Merge branch 'master' into new_state_machine

compiling again
Conflicts:
	src/modules/fixedwing_att_control/fixedwing_att_control_att.c
	src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
	src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
	src/modules/mavlink/orb_listener.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/systemlib/pid/pid.c
	src/modules/systemlib/pid/pid.h
	src/modules/uORB/objects_common.cpp

3 files changed, 82 insertions, 13 deletions

diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c
index 7bae8ad40..50234a45e 100644
--- a/src/modules/commander/accelerometer_calibration.c
+++ b/src/modules/commander/accelerometer_calibration.c
@@ -1,12 +1,45 @@
-/*
- * accelerometer_calibration.c
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
  *
- *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
- *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
  *
- * Transform acceleration vector to true orientation and scale
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file accelerometer_calibration.c
  *
- * * * * Model * * *
+ * Implementation of accelerometer calibration.
+ *
+ * Transform acceleration vector to true orientation, scale and offset
+ *
+ * ===== Model =====
  * accel_corr = accel_T * (accel_raw - accel_offs)
  *
  * accel_corr[3] - fully corrected acceleration vector in body frame
@@ -14,7 +47,7 @@
  * accel_raw[3]  - raw acceleration vector
  * accel_offs[3] - acceleration offset vector
  *
- * * * * Calibration * * *
+ * ===== Calibration =====
  *
  * Reference vectors
  * accel_corr_ref[6][3] = [  g  0  0 ]     // nose up
@@ -34,7 +67,6 @@
  *
  * accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2
  *
- *
  * Find accel_T
  *
  * 9 unknown constants
@@ -67,6 +99,8 @@
  *
  * accel_T = A^-1 * g
  * g = 9.80665
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include "accelerometer_calibration.h"
diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h
index 4175a25f4..3275d9461 100644
--- a/src/modules/commander/accelerometer_calibration.h
+++ b/src/modules/commander/accelerometer_calibration.h
@@ -1,8 +1,43 @@
-/*
- * accelerometer_calibration.h
+/****************************************************************************
  *
- *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
- *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file accelerometer_calibration.h
+ *
+ * Definition of accelerometer calibration.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef ACCELEROMETER_CALIBRATION_H_
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index 41baa34d5..9d52d4f1c 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -659,7 +659,7 @@ int commander_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		daemon_task = task_spawn("commander",
+		daemon_task = task_spawn_cmd("commander",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 40,
 					 3000,