Merge branch 'master' of github.com:PX4/Firmware into fmuv2_bringup

19 files changed, 320 insertions, 87 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 7d3812abd..52dac652b 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -44,42 +44,42 @@
 /* Extended Kalman Filter covariances */
 
 /* gyro process noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
 /* gyro offsets process noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
 
 /* gyro measurement noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
 /* accelerometer measurement noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
 
 /* offsets in roll, pitch and yaw of sensor plane and body */
-PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
 
 int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 {
 	/* PID parameters */
-	h->q0 	=	param_find("EKF_ATT_V2_Q0");
-	h->q1 	=	param_find("EKF_ATT_V2_Q1");
-	h->q2 	=	param_find("EKF_ATT_V2_Q2");
-	h->q3 	=	param_find("EKF_ATT_V2_Q3");
-	h->q4 	=	param_find("EKF_ATT_V2_Q4");
+	h->q0 	=	param_find("EKF_ATT_V3_Q0");
+	h->q1 	=	param_find("EKF_ATT_V3_Q1");
+	h->q2 	=	param_find("EKF_ATT_V3_Q2");
+	h->q3 	=	param_find("EKF_ATT_V3_Q3");
+	h->q4 	=	param_find("EKF_ATT_V3_Q4");
 
-	h->r0 	=	param_find("EKF_ATT_V2_R0");
-	h->r1 	=	param_find("EKF_ATT_V2_R1");
-	h->r2 	=	param_find("EKF_ATT_V2_R2");
-	h->r3 	=	param_find("EKF_ATT_V2_R3");
+	h->r0 	=	param_find("EKF_ATT_V3_R0");
+	h->r1 	=	param_find("EKF_ATT_V3_R1");
+	h->r2 	=	param_find("EKF_ATT_V3_R2");
+	h->r3 	=	param_find("EKF_ATT_V3_R3");
 
-	h->roll_off  =	param_find("ATT_ROLL_OFFS");
-	h->pitch_off =	param_find("ATT_PITCH_OFFS");
-	h->yaw_off   =	param_find("ATT_YAW_OFFS");
+	h->roll_off  =	param_find("ATT_ROLL_OFF3");
+	h->pitch_off =	param_find("ATT_PITCH_OFF3");
+	h->yaw_off   =	param_find("ATT_YAW_OFF3");
 
 	return OK;
 }
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index 43cbe74c7..8b4c0cb30 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -54,9 +54,15 @@
 #include <poll.h>
 #include <drivers/drv_gpio.h>
 
+#define PX4IO_RELAY1	(1<<0)
+#define PX4IO_RELAY2	(1<<1)
+#define PX4IO_ACC1		(1<<2)
+#define PX4IO_ACC2		(1<<3)
+
 struct gpio_led_s {
 	struct work_s work;
 	int gpio_fd;
+	bool use_io;
 	int pin;
 	struct vehicle_status_s status;
 	int vehicle_status_sub;
@@ -75,51 +81,97 @@ void gpio_led_cycle(FAR void *arg);
 
 int gpio_led_main(int argc, char *argv[])
 {
-	int pin = GPIO_EXT_1;
-
 	if (argc < 2) {
-		errx(1, "no argument provided. Try 'start' or 'stop' [-p 1/2]");
+		errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n"
+		     "\t-p\tUse pin:\n"
+		     "\t\t1\tPX4FMU GPIO_EXT1 (default)\n"
+		     "\t\t2\tPX4FMU GPIO_EXT2\n"
+		     "\t\ta1\tPX4IO ACC1\n"
+		     "\t\ta2\tPX4IO ACC2\n"
+		     "\t\tr1\tPX4IO RELAY1\n"
+		     "\t\tr2\tPX4IO RELAY2");
 
 	} else {
 
-		/* START COMMAND HANDLING */
 		if (!strcmp(argv[1], "start")) {
+			if (gpio_led_started) {
+				errx(1, "already running");
+			}
+
+			bool use_io = false;
+			int pin = GPIO_EXT_1;
 
 			if (argc > 2) {
-				if (!strcmp(argv[1], "-p")) {
-					if (!strcmp(argv[2], "1")) {
+				if (!strcmp(argv[2], "-p")) {
+					if (!strcmp(argv[3], "1")) {
+						use_io = false;
 						pin = GPIO_EXT_1;
 
-					} else if (!strcmp(argv[2], "2")) {
+					} else if (!strcmp(argv[3], "2")) {
+						use_io = false;
 						pin = GPIO_EXT_2;
 
+					} else if (!strcmp(argv[3], "a1")) {
+						use_io = true;
+						pin = PX4IO_ACC1;
+
+					} else if (!strcmp(argv[3], "a2")) {
+						use_io = true;
+						pin = PX4IO_ACC2;
+
+					} else if (!strcmp(argv[3], "r1")) {
+						use_io = true;
+						pin = PX4IO_RELAY1;
+
+					} else if (!strcmp(argv[3], "r2")) {
+						use_io = true;
+						pin = PX4IO_RELAY2;
+
 					} else {
-						warnx("[gpio_led] Unsupported pin: %s\n", argv[2]);
-						exit(1);
+						errx(1, "unsupported pin: %s", argv[3]);
 					}
 				}
 			}
 
 			memset(&gpio_led_data, 0, sizeof(gpio_led_data));
+			gpio_led_data.use_io = use_io;
 			gpio_led_data.pin = pin;
 			int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
 
 			if (ret != 0) {
-				warnx("[gpio_led] Failed to queue work: %d\n", ret);
-				exit(1);
+				errx(1, "failed to queue work: %d", ret);
 
 			} else {
 				gpio_led_started = true;
+				char pin_name[24];
+
+				if (use_io) {
+					if (pin & (PX4IO_ACC1 | PX4IO_ACC2)) {
+						sprintf(pin_name, "PX4IO ACC%i", (pin >> 3));
+
+					} else {
+						sprintf(pin_name, "PX4IO RELAY%i", pin);
+					}
+
+				} else {
+					sprintf(pin_name, "PX4FMU GPIO_EXT%i", pin);
+
+				}
+
+				warnx("start, using pin: %s", pin_name);
 			}
 
 			exit(0);
 
-			/* STOP COMMAND HANDLING */
 
 		} else if (!strcmp(argv[1], "stop")) {
-			gpio_led_started = false;
+			if (gpio_led_started) {
+				gpio_led_started = false;
+				warnx("stop");
 
-			/* INVALID COMMAND */
+			} else {
+				errx(1, "not running");
+			}
 
 		} else {
 			errx(1, "unrecognized command '%s', only supporting 'start' or 'stop'", argv[1]);
@@ -131,11 +183,22 @@ void gpio_led_start(FAR void *arg)
 {
 	FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
 
+	char *gpio_dev;
+
+	if (priv->use_io) {
+		gpio_dev = "/dev/px4io";
+
+	} else {
+		gpio_dev = "/dev/px4fmu";
+	}
+
 	/* open GPIO device */
-	priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
+	priv->gpio_fd = open(gpio_dev, 0);
 
 	if (priv->gpio_fd < 0) {
-		warnx("[gpio_led] GPIO: open fail\n");
+		// TODO find way to print errors
+		//printf("gpio_led: GPIO device \"%s\" open fail\n", gpio_dev);
+		gpio_led_started = false;
 		return;
 	}
 
@@ -150,11 +213,11 @@ void gpio_led_start(FAR void *arg)
 	int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
 
 	if (ret != 0) {
-		warnx("[gpio_led] Failed to queue work: %d\n", ret);
+		// TODO find way to print errors
+		//printf("gpio_led: failed to queue work: %d\n", ret);
+		gpio_led_started = false;
 		return;
 	}
-
-	warnx("[gpio_led] Started, using pin GPIO_EXT%i\n", priv->pin);
 }
 
 void gpio_led_cycle(FAR void *arg)
@@ -211,7 +274,12 @@ void gpio_led_cycle(FAR void *arg)
 	if (priv->counter > 5)
 		priv->counter = 0;
 
-	/* repeat cycle at 5 Hz*/
-	if (gpio_led_started)
+	/* repeat cycle at 5 Hz */
+	if (gpio_led_started) {
 		work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
+
+	} else {
+		/* switch off LED on stop */
+		ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
+	}
 }
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 5b8345e7e..7c1c4b175 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -49,7 +49,6 @@
 #include <mqueue.h>
 #include <string.h>
 #include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
 #include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
@@ -471,7 +470,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 }
 
 void
-mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
+mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length)
 {
 	write(uart, ch, (size_t)(sizeof(uint8_t) * length));
 }
@@ -479,7 +478,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 /*
  * Internal function to give access to the channel status for each channel
  */
-mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
+extern mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
 {
 	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
 	return &m_mavlink_status[channel];
@@ -488,7 +487,7 @@ mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
 /*
  * Internal function to give access to the channel buffer for each channel
  */
-mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
+extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
 {
 	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
 	return &m_mavlink_buffer[channel];
diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h
index 0010bb341..149efda60 100644
--- a/src/modules/mavlink/mavlink_bridge_header.h
+++ b/src/modules/mavlink/mavlink_bridge_header.h
@@ -73,9 +73,11 @@ extern mavlink_system_t mavlink_system;
  * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
  * @param ch Character to send
  */
-extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
+extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
 
-mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
-mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
+extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
+extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
+
+#include <v1.0/common/mavlink.h>
 
 #endif /* MAVLINK_BRIDGE_HEADER_H */
diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c
index 819f3441b..18ca7a854 100644
--- a/src/modules/mavlink/mavlink_parameters.c
+++ b/src/modules/mavlink/mavlink_parameters.c
@@ -40,7 +40,6 @@
  */
 
 #include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
 #include "mavlink_parameters.h"
 #include <uORB/uORB.h>
 #include "math.h" /* isinf / isnan checks */
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 33ac14860..01bbabd46 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -49,7 +49,6 @@
 #include <fcntl.h>
 #include <mqueue.h>
 #include <string.h>
-#include <v1.0/common/mavlink.h>
 #include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
@@ -503,7 +502,6 @@ handle_message(mavlink_message_t *msg)
 			} else {
 				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
 			}
-			warnx("IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
 
 			hil_global_pos.lat = hil_state.lat;
 			hil_global_pos.lon = hil_state.lon;
diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
index 4b010dd59..be88b8794 100644
--- a/src/modules/mavlink/missionlib.c
+++ b/src/modules/mavlink/missionlib.c
@@ -48,7 +48,6 @@
 #include <mqueue.h>
 #include <string.h>
 #include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
 #include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
diff --git a/src/modules/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h
index c2ca735b3..c7d8f90c5 100644
--- a/src/modules/mavlink/missionlib.h
+++ b/src/modules/mavlink/missionlib.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <v1.0/common/mavlink.h>
+#include "mavlink_bridge_header.h"
 
 //extern void	mavlink_wpm_send_message(mavlink_message_t *msg);
 //extern void	mavlink_wpm_send_gcs_string(const char *string);
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 0597555ab..edb8761b8 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -47,7 +47,6 @@
 #include <fcntl.h>
 #include <string.h>
 #include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
 #include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c
index cefcca468..405046750 100644
--- a/src/modules/mavlink/waypoints.c
+++ b/src/modules/mavlink/waypoints.c
@@ -45,6 +45,7 @@
 #include <unistd.h>
 #include <stdio.h>
 
+#include "mavlink_bridge_header.h"
 #include "missionlib.h"
 #include "waypoints.h"
 #include "util.h"
diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h
index c32ab32e5..96a0ecd30 100644
--- a/src/modules/mavlink/waypoints.h
+++ b/src/modules/mavlink/waypoints.h
@@ -47,11 +47,11 @@
 
 #include <v1.0/mavlink_types.h>
 
-#ifndef MAVLINK_SEND_UART_BYTES
-#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)
-#endif
-extern mavlink_system_t mavlink_system;
-#include <v1.0/common/mavlink.h>
+// #ifndef MAVLINK_SEND_UART_BYTES
+// #define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)
+// #endif
+//extern mavlink_system_t mavlink_system;
+#include "mavlink_bridge_header.h"
 #include <stdbool.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c
index cb6d6b16a..20fb11b2c 100644
--- a/src/modules/mavlink_onboard/mavlink.c
+++ b/src/modules/mavlink_onboard/mavlink.c
@@ -49,7 +49,6 @@
 #include <mqueue.h>
 #include <string.h>
 #include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
 #include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
diff --git a/src/modules/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h
index 3ad3bb617..b72bbb2b1 100644
--- a/src/modules/mavlink_onboard/mavlink_bridge_header.h
+++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h
@@ -78,4 +78,6 @@ extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int len
 mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
 mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
 
+#include <v1.0/common/mavlink.h>
+
 #endif /* MAVLINK_BRIDGE_HEADER_H */
diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c
index 0acbea675..68d49c24b 100644
--- a/src/modules/mavlink_onboard/mavlink_receiver.c
+++ b/src/modules/mavlink_onboard/mavlink_receiver.c
@@ -50,7 +50,6 @@
 #include <mqueue.h>
 #include <string.h>
 #include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
 #include <drivers/drv_hrt.h>
 #include <time.h>
 #include <float.h>
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index deac9e20b..3e6b20472 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -79,6 +79,7 @@
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/rc_channels.h>
+#include <uORB/topics/esc_status.h>
 
 #include <systemlib/systemlib.h>
 
@@ -614,7 +615,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
 	/* number of messages */
-	const ssize_t fdsc = 17;
+	const ssize_t fdsc = 18;
 	/* Sanity check variable and index */
 	ssize_t fdsc_count = 0;
 	/* file descriptors to wait for */
@@ -642,6 +643,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct rc_channels_s rc;
 		struct differential_pressure_s diff_pres;
 		struct airspeed_s airspeed;
+		struct esc_status_s esc;
 	} buf;
 	memset(&buf, 0, sizeof(buf));
 
@@ -663,6 +665,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int flow_sub;
 		int rc_sub;
 		int airspeed_sub;
+		int esc_sub;
 	} subs;
 
 	/* log message buffer: header + body */
@@ -686,6 +689,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_ARSP_s log_ARSP;
 			struct log_FLOW_s log_FLOW;
 			struct log_GPOS_s log_GPOS;
+			struct log_ESC_s log_ESC;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -795,6 +799,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;	
 
+	/* --- ESCs --- */
+	subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
+	fds[fdsc_count].fd = subs.esc_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* WARNING: If you get the error message below,
 	 * then the number of registered messages (fdsc)
 	 * differs from the number of messages in the above list.
@@ -1105,6 +1115,28 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(AIRS);
 			}
 
+			/* --- ESCs --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc);
+				for (uint8_t i=0; i<buf.esc.esc_count; i++)
+				{
+					log_msg.msg_type = LOG_ESC_MSG;
+					log_msg.body.log_ESC.counter = buf.esc.counter;
+					log_msg.body.log_ESC.esc_count = buf.esc.esc_count;
+					log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype;
+					log_msg.body.log_ESC.esc_num = i;
+					log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address;
+					log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version;
+					log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage;
+					log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current;
+					log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm;
+					log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature;
+					log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint;
+					log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw;
+					LOGBUFFER_WRITE_AND_COUNT(ESC);
+				}
+			}
+
 #ifdef SDLOG2_DEBUG
 				printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
 #endif
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 4a66fe116..abc882d23 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -209,6 +209,24 @@ struct log_GPOS_s {
 	float vel_e;
 	float vel_d;
 };
+
+/* --- ESC - ESC STATE --- */
+#define LOG_ESC_MSG 64
+struct log_ESC_s {
+	uint16_t counter;
+	uint8_t esc_count;
+	uint8_t esc_connectiontype;
+
+	uint8_t esc_num;
+	uint16_t esc_address;
+	uint16_t esc_version;
+	uint16_t esc_voltage;
+	uint16_t esc_current;
+	uint16_t esc_rpm;
+	uint16_t esc_temperature;
+	float    esc_setpoint;
+	uint16_t esc_setpoint_raw;
+};
 #pragma pack(pop)
 
 /* construct list of all message formats */
@@ -230,6 +248,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
 	LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
+	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index 8fdff8ac0..afc5b072c 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -71,8 +71,6 @@ extern FAR struct _TCB *sched_gettcb(pid_t pid);
 
 void cpuload_initialize_once()
 {
-//	if (!system_load.initialized)
-//	{
 	system_load.start_time = hrt_absolute_time();
 	int i;
 
@@ -80,27 +78,29 @@ void cpuload_initialize_once()
 		system_load.tasks[i].valid = false;
 	}
 
-	system_load.total_count = 0;
-
 	uint64_t now = hrt_absolute_time();
 
-	/* initialize idle thread statically */
-	system_load.tasks[0].start_time = now;
-	system_load.tasks[0].total_runtime = 0;
-	system_load.tasks[0].curr_start_time = 0;
-	system_load.tasks[0].tcb = sched_gettcb(0);
-	system_load.tasks[0].valid = true;
-	system_load.total_count++;
-
-	/* initialize init thread statically */
-	system_load.tasks[1].start_time = now;
-	system_load.tasks[1].total_runtime = 0;
-	system_load.tasks[1].curr_start_time = 0;
-	system_load.tasks[1].tcb = sched_gettcb(1);
-	system_load.tasks[1].valid = true;
-	/* count init thread */
-	system_load.total_count++;
-	//	}
+	int static_tasks_count = 2;	// there are at least 2 threads that should be initialized statically - "idle" and "init"
+
+#ifdef CONFIG_PAGING
+	static_tasks_count++;	// include paging thread in initialization
+#endif /* CONFIG_PAGING */
+#if CONFIG_SCHED_WORKQUEUE
+	static_tasks_count++;	// include high priority work0 thread in initialization
+#endif /* CONFIG_SCHED_WORKQUEUE */
+#if CONFIG_SCHED_LPWORK
+	static_tasks_count++;	// include low priority work1 thread in initialization
+#endif /* CONFIG_SCHED_WORKQUEUE */
+
+	// perform static initialization of "system" threads
+	for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++)
+	{
+		system_load.tasks[system_load.total_count].start_time = now;
+		system_load.tasks[system_load.total_count].total_runtime = 0;
+		system_load.tasks[system_load.total_count].curr_start_time = 0;
+		system_load.tasks[system_load.total_count].tcb = sched_gettcb(system_load.total_count);	// it is assumed that these static threads have consecutive PIDs
+		system_load.tasks[system_load.total_count].valid = true;
+	}
 }
 
 void sched_note_start(FAR struct tcb_s *tcb)
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index e7d7e7bca..ae5fc6c61 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -169,3 +169,6 @@ ORB_DEFINE(debug_key_value, struct debug_key_value_s);
 
 #include "topics/navigation_capabilities.h"
 ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s);
+
+#include "topics/esc_status.h"
+ORB_DEFINE(esc_status, struct esc_status_s);
diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
new file mode 100644
index 000000000..e67a39e1e
--- /dev/null
+++ b/src/modules/uORB/topics/esc_status.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Marco Bauer <marco@wtns.de>
+ *
+ * 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 esc_status.h
+ * Definition of the esc_status uORB topic.
+ *
+ * Published the state machine and the system status bitfields
+ * (see SYS_STATUS mavlink message), published only by commander app.
+ *
+ * All apps should write to subsystem_info:
+ *
+ *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> esc_status --> (mavlink app)
+ */
+
+#ifndef ESC_STATUS_H_
+#define ESC_STATUS_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics @{
+ */
+
+/**
+ * The number of ESCs supported.
+ * Current (Q2/2013) we support 8 ESCs,
+ */
+#define CONNECTED_ESC_MAX   8
+
+enum ESC_VENDOR {
+	ESC_VENDOR_GENERIC = 0,					/**< generic ESC */
+	ESC_VENDOR_MIKROKOPTER					/**< Mikrokopter */
+};
+
+enum ESC_CONNECTION_TYPE {
+	ESC_CONNECTION_TYPE_PPM = 0,			/**< Traditional PPM ESC */
+	ESC_CONNECTION_TYPE_SERIAL,			/**< Serial Bus connected ESC */
+	ESC_CONNECTION_TYPE_ONESHOOT,			/**< One Shoot PPM */
+	ESC_CONNECTION_TYPE_I2C,				/**< I2C */
+	ESC_CONNECTION_TYPE_CAN					/**< CAN-Bus */
+};
+
+/**
+ *
+ */
+struct esc_status_s
+{
+	/* use of a counter and timestamp recommended (but not necessary) */
+
+	uint16_t counter;   		/**< incremented by the writing thread everytime new data is stored */
+	uint64_t timestamp; 		/**< in microseconds since system start, is set whenever the writing thread stores new data */
+	
+	uint8_t esc_count;			/**< number of connected ESCs */
+	enum ESC_CONNECTION_TYPE esc_connectiontype;	/**< how ESCs connected to the system */
+	
+	struct {
+		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
+		enum ESC_VENDOR esc_vendor;		/**< Vendor of current ESC */
+		uint16_t esc_version;			/**< Version of current ESC - if supported */
+		uint16_t esc_voltage;			/**< Voltage measured from current ESC - if supported */
+		uint16_t esc_current;			/**< Current measured from current ESC (100mA steps) - if supported */
+		uint16_t esc_rpm;				/**< RPM measured from current ESC - if supported */
+		uint16_t esc_temperature;		/**< Temperature measured from current ESC - if supported */
+		float    esc_setpoint;			/**< setpoint of current ESC */
+		uint16_t esc_setpoint_raw;		/**< setpoint of current ESC (Value sent to ESC) */
+		uint16_t esc_state;				/**< State of ESC - depend on Vendor */
+		uint16_t esc_errorcount;		/**< Number of reported errors by ESC - if supported */
+	} esc[CONNECTED_ESC_MAX];
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+//ORB_DECLARE(esc_status);
+ORB_DECLARE_OPTIONAL(esc_status);
+
+#endif