Merge branch 'master' into navigator_rewrite

Conflicts:
	src/drivers/gps/gps.cpp
	src/drivers/gps/mtk.cpp
	src/modules/commander/commander.cpp
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
	src/modules/navigator/mission.cpp
	src/modules/navigator/mission.h
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_state.h
	src/modules/position_estimator_inav/position_estimator_inav_main.c

9 files changed, 29 insertions, 23 deletions

diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index f452a85f7..bc8dbca50 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.cpp
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 #include "geofence.h"
 
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 9628b7271..2eb126ab5 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.h
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #ifndef GEOFENCE_H_
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index e95bcfd43..adbb0cfa2 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -139,7 +139,7 @@ Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool
 			return true;
 		}
 	}
-	
+
 	/* otherwise fallback to offboard */
 	if (_current_offboard_mission_index < _offboard_mission_item_count) {
 
@@ -246,7 +246,7 @@ void
 Mission::move_to_next()
 {
 	report_mission_item_reached();
-	
+
 	switch (_current_mission_type) {
 	case MISSION_TYPE_ONBOARD:
 		_current_onboard_mission_index++;
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 0fa2ff3fa..5e0e9702d 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -34,6 +34,8 @@
  * @file navigator_mission.h
  * Helper class to access missions
  * @author Julian Oes <julian@oes.ch>
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef NAVIGATOR_MISSION_H
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index eaafa217d..2f45f2267 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file mission_feasibility_checker.cpp
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
 
 #include "mission_feasibility_checker.h"
@@ -100,8 +101,8 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	/* Check if all mission items are inside the geofence (if we have a valid geofence) */
 	if (geofence.valid()) {
 		for (size_t i = 0; i < nMissionItems; i++) {
-			static struct mission_item_s missionitem;
-			const ssize_t len = sizeof(struct mission_item_s);
+			struct mission_item_s missionitem;
+			const ssize_t len = sizeof(missionitem);
 
 			if (dm_read(dm_current, i, &missionitem, len) != len) {
 				/* not supposed to happen unless the datamanager can't access the SD card, etc. */
@@ -125,8 +126,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 
 
 	for (size_t i = 0; i < nMissionItems; i++) {
-		static struct mission_item_s missionitem;
-		const ssize_t len = sizeof(struct mission_item_s);
+		struct mission_item_s missionitem;
+		const ssize_t len = sizeof(missionitem);
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return false;
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index 7a0b2a296..f98e28462 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +33,11 @@
 /**
  * @file mission_feasibility_checker.h
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
+
 #ifndef MISSION_FEASIBILITY_CHECKER_H_
 #define MISSION_FEASIBILITY_CHECKER_H_
 
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 5f113f686..8913d4d1c 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -47,3 +47,5 @@ SRCS		= navigator_main.cpp \
 		  geofence_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index d45446e5f..74694447a 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2014 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
@@ -410,7 +410,7 @@ Navigator::parameters_update()
 	param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius));
 	param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius));
 	param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled));
-	param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));	
+	param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
 
 	_mission.set_onboard_mission_allowed((bool)_parameters.onboard_mission_enabled);
 
@@ -728,7 +728,7 @@ Navigator::start()
 	_navigator_task = task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
-					 2048,
+					 2000,
 					 (main_t)&Navigator::task_main_trampoline,
 					 nullptr);
 
@@ -946,7 +946,7 @@ Navigator::start_loiter()
 	mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude");
 
 	_update_triplet = true;
-	return true;	
+	return true;
 }
 
 bool
@@ -999,7 +999,7 @@ Navigator::set_mission_items()
 	/* convert the current mission item and set it valid */
 	mission_item_to_position_setpoint(&_mission_item, &_pos_sp_triplet.current);
 	_pos_sp_triplet.current.valid = true;
-	
+
 
 	mission_item_s next_mission_item;
 
@@ -1206,7 +1206,7 @@ Navigator::check_mission_item_reached()
 	}
 
 	if (_waypoint_position_reached && !_waypoint_yaw_reached) {
-		
+
 		/* TODO: removed takeoff, why? */
 		if (_vstatus.is_rotary_wing && isfinite(_mission_item.yaw)) {
 
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index 49969a382..ad079a250 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @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