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

34 files changed, 375 insertions, 173 deletions

diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 293690d27..3a1e1b7b5 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;
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 f66ec7c95..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.
  */
@@ -213,6 +230,21 @@ ORB_DECLARE(output_pwm);
 /** make failsafe non-recoverable (termination) if it occurs */
 #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)
+
+/** 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/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/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp
index 8b156f7ba..6793acd81 100644
--- a/src/drivers/ll40ls/ll40ls.cpp
+++ b/src/drivers/ll40ls/ll40ls.cpp
@@ -73,15 +73,19 @@
 
 /* Configuration Constants */
 #define LL40LS_BUS 			PX4_I2C_BUS_EXPANSION
-#define LL40LS_BASEADDR 	0x42 /* 7-bit address */
+#define LL40LS_BASEADDR 	0x62 /* 7-bit address */
+#define LL40LS_BASEADDR_OLD 	0x42 /* previous 7-bit address */
 #define LL40LS_DEVICE_PATH_INT 	"/dev/ll40ls_int"
 #define LL40LS_DEVICE_PATH_EXT 	"/dev/ll40ls_ext"
 
 /* LL40LS Registers addresses */
 
 #define LL40LS_MEASURE_REG		0x00		/* Measure range register */
-#define LL40LS_MSRREG_ACQUIRE	0x04		/* Value to initiate a measurement, varies based on sensor revision */
+#define LL40LS_MSRREG_ACQUIRE	    0x04		/* Value to initiate a measurement, varies based on sensor revision */
 #define LL40LS_DISTHIGH_REG		0x8F		/* High byte of distance register, auto increment */
+#define LL40LS_WHO_AM_I_REG         0x11
+#define LL40LS_WHO_AM_I_REG_VAL         0xCA
+#define LL40LS_SIGNAL_STRENGTH_REG  0x5b
 
 /* Device limits */
 #define LL40LS_MIN_DISTANCE (0.00f)
@@ -117,6 +121,7 @@ public:
 
 protected:
 	virtual int			probe();
+	virtual int			read_reg(uint8_t reg, uint8_t &val);
 
 private:
 	float				_min_distance;
@@ -210,7 +215,7 @@ LL40LS::LL40LS(int bus, const char *path, int address) :
 	_bus(bus)
 {
 	// up the retries since the device misses the first measure attempts
-	I2C::_retries = 3;
+	_retries = 3;
 
 	// enable debug() calls
 	_debug_enabled = false;
@@ -278,8 +283,50 @@ out:
 }
 
 int
+LL40LS::read_reg(uint8_t reg, uint8_t &val)
+{
+	return transfer(&reg, 1, &val, 1);
+}
+
+int
 LL40LS::probe()
 {
+	// cope with both old and new I2C bus address
+	const uint8_t addresses[2] = {LL40LS_BASEADDR, LL40LS_BASEADDR_OLD};
+
+	// more retries for detection
+	_retries = 10;
+
+	for (uint8_t i=0; i<sizeof(addresses); i++) {
+		uint8_t val=0, who_am_i=0;
+
+		// set the I2C bus address
+		set_address(addresses[i]);
+
+		if (read_reg(LL40LS_WHO_AM_I_REG, who_am_i) == OK && who_am_i == LL40LS_WHO_AM_I_REG_VAL) {
+			// it is responding correctly to a WHO_AM_I
+			goto ok;
+		}
+
+		if (read_reg(LL40LS_SIGNAL_STRENGTH_REG, val) == OK && val != 0) {
+			// very likely to be a ll40ls. px4flow does not
+			// respond to this
+			goto ok;
+		}
+
+		debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n", 
+		      (unsigned)who_am_i, 
+		      LL40LS_WHO_AM_I_REG_VAL, 
+		      (unsigned)val);
+	}
+
+	// not found on any address
+	return -EIO;
+
+ok:
+	_retries = 3;
+
+	// start a measurement
 	return measure();
 }
 
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/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index b22bb2e07..a95e041a1 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -229,6 +229,7 @@ private:
 	perf_counter_t		_gyro_reads;
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
+	perf_counter_t		_good_transfers;
 
 	math::LowPassFilter2p	_accel_filter_x;
 	math::LowPassFilter2p	_accel_filter_y;
@@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
 	_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
+	_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
 	_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -456,6 +458,7 @@ MPU6000::~MPU6000()
 	perf_free(_accel_reads);
 	perf_free(_gyro_reads);
 	perf_free(_bad_transfers);
+	perf_free(_good_transfers);
 }
 
 int
@@ -1279,8 +1282,14 @@ MPU6000::measure()
 		// all zero data - probably a SPI bus error
 		perf_count(_bad_transfers);
 		perf_end(_sample_perf);
+                // note that we don't call reset() here as a reset()
+                // costs 20ms with interrupts disabled. That means if
+                // the mpu6k does go bad it would cause a FMU failure,
+                // regardless of whether another sensor is available,
 		return;
 	}
+
+	perf_count(_good_transfers);
 	    
 
 	/*
@@ -1399,6 +1408,8 @@ MPU6000::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_accel_reads);
 	perf_print_counter(_gyro_reads);
+	perf_print_counter(_bad_transfers);
+	perf_print_counter(_good_transfers);
 	_accel_reports->print_info("accel queue");
 	_gyro_reports->print_info("gyro queue");
 }
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 60ad3c1af..804027b05 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -200,7 +200,7 @@ 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));
@@ -212,8 +212,9 @@ PX4FLOW::~PX4FLOW()
 	stop();
 
 	/* free any existing reports */
-	if (_reports != nullptr)
+	if (_reports != nullptr) {
 		delete _reports;
+	}
 }
 
 int
@@ -222,22 +223,25 @@ PX4FLOW::init()
 	int ret = ERROR;
 
 	/* do I2C init (and probe) first */
-	if (I2C::init() != OK)
+	if (I2C::init() != OK) {
 		goto out;
+	}
 
 	/* allocate basic report buffers */
 	_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
 
-	if (_reports == nullptr)
+	if (_reports == nullptr) {
 		goto out;
+	}
 
 	/* get a publish handle on the px4flow topic */
 	struct optical_flow_s zero_report;
 	memset(&zero_report, 0, sizeof(zero_report));
 	_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
 
-	if (_px4flow_topic < 0)
-		debug("failed to create px4flow object. Did you start uOrb?");
+	if (_px4flow_topic < 0) {
+		warnx("failed to create px4flow object. Did you start uOrb?");
+	}
 
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
@@ -249,6 +253,17 @@ out:
 int
 PX4FLOW::probe()
 {
+	uint8_t val[22];
+
+	// to be sure this is not a ll40ls Lidar (which can also be on
+	// 0x42) we check if a 22 byte transfer works from address
+	// 0. The ll40ls gives an error for that, whereas the flow
+	// happily returns some data
+	if (transfer(nullptr, 0, &val[0], 22) != OK) {
+		return -EIO;
+	}
+
+	// that worked, so start a measurement cycle
 	return measure();
 }
 
@@ -260,20 +275,20 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCSPOLLRATE: {
 			switch (arg) {
 
-				/* switching to manual polling */
+			/* switching to manual polling */
 			case SENSOR_POLLRATE_MANUAL:
 				stop();
 				_measure_ticks = 0;
 				return OK;
 
-				/* external signalling (DRDY) not supported */
+			/* external signalling (DRDY) not supported */
 			case SENSOR_POLLRATE_EXTERNAL:
 
-				/* zero would be bad */
+			/* zero would be bad */
 			case 0:
 				return -EINVAL;
 
-				/* set default/max polling rate */
+			/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT: {
 					/* do we need to start internal polling? */
@@ -283,13 +298,14 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 					_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
 
-				/* adjust to a legal polling interval in Hz */
+			/* adjust to a legal polling interval in Hz */
 			default: {
 					/* do we need to start internal polling? */
 					bool want_start = (_measure_ticks == 0);
@@ -298,15 +314,17 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 					unsigned ticks = USEC2TICK(1000000 / arg);
 
 					/* check against maximum rate */
-					if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL))
+					if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
 						return -EINVAL;
+					}
 
 					/* update interval for next measurement */
 					_measure_ticks = ticks;
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
@@ -314,25 +332,29 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 		}
 
 	case SENSORIOCGPOLLRATE:
-		if (_measure_ticks == 0)
+		if (_measure_ticks == 0) {
 			return SENSOR_POLLRATE_MANUAL;
+		}
 
 		return (1000 / _measure_ticks);
 
 	case SENSORIOCSQUEUEDEPTH: {
-		/* lower bound is mandatory, upper bound is a sanity check */
-		if ((arg < 1) || (arg > 100))
-			return -EINVAL;
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}
+
+			irqstate_t flags = irqsave();
+
+			if (!_reports->resize(arg)) {
+				irqrestore(flags);
+				return -ENOMEM;
+			}
 
-		irqstate_t flags = irqsave();
-		if (!_reports->resize(arg)) {
 			irqrestore(flags);
-			return -ENOMEM;
-		}
-		irqrestore(flags);
 
-		return OK;
-	}
+			return OK;
+		}
 
 	case SENSORIOCGQUEUEDEPTH:
 		return _reports->size();
@@ -355,8 +377,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
 	int ret = 0;
 
 	/* buffer must be large enough */
-	if (count < 1)
+	if (count < 1) {
 		return -ENOSPC;
+	}
 
 	/* if automatic measurement is enabled */
 	if (_measure_ticks > 0) {
@@ -417,13 +440,11 @@ PX4FLOW::measure()
 	uint8_t cmd = PX4FLOW_REG;
 	ret = transfer(&cmd, 1, nullptr, 0);
 
-	if (OK != ret)
-	{
+	if (OK != ret) {
 		perf_count(_comms_errors);
-		log("i2c::transfer returned %d", ret);
-		 printf("i2c::transfer flow returned %d");
 		return ret;
 	}
+
 	ret = OK;
 
 	return ret;
@@ -435,15 +456,14 @@ PX4FLOW::collect()
 	int	ret = -EIO;
 
 	/* read from the sensor */
-	uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
+	uint8_t val[22] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 
 	perf_begin(_sample_perf);
 
 	ret = transfer(nullptr, 0, &val[0], 22);
 
-	if (ret < 0)
-	{
-		log("error reading from sensor: %d", ret);
+	if (ret < 0) {
+		debug("error reading from sensor: %d", ret);
 		perf_count(_comms_errors);
 		perf_end(_sample_perf);
 		return ret;
@@ -467,12 +487,12 @@ PX4FLOW::collect()
 	int16_t gdist = val[21] << 8 | val[20];
 
 	struct optical_flow_s report;
-	report.flow_comp_x_m = float(flowcx)/1000.0f;
-	report.flow_comp_y_m = float(flowcy)/1000.0f;
-	report.flow_raw_x= val[3] << 8 | val[2];
-	report.flow_raw_y= val[5] << 8 | val[4];
-	report.ground_distance_m =float(gdist)/1000.0f;
-	report.quality=  val[10];
+	report.flow_comp_x_m = float(flowcx) / 1000.0f;
+	report.flow_comp_y_m = float(flowcy) / 1000.0f;
+	report.flow_raw_x = val[3] << 8 | val[2];
+	report.flow_raw_y = val[5] << 8 | val[4];
+	report.ground_distance_m = float(gdist) / 1000.0f;
+	report.quality =  val[10];
 	report.sensor_id = 0;
 	report.timestamp = hrt_absolute_time();
 
@@ -509,11 +529,13 @@ PX4FLOW::start()
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_OPTICALFLOW};
+		SUBSYSTEM_TYPE_OPTICALFLOW
+	};
 	static orb_advert_t pub = -1;
 
 	if (pub > 0) {
 		orb_publish(ORB_ID(subsystem_info), pub, &info);
+
 	} else {
 		pub = orb_advertise(ORB_ID(subsystem_info), &info);
 	}
@@ -541,7 +563,7 @@ PX4FLOW::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
+			debug("collection error");
 			/* restart the measurement state machine */
 			start();
 			return;
@@ -567,8 +589,9 @@ PX4FLOW::cycle()
 	}
 
 	/* measurement phase */
-	if (OK != measure())
-		log("measure error");
+	if (OK != measure()) {
+		debug("measure error");
+	}
 
 	/* next phase is collection */
 	_collect_phase = true;
@@ -619,33 +642,37 @@ start()
 {
 	int fd;
 
-	if (g_dev != nullptr)
+	if (g_dev != nullptr) {
 		errx(1, "already started");
+	}
 
 	/* create the driver */
 	g_dev = new PX4FLOW(PX4FLOW_BUS);
 
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		goto fail;
+	}
 
-	if (OK != g_dev->init())
+	if (OK != g_dev->init()) {
 		goto fail;
+	}
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		goto fail;
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0)
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
 		goto fail;
+	}
 
 	exit(0);
 
 fail:
 
-	if (g_dev != nullptr)
-	{
+	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
 	}
@@ -658,15 +685,14 @@ fail:
  */
 void stop()
 {
-	if (g_dev != nullptr)
-	{
+	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
-	}
-	else
-	{
+
+	} else {
 		errx(1, "driver not running");
 	}
+
 	exit(0);
 }
 
@@ -684,14 +710,17 @@ test()
 
 	int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
+	}
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
 
 	if (sz != sizeof(report))
-	//	err(1, "immediate read failed");
+	{
+		warnx("immediate read failed");
+	}
 
 	warnx("single read");
 	warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -700,8 +729,9 @@ test()
 
 
 	/* start the sensor polling at 2Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
 		errx(1, "failed to set 2Hz poll rate");
+	}
 
 	/* read the sensor 5x and report each value */
 	for (unsigned i = 0; i < 5; i++) {
@@ -712,14 +742,16 @@ test()
 		fds.events = POLLIN;
 		ret = poll(&fds, 1, 2000);
 
-		if (ret != 1)
+		if (ret != 1) {
 			errx(1, "timed out waiting for sensor data");
+		}
 
 		/* now go get it */
 		sz = read(fd, &report, sizeof(report));
 
-		if (sz != sizeof(report))
+		if (sz != sizeof(report)) {
 			err(1, "periodic read failed");
+		}
 
 		warnx("periodic read %u", i);
 		warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
@@ -740,14 +772,17 @@ reset()
 {
 	int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "failed ");
+	}
 
-	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
 		err(1, "driver reset failed");
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "driver poll restart failed");
+	}
 
 	exit(0);
 }
@@ -758,8 +793,9 @@ reset()
 void
 info()
 {
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		errx(1, "driver not running");
+	}
 
 	printf("state @ %p\n", g_dev);
 	g_dev->print_info();
@@ -775,32 +811,37 @@ px4flow_main(int argc, char *argv[])
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start"))
+	if (!strcmp(argv[1], "start")) {
 		px4flow::start();
+	}
 
-	 /*
-	  * Stop the driver
-	  */
-	 if (!strcmp(argv[1], "stop"))
-		 px4flow::stop();
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop")) {
+		px4flow::stop();
+	}
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test"))
+	if (!strcmp(argv[1], "test")) {
 		px4flow::test();
+	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset"))
+	if (!strcmp(argv[1], "reset")) {
 		px4flow::reset();
+	}
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
 		px4flow::info();
+	}
 
 	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
 }
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 122a3cd17..3d3e1b0eb 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
 	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 		// these are no-ops, as no safety switch
 		break;
 
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 821eb52ff..6f02ba62c 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1250,30 +1250,43 @@ 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;
+	}
 
-	param_get(param_find("RC_MAP_MODE_SW"), &ichan);
-
-	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+	/* FLAPS */
+	param_get(param_find("RC_MAP_FLAPS"), &ichan);
+	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)) {
+		/* use out of normal bounds index to indicate special channel */
+		input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
+	}
 
 	/*
 	 * Iterate all possible RC inputs.
@@ -1649,10 +1662,6 @@ 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();
@@ -2053,7 +2062,7 @@ 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"),
@@ -2063,7 +2072,8 @@ 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",
@@ -2276,6 +2286,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
 		break;
 
+	case PWM_SERVO_SET_FORCE_SAFETY_ON:
+		/* force safety switch on */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
+		break;
+
 	case PWM_SERVO_SET_FORCE_FAILSAFE:
 		/* force failsafe mode instantly */
 		if (arg == 0) {
@@ -2298,6 +2313,19 @@ 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 */
@@ -2559,6 +2587,42 @@ 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 >= _max_actuators) {
+			/* 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