Merge remote-tracking branch 'upstream/master' into geo

5 files changed, 13 insertions, 21 deletions

diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index fe6c9bfaa..0fd3c9e9e 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -199,15 +199,9 @@ int led_init()
 	}
 
 	/* the blue LED is only available on FMUv1 but not FMUv2 */
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
-
-	if (ioctl(leds, LED_ON, LED_BLUE)) {
-		warnx("Blue LED: ioctl fail\n");
-		return ERROR;
-	}
-
-#endif
+	(void)ioctl(leds, LED_ON, LED_BLUE);
 
+	/* we consider the amber led mandatory */
 	if (ioctl(leds, LED_ON, LED_AMBER)) {
 		warnx("Amber LED: ioctl fail\n");
 		return ERROR;
@@ -217,11 +211,7 @@ int led_init()
 	rgbleds = open(RGBLED_DEVICE_PATH, 0);
 
 	if (rgbleds == -1) {
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
-		errx(1, "Unable to open " RGBLED_DEVICE_PATH);
-#else
-		warnx("No RGB LED found");
-#endif
+		warnx("No RGB LED found at " RGBLED_DEVICE_PATH);
 	}
 
 	return 0;
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 678ce1645..bef8a5a55 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -819,11 +819,11 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
-		bool updated = status_sub->update(t);
-		updated |= pos_sp_triplet_sub->update(t);
-		updated |= act_sub->update(t);
+		bool updated = act_sub->update(t);
+		(void)pos_sp_triplet_sub->update(t);
+		(void)status_sub->update(t);
 
-		if (updated) {
+		if (updated && (status->arming_state == ARMING_STATE_ARMED)) {
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state;
 			uint8_t mavlink_base_mode;
@@ -1353,7 +1353,7 @@ protected:
 		uint8_t orientation = 0;
 		uint8_t covariance = 20;
 
-		mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, 
+		mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
 			range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
 	}
 };
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index ddbf4fc69..1cfbde1d2 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -432,8 +432,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	memset(&manual, 0, sizeof(manual));
 
 	manual.timestamp = hrt_absolute_time();
-	manual.roll = man.x / 1000.0f;
-	manual.pitch = man.y / 1000.0f;
+	manual.pitch = man.x / 1000.0f;
+	manual.roll = man.y / 1000.0f;
 	manual.yaw = man.r / 1000.0f;
 	manual.throttle = man.z / 1000.0f;
 
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 6b0c44fb3..36d95bf06 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -496,7 +496,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
 			//}
 		} else {
 			/* move yaw setpoint */
-			_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt);
+			yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max;
+			_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
 			_v_att_sp.R_valid = false;
 			publish_att_sp = true;
 		}
diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c
index b05273c0d..bf3428a50 100644
--- a/src/modules/systemlib/mixer/mixer_load.c
+++ b/src/modules/systemlib/mixer/mixer_load.c
@@ -41,6 +41,7 @@
 #include <string.h>
 #include <stdio.h>
 #include <ctype.h>
+#include <systemlib/err.h>
 
 #include "mixer_load.h"