Merge branch 'mpc_rc' of https://github.com/TickTock-/Firmware into rc_merged

16 files changed, 473 insertions, 288 deletions

diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 668bac5d9..5cf84542b 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -97,6 +97,8 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 {
 	using namespace math;
 
+	memset(&ref, 0, sizeof(ref));
+
 	F.zero();
 	G.zero();
 	V.zero();
@@ -247,11 +249,7 @@ void KalmanNav::update()
 		lat0 = lat;
 		lon0 = lon;
 		alt0 = alt;
-		// XXX map_projection has internal global
-		// states that multiple things could change, 
-		// should make map_projection take reference
-		// lat/lon and not have init
-		map_projection_init(lat0, lon0);
+		map_projection_init(&ref, lat0, lon0);
 		_positionInitialized = true;
 		warnx("initialized EKF state with GPS");
 		warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f",
@@ -314,7 +312,6 @@ void KalmanNav::updatePublications()
 	// global position publication
 	_pos.timestamp = _pubTimeStamp;
 	_pos.time_gps_usec = _gps.timestamp_position;
-	_pos.global_valid = true;
 	_pos.lat = lat * M_RAD_TO_DEG;
 	_pos.lon = lon * M_RAD_TO_DEG;
 	_pos.alt = float(alt);
@@ -327,7 +324,7 @@ void KalmanNav::updatePublications()
 	float x;
 	float y;
 	bool landed = alt < (alt0 + 0.1); // XXX improve?
-	map_projection_project(lat, lon, &x, &y); 
+	map_projection_project(&ref, lat, lon, &x, &y);
 	_localPos.timestamp = _pubTimeStamp;
 	_localPos.xy_valid = true;
 	_localPos.z_valid = true;
@@ -343,8 +340,8 @@ void KalmanNav::updatePublications()
 	_localPos.xy_global = true;
 	_localPos.z_global = true;
 	_localPos.ref_timestamp = _pubTimeStamp;
-	_localPos.ref_lat = getLatDegE7();
-	_localPos.ref_lon = getLonDegE7();
+	_localPos.ref_lat = lat * M_RAD_TO_DEG;
+	_localPos.ref_lon = lon * M_RAD_TO_DEG;
 	_localPos.ref_alt = 0;
 	_localPos.landed = landed;
 
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
index caf93bc78..24df153cb 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
@@ -49,6 +49,7 @@
 #include <controllib/block/BlockParam.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
+#include <lib/geo/geo.h>
 
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -164,6 +165,7 @@ protected:
 	// parameters
 	float alt;                   		/**< altitude, meters */
 	double lat0, lon0;                   	/**< reference latitude and longitude */
+	struct map_projection_reference_s ref;	/**< local projection reference */
 	float alt0;                   		/**<  refeerence altitude (ground height) */
 	control::BlockParamFloat _vGyro;      /**< gyro process noise */
 	control::BlockParamFloat _vAccel;     /**< accelerometer process noise  */
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 10a6cd2c5..c61b6ff3f 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -407,7 +407,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 							vel(2) = gps.vel_d_m_s;
 						}
 
-					} else if (ekf_params.acc_comp == 2 && global_pos.global_valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
+					} else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
 						vel_valid = true;
 						if (global_pos_updated) {
 							vel_t = global_pos.timestamp;
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 43a4ed8ab..789e0f63e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -117,7 +117,7 @@ extern struct system_load_s system_load;
 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
-#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
+#define POSITION_TIMEOUT 30000 /**< consider the local or global position estimate invalid after 30ms */
 #define RC_TIMEOUT 500000
 #define DIFFPRESS_TIMEOUT 2000000
 
@@ -153,6 +153,7 @@ static bool on_usb_power = false;
 
 static float takeoff_alt = 5.0f;
 static int parachute_enabled = 0;
+static float eph_epv_threshold = 5.0f;
 
 static struct vehicle_status_s status;
 static struct actuator_armed_s armed;
@@ -194,7 +195,7 @@ void usage(const char *reason);
 /**
  * React to commands that are sent e.g. from the mavlink module.
  */
-bool handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed);
+bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub);
 
 /**
  * Mainloop of commander.
@@ -389,7 +390,7 @@ int disarm()
 	}
 }
 
-bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
+bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
 {
 	/* result of the command */
 	enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED;
@@ -584,6 +585,51 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		}
 		break;
 
+	case VEHICLE_CMD_DO_SET_HOME: {
+			bool use_current = cmd->param1 > 0.5f;
+			if (use_current) {
+				/* use current position */
+				if (status->condition_global_position_valid) {
+					home->lat = global_pos->lat;
+					home->lon = global_pos->lon;
+					home->alt = global_pos->alt;
+
+					home->timestamp = hrt_absolute_time();
+
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
+
+				} else {
+					result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				}
+
+			} else {
+				/* use specified position */
+				home->lat = cmd->param5;
+				home->lon = cmd->param6;
+				home->alt = cmd->param7;
+
+				home->timestamp = hrt_absolute_time();
+
+				result = VEHICLE_CMD_RESULT_ACCEPTED;
+			}
+
+			if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
+				warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt);
+				mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt);
+
+				/* announce new home position */
+				if (*home_pub > 0) {
+					orb_publish(ORB_ID(home_position), *home_pub, home);
+
+				} else {
+					*home_pub = orb_advertise(ORB_ID(home_position), home);
+				}
+
+				/* mark home position as set */
+				status->condition_home_position_valid = true;
+			}
+		}
+		break;
 	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
 	case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
 	case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
@@ -616,6 +662,7 @@ int commander_thread_main(int argc, char *argv[])
 	commander_initialized = false;
 
 	bool arm_tune_played = false;
+	bool was_armed = false;
 
 	/* set parameters */
 	param_t _param_sys_type = param_find("MAV_TYPE");
@@ -929,7 +976,45 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* update condition_global_position_valid */
-		check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.global_valid, &(status.condition_global_position_valid), &status_changed);
+		/* hysteresis for EPH/EPV */
+		bool eph_epv_good;
+		if (status.condition_global_position_valid) {
+			if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) {
+				eph_epv_good = false;
+			}
+
+		} else {
+			if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) {
+				eph_epv_good = true;
+			}
+		}
+		check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed);
+
+		/* check if GPS fix is ok */
+
+		/* update home position */
+		if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
+			(global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
+
+			home.lat = global_position.lat;
+			home.lon = global_position.lon;
+			home.alt = global_position.alt;
+
+			warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
+			mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
+
+			/* announce new home position */
+			if (home_pub > 0) {
+				orb_publish(ORB_ID(home_position), home_pub, &home);
+
+			} else {
+				home_pub = orb_advertise(ORB_ID(home_position), &home);
+			}
+
+			/* mark home position as set */
+			status.condition_home_position_valid = true;
+			tune_positive(true);
+		}
 
 		/* update local position estimate */
 		orb_check(local_position_sub, &updated);
@@ -940,7 +1025,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* update condition_local_position_valid and condition_local_altitude_valid */
-		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
+		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed);
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
 
 		static bool published_condition_landed_fw = false;
@@ -1084,45 +1169,6 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (updated) {
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
-			/* check if GPS fix is ok */
-			float hdop_threshold_m = 4.0f;
-			float vdop_threshold_m = 8.0f;
-
-			/*
-			 * If horizontal dilution of precision (hdop / eph)
-			 * and vertical diluation of precision (vdop / epv)
-			 * are below a certain threshold (e.g. 4 m), AND
-			 * home position is not yet set AND the last GPS
-			 * GPS measurement is not older than two seconds AND
-			 * the system is currently not armed, set home
-			 * position to the current position.
-			 */
-
-			if (!status.condition_home_position_valid && gps_position.fix_type >= 3 &&
-			    (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) &&
-			    (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed
-			    && global_position.global_valid) {
-
-				/* copy position data to uORB home message, store it locally as well */
-				home.lat = global_position.lat;
-				home.lon = global_position.lon;
-				home.alt = global_position.alt;
-
-				warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt);
-				mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt);
-
-				/* announce new home position */
-				if (home_pub > 0) {
-					orb_publish(ORB_ID(home_position), home_pub, &home);
-
-				} else {
-					home_pub = orb_advertise(ORB_ID(home_position), &home);
-				}
-
-				/* mark home position as set */
-				status.condition_home_position_valid = true;
-				tune_positive(true);
-			}
 		}
 
 		/* start RC input check */
@@ -1310,7 +1356,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
 
 			/* handle it */
-			if (handle_command(&status, &safety, &cmd, &armed))
+			if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub))
 				status_changed = true;
 		}
 
@@ -1325,7 +1371,32 @@ int commander_thread_main(int argc, char *argv[])
 		if (arming_state_changed) {
 			status_changed = true;
 			mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]);
+
+			/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
+			if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
+				(global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
+
+				// TODO remove code duplication
+				home.lat = global_position.lat;
+				home.lon = global_position.lon;
+				home.alt = global_position.alt;
+
+				warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
+				mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
+
+				/* announce new home position */
+				if (home_pub > 0) {
+					orb_publish(ORB_ID(home_position), home_pub, &home);
+
+				} else {
+					home_pub = orb_advertise(ORB_ID(home_position), &home);
+				}
+
+				/* mark home position as set */
+				status.condition_home_position_valid = true;
+			}
 		}
+		was_armed = armed.armed;
 
 		if (main_state_changed) {
 			status_changed = true;
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 8ea611802..9d2d9ed5f 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -177,6 +177,8 @@ private:
 	struct sensor_combined_s			_sensor_combined;
 #endif
 
+	struct map_projection_reference_s	_pos_ref;
+
 	float						_baro_ref;		/**< barometer reference altitude */
 	float						_baro_gps_offset;	/**< offset between GPS and baro */
 
@@ -821,7 +823,7 @@ FixedwingEstimator::task_main()
 					_baro_gps_offset = _baro_ref - _local_pos.ref_alt;
 
 					// XXX this is not multithreading safe
-					map_projection_init(lat, lon);
+					map_projection_init(&_pos_ref, lat, lon);
 					mavlink_log_info(_mavlink_fd, "[position estimator] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
 
 					_gps_initialized = true;
@@ -1042,18 +1044,14 @@ FixedwingEstimator::task_main()
 
 				_global_pos.timestamp = _local_pos.timestamp;
 
-				_global_pos.baro_valid = true;
-				_global_pos.global_valid = true;
-
 				if (_local_pos.xy_global) {
 					double est_lat, est_lon;
-					map_projection_reproject(_local_pos.x, _local_pos.y, &est_lat, &est_lon);
+					map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
 					_global_pos.lat = est_lat;
 					_global_pos.lon = est_lon;
 					_global_pos.time_gps_usec = _gps.time_gps_usec;
 				}
 
-				/* set valid values even if position is not valid */
 				if (_local_pos.v_xy_valid) {
 					_global_pos.vel_n = _local_pos.vx;
 					_global_pos.vel_e = _local_pos.vy;
@@ -1065,16 +1063,15 @@ FixedwingEstimator::task_main()
 				/* local pos alt is negative, change sign and add alt offset */
 				_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
 
-				if (_local_pos.z_valid) {
-					_global_pos.baro_alt = _local_pos.ref_alt - _baro_gps_offset - _local_pos.z;
-				}
-
 				if (_local_pos.v_z_valid) {
 					_global_pos.vel_d = _local_pos.vz;
 				}
 
 				_global_pos.yaw = _local_pos.yaw;
 
+				_global_pos.eph = _gps.eph_m;
+				_global_pos.epv = _gps.epv_m;
+
 				_global_pos.timestamp = _local_pos.timestamp;
 
 				/* lazily publish the global position only once available */
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index f5029652d..0762b76f2 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -245,6 +245,7 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
 	memset(&f, 0, sizeof(f));
 
 	f.timestamp = hrt_absolute_time();
+	f.flow_timestamp = flow.time_usec;
 	f.flow_raw_x = flow.flow_x;
 	f.flow_raw_y = flow.flow_y;
 	f.flow_comp_x_m = flow.flow_comp_m_x;
@@ -739,7 +740,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		memset(&hil_global_pos, 0, sizeof(hil_global_pos));
 
 		hil_global_pos.timestamp = timestamp;
-		hil_global_pos.global_valid = true;
 		hil_global_pos.lat = hil_state.lat;
 		hil_global_pos.lon = hil_state.lon;
 		hil_global_pos.alt = hil_state.alt / 1000.0f;
@@ -747,6 +747,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_global_pos.vel_e = hil_state.vy / 100.0f;
 		hil_global_pos.vel_d = hil_state.vz / 100.0f;
 		hil_global_pos.yaw = hil_attitude.yaw;
+		hil_global_pos.eph = 2.0f;
+		hil_global_pos.epv = 4.0f;
 
 		if (_global_pos_pub < 0) {
 			_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
@@ -758,19 +760,22 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 
 	/* local position */
 	{
+		double lat = hil_state.lat * 1e-7;
+		double lon = hil_state.lon * 1e-7;
+
 		if (!_hil_local_proj_inited) {
 			_hil_local_proj_inited = true;
 			_hil_local_alt0 = hil_state.alt / 1000.0f;
-			map_projection_init(hil_state.lat, hil_state.lon);
+			map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
 			hil_local_pos.ref_timestamp = timestamp;
-			hil_local_pos.ref_lat = hil_state.lat;
-			hil_local_pos.ref_lon = hil_state.lon;
+			hil_local_pos.ref_lat = lat;
+			hil_local_pos.ref_lon = lon;
 			hil_local_pos.ref_alt = _hil_local_alt0;
 		}
 
 		float x;
 		float y;
-		map_projection_project(hil_state.lat * 1e-7, hil_state.lon * 1e-7, &x, &y);
+		map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
 		hil_local_pos.timestamp = timestamp;
 		hil_local_pos.xy_valid = true;
 		hil_local_pos.z_valid = true;
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 72ce4560f..9ab84b58a 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -142,4 +142,5 @@ private:
 	uint64_t _old_timestamp;
 	bool _hil_local_proj_inited;
 	float _hil_local_alt0;
+	struct map_projection_reference_s _hil_local_proj_ref;
 };
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 2bd2d356a..6b797f222 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Anton Babushkin <anton.babushkin@me.com>
+ *   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
@@ -40,6 +39,8 @@
  * Output of velocity controller is thrust vector that splitted to thrust direction
  * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
  * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>
@@ -62,9 +63,10 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
@@ -114,20 +116,21 @@ private:
 	int 	_params_sub;			/**< notification of parameter updates */
 	int 	_manual_sub;			/**< notification of manual control updates */
 	int		_arming_sub;			/**< arming status of outputs */
-	int		_global_pos_sub;			/**< vehicle local position */
+	int		_local_pos_sub;			/**< vehicle local position */
 	int		_pos_sp_triplet_sub;		/**< position setpoint triplet */
 
 	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
-	orb_advert_t	_pos_sp_triplet_pub;	/**< position setpoint triplet publication */
-	orb_advert_t	_global_vel_sp_pub;		/**< vehicle global velocity setpoint */
+	orb_advert_t	_local_pos_sp_pub;		/**< vehicle local position setpoint publication */
+	orb_advert_t	_global_vel_sp_pub;		/**< vehicle global velocity setpoint publication */
 
 	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
 	struct vehicle_attitude_setpoint_s	_att_sp;		/**< vehicle attitude setpoint */
 	struct manual_control_setpoint_s	_manual;		/**< r/c channel data */
 	struct vehicle_control_mode_s		_control_mode;	/**< vehicle control mode */
 	struct actuator_armed_s				_arming;		/**< actuator arming status */
-	struct vehicle_global_position_s		_global_pos;	/**< vehicle global position */
+	struct vehicle_local_position_s		_local_pos;		/**< vehicle local position */
 	struct position_setpoint_triplet_s		_pos_sp_triplet;	/**< vehicle global position setpoint triplet */
+	struct vehicle_local_position_setpoint_s	_local_pos_sp;		/**< vehicle local position setpoint */
 	struct vehicle_global_velocity_setpoint_s	_global_vel_sp;	/**< vehicle global velocity setpoint */
 
 	struct {
@@ -166,14 +169,15 @@ private:
 		math::Vector<3> sp_offs_max;
 	}		_params;
 
-	double _lat_sp;
-	double _lon_sp;
-	float _alt_sp;
+	struct map_projection_reference_s _ref_pos;
+	float _ref_alt;
+	hrt_abstime _ref_timestamp;
 
-	bool _reset_lat_lon_sp;
+	bool _reset_pos_sp;
 	bool _reset_alt_sp;
-	bool _use_global_alt;			/**< switch between global (AMSL) and barometric altitudes */
 
+	math::Vector<3> _pos;
+	math::Vector<3> _pos_sp;
 	math::Vector<3> _vel;
 	math::Vector<3> _vel_sp;
 	math::Vector<3> _vel_prev;			/**< velocity on previous step */
@@ -196,9 +200,13 @@ private:
 	static float	scale_control(float ctl, float end, float dz);
 
 	/**
-	 * Reset lat/lon to current position
+	 * Update reference for local position projection
+	 */
+	void		update_ref();
+	/**
+	 * Reset position setpoint to current position
 	 */
-	void		reset_lat_lon_sp();
+	void		reset_pos_sp();
 
 	/**
 	 * Reset altitude setpoint to current altitude
@@ -246,31 +254,32 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_params_sub(-1),
 	_manual_sub(-1),
 	_arming_sub(-1),
-	_global_pos_sub(-1),
+	_local_pos_sub(-1),
 	_pos_sp_triplet_sub(-1),
 
 /* publications */
 	_att_sp_pub(-1),
-	_pos_sp_triplet_pub(-1),
+	_local_pos_sp_pub(-1),
 	_global_vel_sp_pub(-1),
 
-	_lat_sp(0.0),
-	_lon_sp(0.0),
-	_alt_sp(0.0f),
+	_ref_alt(0.0f),
+	_ref_timestamp(0),
 
-	_reset_lat_lon_sp(true),
-	_reset_alt_sp(true),
-	_use_global_alt(false)
+	_reset_pos_sp(true),
+	_reset_alt_sp(true)
 {
 	memset(&_att, 0, sizeof(_att));
 	memset(&_att_sp, 0, sizeof(_att_sp));
 	memset(&_manual, 0, sizeof(_manual));
 	memset(&_control_mode, 0, sizeof(_control_mode));
 	memset(&_arming, 0, sizeof(_arming));
-	memset(&_global_pos, 0, sizeof(_global_pos));
+	memset(&_local_pos, 0, sizeof(_local_pos));
 	memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
+	memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
 	memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
 
+	memset(&_ref_pos, 0, sizeof(_ref_pos));
+
 	_params.pos_p.zero();
 	_params.vel_p.zero();
 	_params.vel_i.zero();
@@ -279,6 +288,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_params.vel_ff.zero();
 	_params.sp_offs_max.zero();
 
+	_pos.zero();
+	_pos_sp.zero();
 	_vel.zero();
 	_vel_sp.zero();
 	_vel_prev.zero();
@@ -337,8 +348,9 @@ MulticopterPositionControl::parameters_update(bool force)
 
 	orb_check(_params_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(parameter_update), _params_sub, &param_upd);
+	}
 
 	if (updated || force) {
 		param_get(_params_handles.thr_min, &_params.thr_min);
@@ -392,33 +404,39 @@ MulticopterPositionControl::poll_subscriptions()
 
 	orb_check(_att_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
+	}
 
 	orb_check(_att_sp_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
+	}
 
 	orb_check(_control_mode_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+	}
 
 	orb_check(_manual_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
+	}
 
 	orb_check(_arming_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
+	}
 
-	orb_check(_global_pos_sub, &updated);
+	orb_check(_local_pos_sub, &updated);
 
-	if (updated)
-		orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
+	}
 }
 
 float
@@ -442,40 +460,50 @@ MulticopterPositionControl::task_main_trampoline(int argc, char *argv[])
 }
 
 void
-MulticopterPositionControl::reset_lat_lon_sp()
+MulticopterPositionControl::update_ref()
 {
-	if (_reset_lat_lon_sp) {
-		_reset_lat_lon_sp = false;
-		_lat_sp = _global_pos.lat;
-		_lon_sp = _global_pos.lon;
-		mavlink_log_info(_mavlink_fd, "[mpc] reset lat/lon sp: %.7f, %.7f", _lat_sp, _lon_sp);
+	if (_local_pos.ref_timestamp != _ref_timestamp) {
+		double lat_sp, lon_sp;
+		float alt_sp;
+
+		if (_ref_timestamp != 0) {
+			/* calculate current position setpoint in global frame */
+			map_projection_reproject(&_ref_pos, _pos_sp(0), _pos_sp(1), &lat_sp, &lon_sp);
+			alt_sp = _ref_alt - _pos_sp(2);
+		}
+
+		/* update local projection reference */
+		map_projection_init(&_ref_pos, _local_pos.ref_lat, _local_pos.ref_lon);
+		_ref_alt = _local_pos.ref_alt;
+
+		if (_ref_timestamp != 0) {
+			/* reproject position setpoint to new reference */
+			map_projection_project(&_ref_pos, lat_sp, lon_sp, &_pos_sp.data[0], &_pos_sp.data[1]);
+			_pos_sp(2) = -(alt_sp - _ref_alt);
+		}
+
+		_ref_timestamp = _local_pos.ref_timestamp;
 	}
 }
 
 void
-MulticopterPositionControl::reset_alt_sp()
+MulticopterPositionControl::reset_pos_sp()
 {
-	if (_reset_alt_sp) {
-		_reset_alt_sp = false;
-		_alt_sp = _use_global_alt ? _global_pos.alt : _global_pos.baro_alt;
-		mavlink_log_info(_mavlink_fd, "[mpc] reset alt (%s) sp: %.2f", _use_global_alt ? "AMSL" : "baro", (double)_alt_sp);
+	if (_reset_pos_sp) {
+		_reset_pos_sp = false;
+		_pos_sp(0) = _pos(0);
+		_pos_sp(1) = _pos(1);
+		mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
 	}
 }
 
 void
-MulticopterPositionControl::select_alt(bool global)
+MulticopterPositionControl::reset_alt_sp()
 {
-	if (global != _use_global_alt) {
-		_use_global_alt = global;
-
-		if (global) {
-			/* switch from barometric to global altitude */
-			_alt_sp += _global_pos.alt - _global_pos.baro_alt;
-
-		} else {
-			/* switch from global to barometric altitude */
-			_alt_sp += _global_pos.baro_alt - _global_pos.alt;
-		}
+	if (_reset_alt_sp) {
+		_reset_alt_sp = false;
+		_pos_sp(2) = _pos(2);
+		mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
 	}
 }
 
@@ -496,7 +524,7 @@ MulticopterPositionControl::task_main()
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
-	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
 	_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 
 	parameters_update(true);
@@ -527,8 +555,7 @@ MulticopterPositionControl::task_main()
 	/* wakeup source */
 	struct pollfd fds[1];
 
-	/* Setup of loop */
-	fds[0].fd = _global_pos_sub;
+	fds[0].fd = _local_pos_sub;
 	fds[0].events = POLLIN;
 
 	while (!_task_should_exit) {
@@ -536,8 +563,9 @@ MulticopterPositionControl::task_main()
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
 
 		/* timed out - periodic check for _task_should_exit */
-		if (pret == 0)
+		if (pret == 0) {
 			continue;
+		}
 
 		/* this is undesirable but not much we can do */
 		if (pret < 0) {
@@ -554,7 +582,7 @@ MulticopterPositionControl::task_main()
 
 		if (_control_mode.flag_armed && !was_armed) {
 			/* reset setpoints and integrals on arming */
-			_reset_lat_lon_sp = true;
+			_reset_pos_sp = true;
 			_reset_alt_sp = true;
 			reset_int_z = true;
 			reset_int_xy = true;
@@ -562,28 +590,25 @@ MulticopterPositionControl::task_main()
 
 		was_armed = _control_mode.flag_armed;
 
+		update_ref();
+
 		if (_control_mode.flag_control_altitude_enabled ||
 		    _control_mode.flag_control_position_enabled ||
 		    _control_mode.flag_control_climb_rate_enabled ||
 		    _control_mode.flag_control_velocity_enabled) {
 
-			_vel(0) = _global_pos.vel_n;
-			_vel(1) = _global_pos.vel_e;
-			_vel(2) = _global_pos.vel_d;
+			_pos(0) = _local_pos.x;
+			_pos(1) = _local_pos.y;
+			_pos(2) = _local_pos.z;
 
-			sp_move_rate.zero();
+			_vel(0) = _local_pos.vx;
+			_vel(1) = _local_pos.vy;
+			_vel(2) = _local_pos.vz;
 
-			float alt = _global_pos.alt;
+			sp_move_rate.zero();
 
 			/* select control source */
 			if (_control_mode.flag_control_manual_enabled) {
-				/* select altitude source and update setpoint */
-				select_alt(_global_pos.global_valid);
-
-				if (!_use_global_alt) {
-					alt = _global_pos.baro_alt;
-				}
-
 				/* manual control */
 				if (_control_mode.flag_control_altitude_enabled) {
 					/* reset alt setpoint to current altitude if needed */
@@ -594,8 +619,8 @@ MulticopterPositionControl::task_main()
 				}
 
 				if (_control_mode.flag_control_position_enabled) {
-					/* reset lat/lon setpoint to current position if needed */
-					reset_lat_lon_sp();
+					/* reset position setpoint to current position if needed */
+					reset_pos_sp();
 
 					/* move position setpoint with roll/pitch stick */
 					sp_move_rate(0) = _manual.pitch;
@@ -615,74 +640,47 @@ MulticopterPositionControl::task_main()
 				sp_move_rate = R_yaw_sp * sp_move_rate.emult(_params.vel_max);
 
 				/* move position setpoint */
-				add_vector_to_global_position(_lat_sp, _lon_sp, sp_move_rate(0) * dt, sp_move_rate(1) * dt, &_lat_sp, &_lon_sp);
-				_alt_sp -= sp_move_rate(2) * dt;
+				_pos_sp += sp_move_rate * dt;
 
 				/* check if position setpoint is too far from actual position */
 				math::Vector<3> pos_sp_offs;
 				pos_sp_offs.zero();
 
 				if (_control_mode.flag_control_position_enabled) {
-					get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_sp_offs.data[0], &pos_sp_offs.data[1]);
-					pos_sp_offs(0) /= _params.sp_offs_max(0);
-					pos_sp_offs(1) /= _params.sp_offs_max(1);
+					pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
+					pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
 				}
 
 				if (_control_mode.flag_control_altitude_enabled) {
-					pos_sp_offs(2) = -(_alt_sp - alt) / _params.sp_offs_max(2);
+					pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
 				}
 
 				float pos_sp_offs_norm = pos_sp_offs.length();
 
 				if (pos_sp_offs_norm > 1.0f) {
 					pos_sp_offs /= pos_sp_offs_norm;
-					add_vector_to_global_position(_global_pos.lat, _global_pos.lon, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp);
-					_alt_sp = alt - pos_sp_offs(2) * _params.sp_offs_max(2);
-				}
-
-				/* fill position setpoint triplet */
-				_pos_sp_triplet.previous.valid = true;
-				_pos_sp_triplet.current.valid = true;
-				_pos_sp_triplet.next.valid = true;
-
-				_pos_sp_triplet.nav_state = NAV_STATE_NONE;
-				_pos_sp_triplet.current.type = SETPOINT_TYPE_NORMAL;
-				_pos_sp_triplet.current.lat = _lat_sp;
-				_pos_sp_triplet.current.lon = _lon_sp;
-				_pos_sp_triplet.current.alt = _alt_sp;
-				_pos_sp_triplet.current.yaw = _att_sp.yaw_body;
-				_pos_sp_triplet.current.loiter_radius = 0.0f;
-				_pos_sp_triplet.current.loiter_direction = 1.0f;
-				_pos_sp_triplet.current.pitch_min = 0.0f;
-
-				/* publish position setpoint triplet */
-				if (_pos_sp_triplet_pub > 0) {
-					orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
-
-				} else {
-					_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
+					_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
 				}
 
 			} else {
-				/* always use AMSL altitude for AUTO */
-				select_alt(true);
-
 				/* AUTO */
 				bool updated;
 				orb_check(_pos_sp_triplet_sub, &updated);
 
-				if (updated)
+				if (updated) {
 					orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
+				}
 
 				if (_pos_sp_triplet.current.valid) {
 					/* in case of interrupted mission don't go to waypoint but stay at current position */
-					_reset_lat_lon_sp = true;
+					_reset_pos_sp = true;
 					_reset_alt_sp = true;
 
-					/* update position setpoint */
-					_lat_sp = _pos_sp_triplet.current.lat;
-					_lon_sp = _pos_sp_triplet.current.lon;
-					_alt_sp = _pos_sp_triplet.current.alt;
+					/* project setpoint to local frame */
+					map_projection_project(&_ref_pos,
+							       _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
+							       &_pos_sp.data[0], &_pos_sp.data[1]);
+					_pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
 
 					/* update yaw setpoint if needed */
 					if (isfinite(_pos_sp_triplet.current.yaw)) {
@@ -691,11 +689,25 @@ MulticopterPositionControl::task_main()
 
 				} else {
 					/* no waypoint, loiter, reset position setpoint if needed */
-					reset_lat_lon_sp();
+					reset_pos_sp();
 					reset_alt_sp();
 				}
 			}
 
+			/* fill local position setpoint */
+			_local_pos_sp.x = _pos_sp(0);
+			_local_pos_sp.y = _pos_sp(1);
+			_local_pos_sp.z = _pos_sp(2);
+			_local_pos_sp.yaw = _att_sp.yaw_body;
+
+			/* publish local position setpoint */
+			if (_local_pos_sp_pub > 0) {
+				orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
+
+			} else {
+				_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
+			}
+
 			if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) {
 				/* idle state, don't run controller and set zero thrust */
 				R.identity();
@@ -719,9 +731,7 @@ MulticopterPositionControl::task_main()
 
 			} else {
 				/* run position & altitude controllers, calculate velocity setpoint */
-				math::Vector<3> pos_err;
-				get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]);
-				pos_err(2) = -(_alt_sp - alt);
+				math::Vector<3> pos_err = _pos_sp - _pos;
 
 				_vel_sp = pos_err.emult(_params.pos_p) + sp_move_rate.emult(_params.vel_ff);
 
@@ -731,7 +741,7 @@ MulticopterPositionControl::task_main()
 				}
 
 				if (!_control_mode.flag_control_position_enabled) {
-					_reset_lat_lon_sp = true;
+					_reset_pos_sp = true;
 					_vel_sp(0) = 0.0f;
 					_vel_sp(1) = 0.0f;
 				}
@@ -837,8 +847,9 @@ MulticopterPositionControl::task_main()
 						/* limit max tilt and min lift when landing */
 						tilt_max = _params.land_tilt_max;
 
-						if (thr_min < 0.0f)
+						if (thr_min < 0.0f) {
 							thr_min = 0.0f;
+						}
 					}
 
 					/* limit min lift */
@@ -929,8 +940,9 @@ MulticopterPositionControl::task_main()
 						thrust_int(2) += vel_err(2) * _params.vel_i(2) * dt;
 
 						/* protection against flipping on ground when landing */
-						if (thrust_int(2) > 0.0f)
+						if (thrust_int(2) > 0.0f) {
 							thrust_int(2) = 0.0f;
+						}
 					}
 
 					/* calculate attitude setpoint from thrust vector */
@@ -1011,7 +1023,7 @@ MulticopterPositionControl::task_main()
 		} else {
 			/* position controller disabled, reset setpoints */
 			_reset_alt_sp = true;
-			_reset_lat_lon_sp = true;
+			_reset_pos_sp = true;
 			reset_int_z = true;
 			reset_int_xy = true;
 		}
@@ -1050,18 +1062,21 @@ MulticopterPositionControl::start()
 
 int mc_pos_control_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		errx(1, "usage: mc_pos_control {start|stop|status}");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (pos_control::g_control != nullptr)
+		if (pos_control::g_control != nullptr) {
 			errx(1, "already running");
+		}
 
 		pos_control::g_control = new MulticopterPositionControl;
 
-		if (pos_control::g_control == nullptr)
+		if (pos_control::g_control == nullptr) {
 			errx(1, "alloc failed");
+		}
 
 		if (OK != pos_control::g_control->start()) {
 			delete pos_control::g_control;
@@ -1073,8 +1088,9 @@ int mc_pos_control_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		if (pos_control::g_control == nullptr)
+		if (pos_control::g_control == nullptr) {
 			errx(1, "not running");
+		}
 
 		delete pos_control::g_control;
 		pos_control::g_control = nullptr;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 494266dd3..ca71aab70 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -177,7 +177,7 @@ private:
 	class 		Mission				_mission;
 
 	bool		_mission_item_valid;		/**< current mission item valid */
-	bool		_global_pos_valid;		/**< track changes of global_position.global_valid flag */
+	bool		_global_pos_valid;		/**< track changes of global_position */
 	bool		_reset_loiter_pos;		/**< if true then loiter position should be set to current position */
 	bool		_waypoint_position_reached;
 	bool		_waypoint_yaw_reached;
@@ -781,13 +781,11 @@ Navigator::task_main()
 			if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
 				_pos_sp_triplet_updated = true;
 
-				if (myState == NAV_STATE_LAND && _global_pos.global_valid && !_global_pos_valid) {
+				if (myState == NAV_STATE_LAND && !_global_pos_valid) {
 					/* got global position when landing, update setpoint */
 					start_land();
 				}
 
-				_global_pos_valid = _global_pos.global_valid;
-
 				/* check if waypoint has been reached in MISSION, RTL and LAND modes */
 				if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) {
 					if (check_mission_item_reached()) {
@@ -812,6 +810,8 @@ Navigator::task_main()
 			}
 		}
 
+		_global_pos_valid = _vstatus.condition_global_position_valid;
+
 		/* publish position setpoint triplet if updated */
 		if (_pos_sp_triplet_updated) {
 			_pos_sp_triplet_updated = false;
@@ -857,9 +857,9 @@ Navigator::start()
 void
 Navigator::status()
 {
-	warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in");
+	warnx("Global position: %svalid", _global_pos_valid ? "" : "in");
 
-	if (_global_pos.global_valid) {
+	if (_global_pos_valid) {
 		warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
 		warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
 		      (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 763b87563..368424853 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
- *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
+ *   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
@@ -35,6 +34,8 @@
 /**
  * @file position_estimator_inav_main.c
  * Model-identification based position estimator for multirotors
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <unistd.h>
@@ -57,6 +58,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/optical_flow.h>
 #include <mavlink/mavlink_log.h>
 #include <poll.h>
@@ -95,8 +97,9 @@ static void usage(const char *reason);
  */
 static void usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: position_estimator_inav {start|stop|status} [-v]\n\n");
 	exit(1);
@@ -112,8 +115,9 @@ static void usage(const char *reason)
  */
 int position_estimator_inav_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 		if (thread_running) {
@@ -125,8 +129,9 @@ int position_estimator_inav_main(int argc, char *argv[])
 		verbose_mode = false;
 
 		if (argc > 1)
-			if (!strcmp(argv[2], "-v"))
+			if (!strcmp(argv[2], "-v")) {
 				verbose_mode = true;
+			}
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
@@ -163,16 +168,19 @@ int position_estimator_inav_main(int argc, char *argv[])
 	exit(1);
 }
 
-void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) {
+void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float x_est_prev[3], float y_est_prev[3], float z_est_prev[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
+{
 	FILE *f = fopen("/fs/microsd/inav.log", "a");
+
 	if (f) {
 		char *s = malloc(256);
-		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]);
+		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f] x_est_prev=[%.5f %.5f %.5f] y_est_prev=[%.5f %.5f %.5f] z_est_prev=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2], x_est_prev[0], x_est_prev[1], x_est_prev[2], y_est_prev[0], y_est_prev[1], y_est_prev[2], z_est_prev[0], z_est_prev[1], z_est_prev[2]);
 		fwrite(s, 1, n, f);
 		n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
 		fwrite(s, 1, n, f);
 		free(s);
 	}
+
 	fsync(fileno(f));
 	fclose(f);
 }
@@ -191,6 +199,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float y_est[3] = { 0.0f, 0.0f, 0.0f };
 	float z_est[3] = { 0.0f, 0.0f, 0.0f };
 
+	float x_est_prev[3], y_est_prev[3], z_est_prev[3];
+	memset(x_est_prev, 0, sizeof(x_est_prev));
+	memset(y_est_prev, 0, sizeof(y_est_prev));
+	memset(z_est_prev, 0, sizeof(z_est_prev));
+
 	int baro_init_cnt = 0;
 	int baro_init_num = 200;
 	float baro_offset = 0.0f;		// baro offset for reference altitude, initialized on start, then adjusted
@@ -206,6 +219,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	bool ref_inited = false;
 	hrt_abstime ref_init_start = 0;
 	const hrt_abstime ref_init_delay = 1000000;	// wait for 1s after 3D fix
+	struct map_projection_reference_s ref;
+	memset(&ref, 0, sizeof(ref));
+	hrt_abstime home_timestamp = 0;
 
 	uint16_t accel_updates = 0;
 	uint16_t baro_updates = 0;
@@ -238,7 +254,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float corr_flow[] = { 0.0f, 0.0f };	// N E
 	float w_flow = 0.0f;
 
+	static float min_eph_epv = 2.0f;	// min EPH/EPV, used for weight calculation
+	static float max_eph_epv = 10.0f;	// max EPH/EPV acceptable for estimation
+
 	float sonar_prev = 0.0f;
+	hrt_abstime flow_prev = 0;			// time of last flow measurement
 	hrt_abstime sonar_time = 0;			// time of last sonar measurement (not filtered)
 	hrt_abstime sonar_valid_time = 0;	// time of last sonar measurement used for correction (filtered)
 	hrt_abstime xy_src_time = 0;		// time of last available position data
@@ -257,6 +277,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	memset(&sensor, 0, sizeof(sensor));
 	struct vehicle_gps_position_s gps;
 	memset(&gps, 0, sizeof(gps));
+	struct home_position_s home;
+	memset(&home, 0, sizeof(home));
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
 	struct vehicle_local_position_s local_pos;
@@ -274,10 +296,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow));
 	int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	int home_position_sub = orb_subscribe(ORB_ID(home_position));
 
 	/* advertise */
 	orb_advert_t vehicle_local_position_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
-	orb_advert_t vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
+	orb_advert_t vehicle_global_position_pub = -1;
 
 	struct position_estimator_inav_params params;
 	struct position_estimator_inav_param_handles pos_inav_param_handles;
@@ -325,7 +348,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset);
 						local_pos.z_valid = true;
 						local_pos.v_z_valid = true;
-						global_pos.baro_valid = true;
 					}
 				}
 			}
@@ -425,6 +447,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (updated) {
 				orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
 
+				/* calculate time from previous update */
+				float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
+				flow_prev = flow.flow_timestamp;
+
 				if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7 && flow.ground_distance_m != sonar_prev) {
 					sonar_time = t;
 					sonar_prev = flow.ground_distance_m;
@@ -475,10 +501,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					flow_accurate = fabsf(body_v_est[1] / flow_dist - att.rollspeed) < max_flow &&
 							fabsf(body_v_est[0] / flow_dist + att.pitchspeed) < max_flow;
 
-					/* convert raw flow to angular flow */
+					/* convert raw flow to angular flow (rad/s) */
 					float flow_ang[2];
-					flow_ang[0] = flow.flow_raw_x * params.flow_k;
-					flow_ang[1] = flow.flow_raw_y * params.flow_k;
+					flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
+					flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
 					/* flow measurements vector */
 					float flow_m[3];
 					flow_m[0] = -flow_ang[0] * flow_dist;
@@ -503,8 +529,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 					/* if flow is not accurate, reduce weight for it */
 					// TODO make this more fuzzy
-					if (!flow_accurate)
+					if (!flow_accurate) {
 						w_flow *= 0.05f;
+					}
 
 					flow_valid = true;
 
@@ -516,32 +543,73 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				flow_updates++;
 			}
 
+			/* home position */
+			orb_check(home_position_sub, &updated);
+
+			if (updated) {
+				orb_copy(ORB_ID(home_position), home_position_sub, &home);
+
+				if (home.timestamp != home_timestamp) {
+					home_timestamp = home.timestamp;
+
+					double est_lat, est_lon;
+					float est_alt;
+
+					if (ref_inited) {
+						/* calculate current estimated position in global frame */
+						est_alt = local_pos.ref_alt - local_pos.z;
+						map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);
+					}
+
+					/* update reference */
+					map_projection_init(&ref, home.lat, home.lon);
+
+					/* update baro offset */
+					baro_offset += home.alt - local_pos.ref_alt;
+
+					local_pos.ref_lat = home.lat;
+					local_pos.ref_lon = home.lon;
+					local_pos.ref_alt = home.alt;
+					local_pos.ref_timestamp = home.timestamp;
+
+					if (ref_inited) {
+						/* reproject position estimate with new reference */
+						map_projection_project(&ref, est_lat, est_lon, &x_est[0], &y_est[0]);
+						z_est[0] = -(est_alt - local_pos.ref_alt);
+					}
+
+					ref_inited = true;
+				}
+			}
+
 			/* vehicle GPS position */
 			orb_check(vehicle_gps_position_sub, &updated);
 
 			if (updated) {
 				orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps);
 
-				if (gps.fix_type >= 3) {
-					/* hysteresis for GPS quality */
-					if (gps_valid) {
-						if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) {
-							gps_valid = false;
-							mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
-						}
+				bool reset_est = false;
 
-					} else {
-						if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) {
-							gps_valid = true;
-							mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
-						}
+				/* hysteresis for GPS quality */
+				if (gps_valid) {
+					if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) {
+						gps_valid = false;
+						mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
 					}
 
 				} else {
-					gps_valid = false;
+					if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) {
+						gps_valid = true;
+						reset_est = true;
+						mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
+					}
 				}
 
 				if (gps_valid) {
+					double lat = gps.lat * 1e-7;
+					double lon = gps.lon * 1e-7;
+					float alt = gps.alt * 1e-3;
+
 					/* initialize reference position if needed */
 					if (!ref_inited) {
 						if (ref_init_start == 0) {
@@ -549,18 +617,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 						} else if (t > ref_init_start + ref_init_delay) {
 							ref_inited = true;
-							/* reference GPS position */
-							double lat = gps.lat * 1e-7;
-							double lon = gps.lon * 1e-7;
-							float alt = gps.alt * 1e-3;
-
-							local_pos.ref_lat = gps.lat;
-							local_pos.ref_lon = gps.lon;
-							local_pos.ref_alt = alt + z_est[0];
+							/* update baro offset */
+							baro_offset -= z_est[0];
+
+							/* set position estimate to (0, 0, 0), use GPS velocity for XY */
+							x_est[0] = 0.0f;
+							x_est[1] = gps.vel_n_m_s;
+							x_est[2] = accel_NED[0];
+							y_est[0] = 0.0f;
+							y_est[1] = gps.vel_e_m_s;
+							z_est[0] = 0.0f;
+							y_est[2] = accel_NED[1];
+
+							local_pos.ref_lat = lat;
+							local_pos.ref_lon = lon;
+							local_pos.ref_alt = alt;
 							local_pos.ref_timestamp = t;
 
 							/* initialize projection */
-							map_projection_init(lat, lon);
+							map_projection_init(&ref, lat, lon);
 							warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
 							mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
 						}
@@ -569,11 +644,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					if (ref_inited) {
 						/* project GPS lat lon to plane */
 						float gps_proj[2];
-						map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1]));
+						map_projection_project(&ref, lat, lon, &(gps_proj[0]), &(gps_proj[1]));
+
+						/* reset position estimate when GPS becomes good */
+						if (reset_est) {
+							x_est[0] = gps_proj[0];
+							x_est[1] = gps.vel_n_m_s;
+							x_est[2] = accel_NED[0];
+							y_est[0] = gps_proj[1];
+							y_est[1] = gps.vel_e_m_s;
+							y_est[2] = accel_NED[1];
+						}
+
 						/* calculate correction for position */
 						corr_gps[0][0] = gps_proj[0] - x_est[0];
 						corr_gps[1][0] = gps_proj[1] - y_est[0];
-						corr_gps[2][0] = local_pos.ref_alt - gps.alt * 1e-3 - z_est[0];
+						corr_gps[2][0] = local_pos.ref_alt - alt - z_est[0];
 
 						/* calculate correction for velocity */
 						if (gps.vel_ned_valid) {
@@ -587,8 +673,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							corr_gps[2][1] = 0.0f;
 						}
 
-						w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m);
-						w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m);
+						w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m);
+						w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m);
 					}
 
 				} else {
@@ -704,23 +790,34 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		/* inertial filter prediction for altitude */
 		inertial_filter_predict(dt, z_est);
 
+		if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
+			write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			memcpy(z_est, z_est_prev, sizeof(z_est));
+		}
+
 		/* inertial filter correction for altitude */
 		inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro);
 		inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
 		inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
 
-		float x_est_prev[3], y_est_prev[3];
+		if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
+			write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			memcpy(z_est, z_est_prev, sizeof(z_est));
+			memset(corr_acc, 0, sizeof(corr_acc));
+			memset(corr_gps, 0, sizeof(corr_gps));
+			corr_baro = 0;
 
-		memcpy(x_est_prev, x_est, sizeof(x_est));
-		memcpy(y_est_prev, y_est, sizeof(y_est));
+		} else {
+			memcpy(z_est_prev, z_est, sizeof(z_est));
+		}
 
 		if (can_estimate_xy) {
 			/* inertial filter prediction for position */
 			inertial_filter_predict(dt, x_est);
 			inertial_filter_predict(dt, y_est);
 
-			if (!isfinite(x_est[0]) || !isfinite(y_est[0])) {
-				write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
+				write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 				memcpy(x_est, x_est_prev, sizeof(x_est));
 				memcpy(y_est, y_est_prev, sizeof(y_est));
 			}
@@ -744,13 +841,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				}
 			}
 
-			if (!isfinite(x_est[0]) || !isfinite(y_est[0])) {
-				write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
+				write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 				memcpy(x_est, x_est_prev, sizeof(x_est));
 				memcpy(y_est, y_est_prev, sizeof(y_est));
 				memset(corr_acc, 0, sizeof(corr_acc));
 				memset(corr_gps, 0, sizeof(corr_gps));
 				memset(corr_flow, 0, sizeof(corr_flow));
+
+			} else {
+				memcpy(x_est_prev, x_est, sizeof(x_est));
+				memcpy(y_est_prev, y_est, sizeof(y_est));
 			}
 		}
 
@@ -808,7 +909,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		if (t > pub_last + pub_interval) {
 			pub_last = t;
 			/* publish local position */
-			local_pos.xy_valid = can_estimate_xy && use_gps_xy;
+			local_pos.xy_valid = can_estimate_xy;
 			local_pos.v_xy_valid = can_estimate_xy;
 			local_pos.xy_global = local_pos.xy_valid && use_gps_xy;
 			local_pos.z_global = local_pos.z_valid && use_gps_z;
@@ -831,40 +932,35 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 			orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos);
 
-			/* publish global position */
-			global_pos.global_valid = local_pos.xy_global;
+			if (local_pos.xy_global && local_pos.z_global) {
+				/* publish global position */
+				global_pos.timestamp = t;
+				global_pos.time_gps_usec = gps.time_gps_usec;
 
-			if (local_pos.xy_global) {
 				double est_lat, est_lon;
-				map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
+				map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);
+
 				global_pos.lat = est_lat;
 				global_pos.lon = est_lon;
-				global_pos.time_gps_usec = gps.time_gps_usec;
-			}
+				global_pos.alt = local_pos.ref_alt - local_pos.z;
 
-			/* set valid values even if position is not valid */
-			if (local_pos.v_xy_valid) {
 				global_pos.vel_n = local_pos.vx;
 				global_pos.vel_e = local_pos.vy;
-			}
-
-			if (local_pos.z_global) {
-				global_pos.alt = local_pos.ref_alt - local_pos.z;
-			}
-
-			if (local_pos.z_valid) {
-				global_pos.baro_alt = baro_offset - local_pos.z;
-			}
-
-			if (local_pos.v_z_valid) {
 				global_pos.vel_d = local_pos.vz;
-			}
 
-			global_pos.yaw = local_pos.yaw;
+				global_pos.yaw = local_pos.yaw;
+
+				// TODO implement dead-reckoning
+				global_pos.eph = gps.eph_m;
+				global_pos.epv = gps.epv_m;
 
-			global_pos.timestamp = t;
+				if (vehicle_global_position_pub < 0) {
+					vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
 
-			orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos);
+				} else {
+					orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos);
+				}
+			}
 		}
 	}
 
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index dcad5c03b..2e4f26661 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -50,7 +50,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
 PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
 PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
-PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f);
+PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f);
 PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
 PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
 PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index cba39c5b1..97be2ce4a 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1102,8 +1102,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.vx = buf.local_pos.vx;
 			log_msg.body.log_LPOS.vy = buf.local_pos.vy;
 			log_msg.body.log_LPOS.vz = buf.local_pos.vz;
-			log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
-			log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
+			log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
+			log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
 			log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
 			log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
 			log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
@@ -1142,8 +1142,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
 			log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
 			log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
-			log_msg.body.log_GPOS.baro_alt = buf.global_pos.baro_alt;
-			log_msg.body.log_GPOS.flags = (buf.global_pos.baro_valid ? 1 : 0) | (buf.global_pos.global_valid ? 2 : 0);
+			log_msg.body.log_GPOS.eph = buf.global_pos.eph;
+			log_msg.body.log_GPOS.epv = buf.global_pos.epv;
 			LOGBUFFER_WRITE_AND_COUNT(GPOS);
 		}
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index e38681a39..a37437346 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -207,8 +207,8 @@ struct log_GPOS_s {
 	float vel_n;
 	float vel_e;
 	float vel_d;
-	float baro_alt;
-	uint8_t flags;
+	float eph;
+	float epv;
 };
 
 /* --- GPSP - GLOBAL POSITION SETPOINT --- */
@@ -354,7 +354,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
 	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
-	LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"),
+	LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
 	LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
index 98f0e3fa2..0196ae86b 100644
--- a/src/modules/uORB/topics/optical_flow.h
+++ b/src/modules/uORB/topics/optical_flow.h
@@ -57,6 +57,7 @@ struct optical_flow_s {
 
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
+	uint64_t flow_timestamp;		/**< timestamp from flow sensor */
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index adcd028f0..4897ca737 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -63,9 +63,6 @@
 struct vehicle_global_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
 
-	bool global_valid;		/**< true if position satisfies validity criteria of estimator */
-	bool baro_valid;		/**< true if baro_alt is valid (vel_d is also valid in this case) */
-
 	uint64_t time_gps_usec; /**< GPS timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
@@ -74,8 +71,8 @@ struct vehicle_global_position_s {
 	float vel_e;		/**< Ground east velocity, m/s							   */
 	float vel_d;		/**< Ground downside velocity, m/s						   */
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
-
-	float baro_alt;		/**< Barometric altitude (not raw baro but fused with accelerometer) */
+	float eph;
+	float epv;
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index db9637cd9..a15303ea4 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +34,9 @@
 /**
  * @file vehicle_local_position.h
  * Definition of the local fused NED position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
@@ -72,8 +74,8 @@ struct vehicle_local_position_s {
 	bool xy_global;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
 	bool z_global;			/**< true if z is valid and has valid global reference (ref_alt) */
 	uint64_t ref_timestamp;	/**< Time when reference position was set */
-	int32_t ref_lat;		/**< Reference point latitude in 1E7 degrees */
-	int32_t ref_lon;		/**< Reference point longitude in 1E7 degrees */
+	double ref_lat;		/**< Reference point latitude in degrees */
+	double ref_lon;		/**< Reference point longitude in degrees */
 	float ref_alt;			/**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
 	bool landed;			/**< true if vehicle is landed */
 	/* Distance to surface */