Merge branch 'master' into stablestable

5 files changed, 7 insertions, 6 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index ba049bac4..22ff3edf6 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -90,7 +90,7 @@
 static const int ERROR = -1;
 
 #define DEFAULT_DEVICE_NAME			"/dev/ttyS1"
-#define MAX_DATA_RATE				20000	///< max data rate in bytes/s
+#define MAX_DATA_RATE				60000	///< max data rate in bytes/s
 #define MAIN_LOOP_DELAY 			10000	///< 100 Hz @ 1000 bytes/s data rate
 #define FLOW_CONTROL_DISABLE_THRESHOLD		40	///< picked so that some messages still would fit it.
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 276035aa2..7ddc52fd1 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -2231,7 +2231,7 @@ protected:
 };
 
 
-StreamListItem *streams_list[] = {
+const StreamListItem *streams_list[] = {
 	new StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static),
 	new StreamListItem(&MavlinkStreamStatustext::new_instance, &MavlinkStreamStatustext::get_name_static),
 	new StreamListItem(&MavlinkStreamCommandLong::new_instance, &MavlinkStreamCommandLong::get_name_static),
diff --git a/src/modules/mavlink/mavlink_messages.h b/src/modules/mavlink/mavlink_messages.h
index 7e4416609..5b6b9d633 100644
--- a/src/modules/mavlink/mavlink_messages.h
+++ b/src/modules/mavlink/mavlink_messages.h
@@ -56,6 +56,6 @@ public:
 	~StreamListItem() {};
 };
 
-extern StreamListItem *streams_list[];
+extern const StreamListItem *streams_list[];
 
 #endif /* MAVLINK_MESSAGES_H_ */
diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index 20d7cfdbb..9c8794017 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -130,7 +130,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 
 				} else {
 					/* when index is >= 0, send this parameter again */
-					send_param(param_for_index(req_read.param_index));
+					send_param(param_for_used_index(req_read.param_index));
 				}
 			}
 			break;
@@ -192,6 +192,7 @@ MavlinkParametersManager::send(const hrt_abstime t)
 		/* look for the first parameter which is used */
 		param_t p;
 		do {
+			/* walk through all parameters, including unused ones */
 			p = param_for_index(_send_all_index);
 			_send_all_index++;
 		} while (p != PARAM_INVALID && !param_used(p));
@@ -200,7 +201,7 @@ MavlinkParametersManager::send(const hrt_abstime t)
 			send_param(p);
 		}
 
-		if (_send_all_index >= (int) param_count()) {
+		if ((p == PARAM_INVALID) || (_send_all_index >= (int) param_count())) {
 			_send_all_index = -1;
 		}
 	}
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index faede15cb..c4e332bf1 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -822,7 +822,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 
 				/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
 				if (!(_offboard_control_mode.ignore_attitude)) {
-					static struct vehicle_attitude_setpoint_s att_sp = {};
+					struct vehicle_attitude_setpoint_s att_sp = {};
 					att_sp.timestamp = hrt_absolute_time();
 					mavlink_quaternion_to_euler(set_attitude_target.q,
 							&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);