 100644
--- a/src/drivers/ardrone_interface/ardrone_motor_control.c
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.c
@@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
 	ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
 
 	if (errcounter != 0) {
-		fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
+		warnx("Failed %d times", -errcounter);
 		fflush(stdout);
 	}
 	return errcounter;
diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk
index b53fe0a29..0a2d91009 100644
--- a/src/drivers/boards/aerocore/module.mk
+++ b/src/drivers/boards/aerocore/module.mk
@@ -6,3 +6,5 @@ SRCS		 = aerocore_init.c \
 		   aerocore_pwm_servo.c \
 		   aerocore_spi.c \
 		   aerocore_led.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4fmu-v1/module.mk b/src/drivers/boards/px4fmu-v1/module.mk
index 66b776917..5e1a27d5a 100644
--- a/src/drivers/boards/px4fmu-v1/module.mk
+++ b/src/drivers/boards/px4fmu-v1/module.mk
@@ -8,3 +8,5 @@ SRCS		 = px4fmu_can.c \
 		   px4fmu_spi.c \
 		   px4fmu_usb.c \
 		   px4fmu_led.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4fmu-v2/module.mk b/src/drivers/boards/px4fmu-v2/module.mk
index 99d37eeca..103232b0c 100644
--- a/src/drivers/boards/px4fmu-v2/module.mk
+++ b/src/drivers/boards/px4fmu-v2/module.mk
@@ -8,3 +8,5 @@ SRCS		 = px4fmu_can.c \
 		   px4fmu_spi.c \
 		   px4fmu_usb.c \
 		   px4fmu2_led.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4io-v1/module.mk b/src/drivers/boards/px4io-v1/module.mk
index 2601a1c15..a7a14dd07 100644
--- a/src/drivers/boards/px4io-v1/module.mk
+++ b/src/drivers/boards/px4io-v1/module.mk
@@ -4,3 +4,5 @@
 
 SRCS	= px4io_init.c \
 	  px4io_pwm_servo.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h
index ef9bb5cad..10a93be0b 100644
--- a/src/drivers/boards/px4io-v2/board_config.h
+++ b/src/drivers/boards/px4io-v2/board_config.h
@@ -77,6 +77,7 @@
 #define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
 #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
 #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
 
 /* Safety switch button *******************************************************/
 
diff --git a/src/drivers/boards/px4io-v2/module.mk b/src/drivers/boards/px4io-v2/module.mk
index 85f94e8be..3f0e9a0b3 100644
--- a/src/drivers/boards/px4io-v2/module.mk
+++ b/src/drivers/boards/px4io-v2/module.mk
@@ -4,3 +4,5 @@
 
 SRCS		= px4iov2_init.c \
 		  px4iov2_pwm_servo.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c
index 9f8c0eeb2..5c3343ccc 100644
--- a/src/drivers/boards/px4io-v2/px4iov2_init.c
+++ b/src/drivers/boards/px4io-v2/px4iov2_init.c
@@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_LED1);
 	stm32_configgpio(GPIO_LED2);
 	stm32_configgpio(GPIO_LED3);
+	stm32_configgpio(GPIO_LED4);
 
 	stm32_configgpio(GPIO_BTN_SAFETY);
 
diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h
index 9d684e394..67aaa0aff 100644
--- a/src/drivers/device/device.h
+++ b/src/drivers/device/device.h
@@ -130,7 +130,8 @@ public:
 	enum DeviceBusType {
 		DeviceBusType_UNKNOWN = 0,
 		DeviceBusType_I2C     = 1,
-		DeviceBusType_SPI     = 2
+		DeviceBusType_SPI     = 2,
+		DeviceBusType_UAVCAN  = 3,
 	};
 
 	/*
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 6873f24b6..b10c3e18a 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -117,6 +117,23 @@ struct pwm_output_values {
 	unsigned			channel_count;
 };
 
+
+/**
+ * RC config values for a channel
+ *
+ * This allows for PX4IO_PAGE_RC_CONFIG values to be set without a
+ * param_get() dependency
+ */
+struct pwm_output_rc_config {
+	uint8_t channel;
+	uint16_t rc_min;
+	uint16_t rc_trim;
+	uint16_t rc_max;
+	uint16_t rc_dz;
+	uint16_t rc_assignment;
+	bool     rc_reverse;
+};
+
 /*
  * ORB tag for PWM outputs.
  */
@@ -214,7 +231,19 @@ ORB_DECLARE(output_pwm);
 #define PWM_SERVO_SET_TERMINATION_FAILSAFE	_IOC(_PWM_SERVO_BASE, 25)
 
 /** force safety switch on (to enable use of safety switch) */
-#define PWM_SERVO_SET_FORCE_SAFETY_ON  _IOC(_PWM_SERVO_BASE, 26)
+#define PWM_SERVO_SET_FORCE_SAFETY_ON		_IOC(_PWM_SERVO_BASE, 26)
+
+/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
+#define PWM_SERVO_SET_RC_CONFIG			_IOC(_PWM_SERVO_BASE, 27)
+
+/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
+#define PWM_SERVO_SET_OVERRIDE_OK		_IOC(_PWM_SERVO_BASE, 28)
+
+/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
+#define PWM_SERVO_CLEAR_OVERRIDE_OK		_IOC(_PWM_SERVO_BASE, 29)
+
+/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
+#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE	_IOC(_PWM_SERVO_BASE, 30)
 
 /*
  *
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
index 6e0839043..bccdf1190 100644
--- a/src/drivers/frsky_telemetry/frsky_telemetry.c
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -84,7 +84,7 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
 	/* Back up the original UART configuration to restore it after exit */
 	int termios_state;
 	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
+		warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
@@ -100,13 +100,13 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
 	static const speed_t speed = B9600;
 
 	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
 
 	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		warnx("ERR: %s (tcsetattr)\n", uart_name);
 		close(uart);
 		return -1;
 	}
@@ -151,9 +151,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
 		}
 	}
 
-	/* Print welcome text */
-	warnx("FrSky telemetry interface starting...");
-
 	/* Open UART */
 	struct termios uart_config_original;
 	const int uart = frsky_open_uart(device_name, &uart_config_original);
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 5fb4b9ff8..47c907bd3 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -274,7 +274,6 @@ GPS::task_main_trampoline(void *arg)
 void
 GPS::task_main()
 {
-	log("starting");
 
 	/* open the serial port */
 	_serial_fd = ::open(_port, O_RDWR);
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index f0dc0c651..9b5c8133b 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -442,8 +442,6 @@ HIL::task_main()
 	/* make sure servos are off */
 	// up_pwm_servo_deinit();
 
-	log("stopping");
-
 	/* note - someone else is responsible for restoring the GPIO config */
 
 	/* tell the dtor that we are exiting */
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index e4ecfa6b5..81f767965 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 	 * LSM/Ga, giving 1.16 and 1.08 */
 	float expected_cal[3] = { 1.16f, 1.08f, 1.08f };
 
-	warnx("starting mag scale calibration");
-
 	/* start the sensor polling at 50 Hz */
 	if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
-		warn("failed to set 2Hz poll rate");
+		warn("FAILED: SENSORIOCSPOLLRATE 2Hz");
 		ret = 1;
 		goto out;
 	}
@@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 	/* Set to 2.5 Gauss. We ask for 3 to get the right part of
          * the chained if statement above. */
 	if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
-		warnx("failed to set 2.5 Ga range");
+		warnx("FAILED: MAGIOCSRANGE 3.3 Ga");
 		ret = 1;
 		goto out;
 	}
 
 	if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
-		warnx("failed to enable sensor calibration mode");
+		warnx("FAILED: MAGIOCEXSTRAP 1");
 		ret = 1;
 		goto out;
 	}
 
 	if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
-		warn("WARNING: failed to get scale / offsets for mag");
+		warn("FAILED: MAGIOCGSCALE 1");
 		ret = 1;
 		goto out;
 	}
 
 	if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
-		warn("WARNING: failed to set null scale / offsets for mag");
+		warn("FAILED: MAGIOCSSCALE 1");
 		ret = 1;
 		goto out;
 	}
@@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 		ret = ::poll(&fds, 1, 2000);
 
 		if (ret != 1) {
-			warn("timed out waiting for sensor data");
+			warn("ERROR: TIMEOUT 1");
 			goto out;
 		}
 
@@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 		sz = ::read(fd, &report, sizeof(report));
 
 		if (sz != sizeof(report)) {
-			warn("periodic read failed");
+			warn("ERROR: READ 1");
 			ret = -EIO;
 			goto out;
 		}
@@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 		ret = ::poll(&fds, 1, 2000);
 
 		if (ret != 1) {
-			warn("timed out waiting for sensor data");
+			warn("ERROR: TIMEOUT 2");
 			goto out;
 		}
 
@@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 		sz = ::read(fd, &report, sizeof(report));
 
 		if (sz != sizeof(report)) {
-			warn("periodic read failed");
+			warn("ERROR: READ 2");
 			ret = -EIO;
 			goto out;
 		}
@@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 			sum_excited[1] += cal[1];
 			sum_excited[2] += cal[2];
 		}
-
-		//warnx("periodic read %u", i);
-		//warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-		//warnx("cal: %.6f  %.6f  %.6f", (double)cal[0], (double)cal[1], (double)cal[2]);
 	}
 
 	if (good_count < 5) {
-		warn("failed calibration");
 		ret = -EIO;
 		goto out;
 	}
 
-#if 0
-	warnx("measurement avg: %.6f  %.6f  %.6f", 
-	      (double)sum_excited[0]/good_count, 
-	      (double)sum_excited[1]/good_count, 
-	      (double)sum_excited[2]/good_count);
-#endif
-
 	float scaling[3];
 
 	scaling[0] = sum_excited[0] / good_count;
 	scaling[1] = sum_excited[1] / good_count;
 	scaling[2] = sum_excited[2] / good_count;
 
-	warnx("axes scaling: %.6f  %.6f  %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
-
 	/* set scaling in device */
 	mscale_previous.x_scale = scaling[0];
 	mscale_previous.y_scale = scaling[1];
@@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 out:
 
 	if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
-		warn("failed to set new scale / offsets for mag");
+		warn("FAILED: MAGIOCSSCALE 2");
 	}
 
 	/* set back to normal mode */
 	/* Set to 1.1 Gauss */
 	if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
-		warnx("failed to set 1.1 Ga range");
+		warnx("FAILED: MAGIOCSRANGE 1.1 Ga");
 	}
 
 	if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
-		warnx("failed to disable sensor calibration mode");
+		warnx("FAILED: MAGIOCEXSTRAP 0");
 	}
 
 	if (ret == OK) {
-		if (!check_scale()) {
-			warnx("mag scale calibration successfully finished.");
-		} else {
-			warnx("mag scale calibration finished with invalid results.");
+		if (check_scale()) {
+			/* failed */
+			warnx("FAILED: SCALE");
 			ret = ERROR;
 		}
 
-	} else {
-		warnx("mag scale calibration failed.");
 	}
 
 	return ret;
diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk
index 5daa01dc5..be2ee7276 100644
--- a/src/drivers/hmc5883/module.mk
+++ b/src/drivers/hmc5883/module.mk
@@ -42,3 +42,5 @@ SRCS		= hmc5883.cpp
 MODULE_STACKSIZE	= 1200
 
 EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/hott/comms.cpp b/src/drivers/hott/comms.cpp
index cb8bbba37..60a49b559 100644
--- a/src/drivers/hott/comms.cpp
+++ b/src/drivers/hott/comms.cpp
@@ -55,7 +55,7 @@ open_uart(const char *device)
 	const int uart = open(device, O_RDWR | O_NOCTTY);
 
 	if (uart < 0) {
-		err(1, "Error opening port: %s", device);
+		err(1, "ERR: opening %s", device);
 	}
 	
 	/* Back up the original uart configuration to restore it after exit */	
@@ -63,7 +63,7 @@ open_uart(const char *device)
 	struct termios uart_config_original;
 	if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
 		close(uart);
-		err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
+		err(1, "ERR: %s: %d", device, termios_state);
 	}
 
 	/* Fill the struct for the new configuration */
@@ -76,13 +76,13 @@ open_uart(const char *device)
 	/* Set baud rate */
 	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
 		close(uart);
-		err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
+		err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
 			 device, termios_state);
 	}
 
 	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
 		close(uart);
-		err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
+		err(1, "ERR: %s (tcsetattr)", device);
 	}
 
 	/* Activate single wire mode */
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index a3d3a3933..8ab9d8d55 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -204,7 +204,7 @@ hott_sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			warnx("deamon already running");
+			warnx("already running");
 			exit(0);
 		}
 
@@ -225,10 +225,10 @@ hott_sensors_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			warnx("daemon is running");
+			warnx("is running");
 
 		} else {
-			warnx("daemon not started");
+			warnx("not started");
 		}
 
 		exit(0);
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index d293f9954..edbb14172 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -230,7 +230,7 @@ hott_telemetry_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			warnx("deamon already running");
+			warnx("already running");
 			exit(0);
 		}
 
@@ -251,10 +251,10 @@ hott_telemetry_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			warnx("daemon is running");
+			warnx("is running");
 
 		} else {
-			warnx("daemon not started");
+			warnx("not started");
 		}
 
 		exit(0);
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index cfae8761c..82fa5cc6e 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -176,6 +176,7 @@ static const int ERROR = -1;
 #define L3G4200D_DEFAULT_RATE			800
 #define L3GD20_DEFAULT_RANGE_DPS		2000
 #define L3GD20_DEFAULT_FILTER_FREQ		30
+#define L3GD20_TEMP_OFFSET_CELSIUS		40
 
 #ifndef SENSOR_BOARD_ROTATION_DEFAULT
 #define SENSOR_BOARD_ROTATION_DEFAULT		SENSOR_BOARD_ROTATION_270_DEG
@@ -856,7 +857,7 @@ L3GD20::measure()
 #pragma pack(push, 1)
 	struct {
 		uint8_t		cmd;
-		uint8_t		temp;
+		int8_t		temp;
 		uint8_t		status;
 		int16_t		x;
 		int16_t		y;
@@ -930,6 +931,8 @@ L3GD20::measure()
 
 	report.z_raw = raw_report.z;
 
+	report.temperature_raw = raw_report.temp;
+
 	report.x = ((report.x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
 	report.y = ((report.y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
 	report.z = ((report.z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
@@ -938,6 +941,8 @@ L3GD20::measure()
 	report.y = _gyro_filter_y.apply(report.y);
 	report.z = _gyro_filter_z.apply(report.z);
 
+	report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
+
 	// apply user specified rotation
 	rotate_3f(_rotation, report.x, report.y, report.z);
 
@@ -1091,9 +1096,11 @@ test()
 	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
 	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
 	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
+	warnx("temp: \t%d\tC", (int)g_report.temperature);
 	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
 	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
 	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
+	warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
 	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
 	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
 
diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk
index 5630e7aec..3d64d62be 100644
--- a/src/drivers/l3gd20/module.mk
+++ b/src/drivers/l3gd20/module.mk
@@ -8,3 +8,5 @@ SRCS		 = l3gd20.cpp
 MODULE_STACKSIZE	= 1200
 
 EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/lsm303d/module.mk b/src/drivers/lsm303d/module.mk
index b4f3974f4..0421eb113 100644
--- a/src/drivers/lsm303d/module.mk
+++ b/src/drivers/lsm303d/module.mk
@@ -8,3 +8,5 @@ SRCS		 = lsm303d.cpp
 MODULE_STACKSIZE	= 1200
 
 EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 1d9a463ad..ba46de379 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -519,7 +519,7 @@ test()
 		ret = poll(&fds, 1, 2000);
 
 		if (ret != 1) {
-			errx(1, "timed out waiting for sensor data");
+			errx(1, "timed out");
 		}
 
 		/* now go get it */
diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk
index 5b4893b12..da9fcc0fc 100644
--- a/src/drivers/mpu6000/module.mk
+++ b/src/drivers/mpu6000/module.mk
@@ -42,3 +42,5 @@ SRCS		= mpu6000.cpp
 MODULE_STACKSIZE	= 1200
 
 EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index b075f8706..09ec4bf96 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -75,7 +75,7 @@
 /* Configuration Constants */
 #define I2C_FLOW_ADDRESS 		0x42 //* 7-bit address. 8-bit address is 0x84
 //range 0x42 - 0x49
- 
+
 /* PX4FLOW Registers addresses */
 #define PX4FLOW_REG		0x16	/* Measure Register 22*/
 
@@ -211,7 +211,7 @@ PX4FLOW::PX4FLOW(int bus, int address) :
 	_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
 {
 	// enable debug() calls
-	_debug_enabled = true;
+	_debug_enabled = false;
 
 	// work_cancel in the dtor will explode if we don't do this...
 	memset(&_work, 0, sizeof(_work));
@@ -441,7 +441,7 @@ PX4FLOW::measure()
 
 	if (OK != ret) {
 		perf_count(_comms_errors);
-		log("i2c::transfer returned %d", ret);
+		debug("i2c::transfer returned %d", ret);
 		return ret;
 	}
 
@@ -469,7 +469,7 @@ PX4FLOW::collect()
 	}
 
 	if (ret < 0) {
-		log("error reading from sensor: %d", ret);
+		debug("error reading from sensor: %d", ret);
 		perf_count(_comms_errors);
 		perf_end(_sample_perf);
 		return ret;
@@ -603,12 +603,12 @@ void
 PX4FLOW::cycle()
 {
 	if (OK != measure()) {
-		log("measure error");
+		debug("measure error");
 	}
 
 	/* perform collection */
 	if (OK != collect()) {
-		log("collection error");
+		debug("collection error");
 		/* restart the measurement state machine */
 		start();
 		return;
diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk
index a60f1a434..a06323a52 100644
--- a/src/drivers/px4fmu/module.mk
+++ b/src/drivers/px4fmu/module.mk
@@ -8,3 +8,5 @@ SRCS		 = fmu.cpp
 MODULE_STACKSIZE = 1200
 
 EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk
index 5b838fb75..924283356 100644
--- a/src/drivers/px4io/module.mk
+++ b/src/drivers/px4io/module.mk
@@ -48,3 +48,5 @@ INCLUDE_DIRS    += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/com
 MODULE_STACKSIZE = 1200
 
 EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index fd9eb4170..58390ba4c 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -817,6 +817,11 @@ PX4IO::init()
 
 	}
 
+	/* set safety to off if circuit breaker enabled */
+	if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
+		(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
+	}
+
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
 	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
 
@@ -1155,52 +1160,54 @@ PX4IO::io_set_arming_state()
 	actuator_armed_s	armed;		///< system armed state
 	vehicle_control_mode_s	control_mode;	///< vehicle_control_mode
 
-	orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
-	orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
+	int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
+	int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
 
 	uint16_t set = 0;
 	uint16_t clear = 0;
 
-	if (armed.armed) {
-		set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
-
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
-	}
-
-	if (armed.lockdown && !_lockdown_override) {
-		set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
-	}
+        if (have_armed == OK) {
+		if (armed.armed) {
+			set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
+		}
 
-	/* Do not set failsafe if circuit breaker is enabled */
-	if (armed.force_failsafe && !_cb_flighttermination) {
-		set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
-	}
+		if (armed.lockdown && !_lockdown_override) {
+			set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
+		}
 
-	// XXX this is for future support in the commander
-	// but can be removed if unneeded
-	// if (armed.termination_failsafe) {
-	// 	set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
-	// } else {
-	// 	clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
-	// }
+		/* Do not set failsafe if circuit breaker is enabled */
+		if (armed.force_failsafe && !_cb_flighttermination) {
+			set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+		}
 
-	if (armed.ready_to_arm) {
-		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+		// XXX this is for future support in the commander
+		// but can be removed if unneeded
+		// if (armed.termination_failsafe) {
+		// 	set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
+		// } else {
+		// 	clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
+		// }
 
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+		if (armed.ready_to_arm) {
+			set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+			
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+		}
 	}
 
-	if (control_mode.flag_external_manual_override_ok) {
-		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
-
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+	if (have_control_mode == OK) {
+		if (control_mode.flag_external_manual_override_ok) {
+			set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+		} else {
+			clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+		}
 	}
 
 	return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
@@ -1245,34 +1252,40 @@ PX4IO::io_set_rc_config()
 	 *       for compatibility reasons with existing
 	 *       autopilots / GCS'.
 	 */
-	param_get(param_find("RC_MAP_ROLL"), &ichan);
 
-	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+	/* ROLL */
+	param_get(param_find("RC_MAP_ROLL"), &ichan);
+	if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
 		input_map[ichan - 1] = 0;
+	}
 
+	/* PITCH */
 	param_get(param_find("RC_MAP_PITCH"), &ichan);
-
-	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+	if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
 		input_map[ichan - 1] = 1;
+	}
 
+	/* YAW */
 	param_get(param_find("RC_MAP_YAW"), &ichan);
-
-	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+	if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
 		input_map[ichan - 1] = 2;
+	}
 
+	/* THROTTLE */
 	param_get(param_find("RC_MAP_THROTTLE"), &ichan);
-
-	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+	if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
 		input_map[ichan - 1] = 3;
+	}
 
+	/* FLAPS */
 	param_get(param_find("RC_MAP_FLAPS"), &ichan);
-
-	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+	if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
 		input_map[ichan - 1] = 4;
+	}
 
+	/* MAIN MODE SWITCH */
 	param_get(param_find("RC_MAP_MODE_SW"), &ichan);
-
-	if ((ichan >= 0) && (ichan < (int)_max_rc_input)) {
+	if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
 		/* use out of normal bounds index to indicate special channel */
 		input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
 	}
@@ -1651,10 +1664,6 @@ PX4IO::io_publish_raw_rc()
 int
 PX4IO::io_publish_pwm_outputs()
 {
-	/* if no FMU comms(!) just don't publish */
-	if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
-		return OK;
-
 	/* data we are going to fetch */
 	actuator_outputs_s outputs;
 	outputs.timestamp = hrt_absolute_time();
@@ -2055,7 +2064,7 @@ PX4IO::print_status(bool extended_status)
 		((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
 		);
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
-	printf("arming 0x%04x%s%s%s%s%s%s%s%s\n",
+	printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n",
 	       arming,
 	       ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)		? " FMU_ARMED" : " FMU_DISARMED"),
 	       ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)		? " IO_ARM_OK" : " IO_ARM_DENIED"),
@@ -2065,7 +2074,8 @@ PX4IO::print_status(bool extended_status)
 	       ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)	? " ALWAYS_PWM_ENABLE" : ""),
 	       ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)		? " LOCKDOWN" : ""),
 	       ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE)		? " FORCE_FAILSAFE" : ""),
-	       ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "")
+	       ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
+	       ((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
 	       );
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -2190,7 +2200,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
@@ -2209,7 +2219,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
@@ -2228,7 +2238,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
@@ -2247,7 +2257,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
 		if (pwm->channel_count > _max_actuators)
 			/* fail with error */
-			return E2BIG;
+			return -E2BIG;
 
 		/* copy values to registers in IO */
 		ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
@@ -2305,6 +2315,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		}
 		break;
 
+	case PWM_SERVO_SET_OVERRIDE_IMMEDIATE:
+		/* control whether override on FMU failure is
+                   immediate or waits for override threshold on mode
+                   switch */
+		if (arg == 0) {
+			/* clear override immediate flag */
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0);
+		} else {
+			/* set override immediate flag */
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE);
+		}
+		break;
+
 	case DSM_BIND_START:
 
 		/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
@@ -2566,6 +2589,42 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 
 		break;
 
+	case PWM_SERVO_SET_RC_CONFIG: {
+		/* enable setting of RC configuration without relying
+		   on param_get() 
+		*/
+		struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
+		if (config->channel >= RC_INPUT_MAX_CHANNELS) {
+			/* fail with error */
+			return -E2BIG;
+		}
+
+		/* copy values to registers in IO */
+		uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
+		uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE;
+		regs[PX4IO_P_RC_CONFIG_MIN]        = config->rc_min;
+		regs[PX4IO_P_RC_CONFIG_CENTER]     = config->rc_trim;
+		regs[PX4IO_P_RC_CONFIG_MAX]        = config->rc_max;
+		regs[PX4IO_P_RC_CONFIG_DEADZONE]   = config->rc_dz;
+		regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment;
+		regs[PX4IO_P_RC_CONFIG_OPTIONS]    = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
+		if (config->rc_reverse) {
+			regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
+		}
+		ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
+		break;
+	}
+
+	case PWM_SERVO_SET_OVERRIDE_OK:
+		/* set the 'OVERRIDE OK' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);
+		break;
+
+	case PWM_SERVO_CLEAR_OVERRIDE_OK:
+		/* clear the 'OVERRIDE OK' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
+		break;
+
 	default:
 		/* see if the parent class can make any use of it */
 		ret = CDev::ioctl(filep, cmd, arg);
diff --git a/src/drivers/stm32/adc/module.mk b/src/drivers/stm32/adc/module.mk
index 48620feea..38ea490a0 100644
--- a/src/drivers/stm32/adc/module.mk
+++ b/src/drivers/stm32/adc/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	= adc
 SRCS		= adc.cpp
 
 INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/stm32/module.mk b/src/drivers/stm32/module.mk
index bb751c7f6..54428e270 100644
--- a/src/drivers/stm32/module.mk
+++ b/src/drivers/stm32/module.mk
@@ -41,3 +41,5 @@ SRCS		= drv_hrt.c \
 		  drv_pwm_servo.c
 
 INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/stm32/tone_alarm/module.mk b/src/drivers/stm32/tone_alarm/module.mk
index 827cf30b2..25a194ef6 100644
--- a/src/drivers/stm32/tone_alarm/module.mk
+++ b/src/drivers/stm32/tone_alarm/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	= tone_alarm
 SRCS		= tone_alarm.cpp
 
 INCLUDE_DIRS	+= $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MAXOPTIMIZATION	 = -Os