Merge branch 'master' into offboard2

181 files changed, 8280 insertions, 9550 deletions

diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
deleted file mode 100644
index 668bac5d9..000000000
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ /dev/null
@@ -1,815 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 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
- * 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 KalmanNav.cpp
- *
- * Kalman filter navigation code
- */
-
-#include <poll.h>
-
-#include "KalmanNav.hpp"
-#include <systemlib/err.h>
-#include <geo/geo.h>
-
-// constants
-// Titterton pg. 52
-static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
-static const float R0 = 6378137.0f; // earth radius, m
-static const float g0 = 9.806f; // standard gravitational accel. m/s^2
-static const int8_t ret_ok = 0; 		// no error in function
-static const int8_t ret_error = -1; 	// error occurred
-
-KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
-	SuperBlock(parent, name),
-	// subscriptions
-	_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
-	_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
-	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
-	// publications
-	_pos(&getPublications(), ORB_ID(vehicle_global_position)),
-	_localPos(&getPublications(), ORB_ID(vehicle_local_position)),
-	_att(&getPublications(), ORB_ID(vehicle_attitude)),
-	// timestamps
-	_pubTimeStamp(hrt_absolute_time()),
-	_predictTimeStamp(hrt_absolute_time()),
-	_attTimeStamp(hrt_absolute_time()),
-	_outTimeStamp(hrt_absolute_time()),
-	// frame count
-	_navFrames(0),
-	// miss counts
-	_miss(0),
-	// accelerations
-	fN(0), fE(0), fD(0),
-	// state
-	phi(0), theta(0), psi(0),
-	vN(0), vE(0), vD(0),
-	lat(0), lon(0), alt(0),
-	lat0(0), lon0(0), alt0(0),
-	// parameters for ground station
-	_vGyro(this, "V_GYRO"),
-	_vAccel(this, "V_ACCEL"),
-	_rMag(this, "R_MAG"),
-	_rGpsVel(this, "R_GPS_VEL"),
-	_rGpsPos(this, "R_GPS_POS"),
-	_rGpsAlt(this, "R_GPS_ALT"),
-	_rPressAlt(this, "R_PRESS_ALT"),
-	_rAccel(this, "R_ACCEL"),
-	_magDip(this, "ENV_MAG_DIP"),
-	_magDec(this, "ENV_MAG_DEC"),
-	_g(this, "ENV_G"),
-	_faultPos(this, "FAULT_POS"),
-	_faultAtt(this, "FAULT_ATT"),
-	_attitudeInitialized(false),
-	_positionInitialized(false),
-	_attitudeInitCounter(0)
-{
-	using namespace math;
-
-	F.zero();
-	G.zero();
-	V.zero();
-	HAtt.zero();
-	RAtt.zero();
-	HPos.zero();
-	RPos.zero();
-
-	// initial state covariance matrix
-	P0.identity();
-	P0 *= 0.01f;
-	P = P0;
-
-	// initial state
-	phi = 0.0f;
-	theta = 0.0f;
-	psi = 0.0f;
-	vN = 0.0f;
-	vE = 0.0f;
-	vD = 0.0f;
-	lat = 0.0f;
-	lon = 0.0f;
-	alt = 0.0f;
-
-	// initialize rotation quaternion with a single raw sensor measurement
-	_sensors.update();
-	q = init(
-		_sensors.accelerometer_m_s2[0],
-		_sensors.accelerometer_m_s2[1],
-		_sensors.accelerometer_m_s2[2],
-		_sensors.magnetometer_ga[0],
-		_sensors.magnetometer_ga[1],
-		_sensors.magnetometer_ga[2]);
-
-	// initialize dcm
-	C_nb = q.to_dcm();
-
-	// HPos is constant
-	HPos(0, 3) = 1.0f;
-	HPos(1, 4) = 1.0f;
-	HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
-	HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
-	HPos(4, 8) = 1.0f;
-	HPos(5, 8) = 1.0f;
-
-	// initialize all parameters
-	updateParams();
-}
-
-math::Quaternion KalmanNav::init(float ax, float ay, float az, float mx, float my, float mz)
-{
-    float initialRoll, initialPitch;
-    float cosRoll, sinRoll, cosPitch, sinPitch;
-    float magX, magY;
-    float initialHdg, cosHeading, sinHeading;
-
-    initialRoll = atan2(-ay, -az);
-    initialPitch = atan2(ax, -az);
-
-    cosRoll = cosf(initialRoll);
-    sinRoll = sinf(initialRoll);
-    cosPitch = cosf(initialPitch);
-    sinPitch = sinf(initialPitch);
-
-    magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch;
-
-    magY = my * cosRoll - mz * sinRoll;
-
-    initialHdg = atan2f(-magY, magX);
-
-    cosRoll = cosf(initialRoll * 0.5f);
-    sinRoll = sinf(initialRoll * 0.5f);
-
-    cosPitch = cosf(initialPitch * 0.5f);
-    sinPitch = sinf(initialPitch * 0.5f);
-
-    cosHeading = cosf(initialHdg * 0.5f);
-    sinHeading = sinf(initialHdg * 0.5f);
-
-    float q0 = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading;
-    float q1 = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading;
-    float q2 = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading;
-    float q3 = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
-
-    return math::Quaternion(q0, q1, q2, q3);
-
-}
-
-void KalmanNav::update()
-{
-	using namespace math;
-
-	struct pollfd fds[1];
-	fds[0].fd = _sensors.getHandle();
-	fds[0].events = POLLIN;
-
-	// poll for new data
-	int ret = poll(fds, 1, 1000);
-
-	if (ret < 0) {
-		// XXX this is seriously bad - should be an emergency
-		return;
-
-	} else if (ret == 0) { // timeout
-		return;
-	}
-
-	// get new timestamp
-	uint64_t newTimeStamp = hrt_absolute_time();
-
-	// check updated subscriptions
-	if (_param_update.updated()) updateParams();
-
-	bool gpsUpdate = _gps.updated();
-	bool sensorsUpdate = _sensors.updated();
-
-	// get new information from subscriptions
-	// this clears update flag
-	updateSubscriptions();
-
-	// initialize attitude when sensors online
-	if (!_attitudeInitialized && sensorsUpdate) {
-		if (correctAtt() == ret_ok) _attitudeInitCounter++;
-
-		if (_attitudeInitCounter > 100) {
-			warnx("initialized EKF attitude");
-			warnx("phi: %8.4f, theta: %8.4f, psi: %8.4f",
-			       double(phi), double(theta), double(psi));
-			_attitudeInitialized = true;
-		}
-	}
-
-	// initialize position when gps received
-	if (!_positionInitialized &&
-	    _attitudeInitialized && // wait for attitude first
-	    gpsUpdate &&
-	    _gps.fix_type > 2
-	    //&& _gps.counter_pos_valid > 10
-	   ) {
-		vN = _gps.vel_n_m_s;
-		vE = _gps.vel_e_m_s;
-		vD = _gps.vel_d_m_s;
-		setLatDegE7(_gps.lat);
-		setLonDegE7(_gps.lon);
-		setAltE3(_gps.alt);
-		// set reference position for
-		// local position
-		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);
-		_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",
-		       double(vN), double(vE), double(vD),
-		       lat, lon, double(alt));
-	}
-
-	// prediction step
-	// using sensors timestamp so we can account for packet lag
-	float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
-	//printf("dt: %15.10f\n", double(dt));
-	_predictTimeStamp = _sensors.timestamp;
-
-	// don't predict if time greater than a second
-	if (dt < 1.0f) {
-		predictState(dt);
-		predictStateCovariance(dt);
-		// count fast frames
-		_navFrames += 1;
-	}
-
-	// count times 100 Hz rate isn't met
-	if (dt > 0.01f) _miss++;
-
-	// gps correction step
-	if (_positionInitialized && gpsUpdate) {
-		correctPos();
-	}
-
-	// attitude correction step
-	if (_attitudeInitialized 								// initialized
-	    && sensorsUpdate 								// new data
-	    && _sensors.timestamp - _attTimeStamp > 1e6 / 50 	// 50 Hz
-	   ) {
-		_attTimeStamp = _sensors.timestamp;
-		correctAtt();
-	}
-
-	// publication
-	if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
-		_pubTimeStamp = newTimeStamp;
-
-		updatePublications();
-	}
-
-	// output
-	if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
-		_outTimeStamp = newTimeStamp;
-		//printf("nav: %4d Hz, miss #: %4d\n",
-		//       _navFrames / 10, _miss / 10);
-		_navFrames = 0;
-		_miss = 0;
-	}
-}
-
-void KalmanNav::updatePublications()
-{
-	using namespace math;
-
-	// 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);
-	_pos.vel_n = vN;
-	_pos.vel_e = vE;
-	_pos.vel_d = vD;
-	_pos.yaw = psi;
-
-	// local position publication
-	float x;
-	float y;
-	bool landed = alt < (alt0 + 0.1); // XXX improve?
-	map_projection_project(lat, lon, &x, &y); 
-	_localPos.timestamp = _pubTimeStamp;
-	_localPos.xy_valid = true;
-	_localPos.z_valid = true;
-	_localPos.v_xy_valid = true;
-	_localPos.v_z_valid = true;
-	_localPos.x = x;
-	_localPos.y = y;
-	_localPos.z = alt0 - alt;
-	_localPos.vx = vN;
-	_localPos.vy = vE;
-	_localPos.vz = vD;
-	_localPos.yaw = psi;
-	_localPos.xy_global = true;
-	_localPos.z_global = true;
-	_localPos.ref_timestamp = _pubTimeStamp;
-	_localPos.ref_lat = getLatDegE7();
-	_localPos.ref_lon = getLonDegE7();
-	_localPos.ref_alt = 0;
-	_localPos.landed = landed;
-
-	// attitude publication
-	_att.timestamp = _pubTimeStamp;
-	_att.roll = phi;
-	_att.pitch = theta;
-	_att.yaw = psi;
-	_att.rollspeed = _sensors.gyro_rad_s[0];
-	_att.pitchspeed = _sensors.gyro_rad_s[1];
-	_att.yawspeed = _sensors.gyro_rad_s[2];
-	// TODO, add gyro offsets to filter
-	_att.rate_offsets[0] = 0.0f;
-	_att.rate_offsets[1] = 0.0f;
-	_att.rate_offsets[2] = 0.0f;
-
-	for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
-			_att.R[i][j] = C_nb(i, j);
-
-	for (int i = 0; i < 4; i++) _att.q[i] = q(i);
-
-	_att.R_valid = true;
-	_att.q_valid = true;
-
-	// selectively update publications,
-	// do NOT call superblock do-all method
-	if (_positionInitialized) {
-		_pos.update();
-		_localPos.update();
-	}
-
-	if (_attitudeInitialized)
-		_att.update();
-}
-
-int KalmanNav::predictState(float dt)
-{
-	using namespace math;
-
-	// trig
-	float sinL = sinf(lat);
-	float cosL = cosf(lat);
-	float cosLSing = cosf(lat);
-
-	// prevent singularity
-	if (fabsf(cosLSing) < 0.01f) {
-		if (cosLSing > 0) cosLSing = 0.01;
-		else cosLSing = -0.01;
-	}
-
-	// attitude prediction
-	if (_attitudeInitialized) {
-		Vector<3> w(_sensors.gyro_rad_s);
-
-		// attitude
-		q = q + q.derivative(w) * dt;
-
-		// renormalize quaternion if needed
-		if (fabsf(q.length() - 1.0f) > 1e-4f) {
-			q.normalize();
-		}
-
-		// C_nb update
-		C_nb = q.to_dcm();
-
-		// euler update
-		Vector<3> euler = C_nb.to_euler();
-		phi = euler.data[0];
-		theta = euler.data[1];
-		psi = euler.data[2];
-
-		// specific acceleration in nav frame
-		Vector<3> accelB(_sensors.accelerometer_m_s2);
-		Vector<3> accelN = C_nb * accelB;
-		fN = accelN(0);
-		fE = accelN(1);
-		fD = accelN(2);
-	}
-
-	// position prediction
-	if (_positionInitialized) {
-		// neglects angular deflections in local gravity
-		// see Titerton pg. 70
-		float R = R0 + float(alt);
-		float LDot = vN / R;
-		float lDot = vE / (cosLSing * R);
-		float rotRate = 2 * omega + lDot;
-
-		// XXX position prediction using speed
-		float vNDot = fN - vE * rotRate * sinL +
-			      vD * LDot;
-		float vDDot = fD - vE * rotRate * cosL -
-			      vN * LDot + _g.get();
-		float vEDot = fE + vN * rotRate * sinL +
-			      vDDot * rotRate * cosL;
-
-		// rectangular integration
-		vN += vNDot * dt;
-		vE += vEDot * dt;
-		vD += vDDot * dt;
-		lat += double(LDot * dt);
-		lon += double(lDot * dt);
-		alt += double(-vD * dt);
-	}
-
-	return ret_ok;
-}
-
-int KalmanNav::predictStateCovariance(float dt)
-{
-	using namespace math;
-
-	// trig
-	float sinL = sinf(lat);
-	float cosL = cosf(lat);
-	float cosLSq = cosL * cosL;
-	float tanL = tanf(lat);
-
-	// prepare for matrix
-	float R = R0 + float(alt);
-	float RSq = R * R;
-
-	// F Matrix
-	// Titterton pg. 291
-
-	F(0, 1) = -(omega * sinL + vE * tanL / R);
-	F(0, 2) = vN / R;
-	F(0, 4) = 1.0f / R;
-	F(0, 6) = -omega * sinL;
-	F(0, 8) = -vE / RSq;
-
-	F(1, 0) = omega * sinL + vE * tanL / R;
-	F(1, 2) = omega * cosL + vE / R;
-	F(1, 3) = -1.0f / R;
-	F(1, 8) = vN / RSq;
-
-	F(2, 0) = -vN / R;
-	F(2, 1) = -omega * cosL - vE / R;
-	F(2, 4) = -tanL / R;
-	F(2, 6) = -omega * cosL - vE / (R * cosLSq);
-	F(2, 8) = vE * tanL / RSq;
-
-	F(3, 1) = -fD;
-	F(3, 2) = fE;
-	F(3, 3) = vD / R;
-	F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
-	F(3, 5) = vN / R;
-	F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
-	F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
-
-	F(4, 0) = fD;
-	F(4, 2) = -fN;
-	F(4, 3) = 2 * omega * sinL + vE * tanL / R;
-	F(4, 4) = (vN * tanL + vD) / R;
-	F(4, 5) = 2 * omega * cosL + vE / R;
-	F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
-		  vN * vE / (R * cosLSq);
-	F(4, 8) = -vE * (vN * tanL + vD) / RSq;
-
-	F(5, 0) = -fE;
-	F(5, 1) = fN;
-	F(5, 3) = -2 * vN / R;
-	F(5, 4) = -2 * (omega * cosL + vE / R);
-	F(5, 6) = 2 * omega * vE * sinL;
-	F(5, 8) = (vN * vN + vE * vE) / RSq;
-
-	F(6, 3) = 1 / R;
-	F(6, 8) = -vN / RSq;
-
-	F(7, 4) = 1 / (R * cosL);
-	F(7, 6) = vE * tanL / (R * cosL);
-	F(7, 8) = -vE / (cosL * RSq);
-
-	F(8, 5) = -1;
-
-	// G Matrix
-	// Titterton pg. 291
-	G(0, 0) = -C_nb(0, 0);
-	G(0, 1) = -C_nb(0, 1);
-	G(0, 2) = -C_nb(0, 2);
-	G(1, 0) = -C_nb(1, 0);
-	G(1, 1) = -C_nb(1, 1);
-	G(1, 2) = -C_nb(1, 2);
-	G(2, 0) = -C_nb(2, 0);
-	G(2, 1) = -C_nb(2, 1);
-	G(2, 2) = -C_nb(2, 2);
-
-	G(3, 3) = C_nb(0, 0);
-	G(3, 4) = C_nb(0, 1);
-	G(3, 5) = C_nb(0, 2);
-	G(4, 3) = C_nb(1, 0);
-	G(4, 4) = C_nb(1, 1);
-	G(4, 5) = C_nb(1, 2);
-	G(5, 3) = C_nb(2, 0);
-	G(5, 4) = C_nb(2, 1);
-	G(5, 5) = C_nb(2, 2);
-
-	// continuous prediction equations
-	// for discrete time EKF
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	P = P + (F * P + P * F.transposed() + G * V * G.transposed()) * dt;
-
-	return ret_ok;
-}
-
-int KalmanNav::correctAtt()
-{
-	using namespace math;
-
-	// trig
-	float cosPhi = cosf(phi);
-	float cosTheta = cosf(theta);
-	// float cosPsi = cosf(psi);
-	float sinPhi = sinf(phi);
-	float sinTheta = sinf(theta);
-	// float sinPsi = sinf(psi);
-
-	// mag predicted measurement
-	// choosing some typical magnetic field properties,
-	//  TODO dip/dec depend on lat/ lon/ time
-	//float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
-	float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
-
-	// compensate roll and pitch, but not yaw
-	// XXX take the vectors out of the C_nb matrix to avoid singularities
-	math::Matrix<3,3> C_rp;
-	C_rp.from_euler(phi, theta, 0.0f);//C_nb.transposed();
-
-	// mag measurement
-	Vector<3> magBody(_sensors.magnetometer_ga);
-
-	// transform to earth frame
-	Vector<3> magNav = C_rp * magBody;
-
-	// calculate error between estimate and measurement
-	// apply declination correction for true heading as well.
-	float yMag = -atan2f(magNav(1),magNav(0)) - psi - dec;
-	if (yMag > M_PI_F) yMag -= 2*M_PI_F;
-	if (yMag < -M_PI_F) yMag += 2*M_PI_F;
-
-	// accel measurement
-	Vector<3> zAccel(_sensors.accelerometer_m_s2);
-	float accelMag = zAccel.length();
-	zAccel.normalize();
-
-	// ignore accel correction when accel mag not close to g
-	Matrix<4,4> RAttAdjust = RAtt;
-
-	bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
-
-	if (ignoreAccel) {
-		RAttAdjust(1, 1) = 1.0e10;
-		RAttAdjust(2, 2) = 1.0e10;
-		RAttAdjust(3, 3) = 1.0e10;
-
-	} else {
-		//printf("correcting attitude with accel\n");
-	}
-
-	// accel predicted measurement
-	Vector<3> zAccelHat = (C_nb.transposed() * Vector<3>(0, 0, -_g.get())).normalized();
-
-	// calculate residual
-	Vector<4> y(yMag, zAccel(0) - zAccelHat(0), zAccel(1) - zAccelHat(1), zAccel(2) - zAccelHat(2));
-
-	// HMag
-	HAtt(0, 2) = 1;
-
-	// HAccel
-	HAtt(1, 1) = cosTheta;
-	HAtt(2, 0) = -cosPhi * cosTheta;
-	HAtt(2, 1) = sinPhi * sinTheta;
-	HAtt(3, 0) = sinPhi * cosTheta;
-	HAtt(3, 1) = cosPhi * sinTheta;
-
-	// compute correction
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	Matrix<4, 4> S = HAtt * P * HAtt.transposed() + RAttAdjust; // residual covariance
-	Matrix<9, 4> K = P * HAtt.transposed() * S.inversed();
-	Vector<9> xCorrect = K * y;
-
-	// check correciton is sane
-	for (size_t i = 0; i < xCorrect.get_size(); i++) {
-		float val = xCorrect(i);
-
-		if (isnan(val) || isinf(val)) {
-			// abort correction and return
-			warnx("numerical failure in att correction");
-			// reset P matrix to P0
-			P = P0;
-			return ret_error;
-		}
-	}
-
-	// correct state
-	if (!ignoreAccel) {
-		phi += xCorrect(PHI);
-		theta += xCorrect(THETA);
-	}
-
-	psi += xCorrect(PSI);
-
-	// attitude also affects nav velocities
-	if (_positionInitialized) {
-		vN += xCorrect(VN);
-		vE += xCorrect(VE);
-		vD += xCorrect(VD);
-	}
-
-	// update state covariance
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	P = P - K * HAtt * P;
-
-	// fault detection
-	float beta = y * (S.inversed() * y);
-
-	if (beta > _faultAtt.get()) {
-		warnx("fault in attitude: beta = %8.4f", (double)beta);
-		warnx("y:"); y.print();
-	}
-
-	// update quaternions from euler
-	// angle correction
-	q.from_euler(phi, theta, psi);
-
-	return ret_ok;
-}
-
-int KalmanNav::correctPos()
-{
-	using namespace math;
-
-	// residual
-	Vector<6> y;
-	y(0) = _gps.vel_n_m_s - vN;
-	y(1) = _gps.vel_e_m_s - vE;
-	y(2) = double(_gps.lat) - double(lat) * 1.0e7 * M_RAD_TO_DEG;
-	y(3) = double(_gps.lon) - double(lon) * 1.0e7 * M_RAD_TO_DEG;
-	y(4) = _gps.alt / 1.0e3f - alt;
-	y(5) = _sensors.baro_alt_meter - alt;
-
-	// compute correction
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	Matrix<6,6> S = HPos * P * HPos.transposed() + RPos; // residual covariance
-	Matrix<9,6> K = P * HPos.transposed() * S.inversed();
-	Vector<9> xCorrect = K * y;
-
-	// check correction is sane
-	for (size_t i = 0; i < xCorrect.get_size(); i++) {
-		float val = xCorrect(i);
-
-		if (!isfinite(val)) {
-			// abort correction and return
-			warnx("numerical failure in gps correction");
-			// fallback to GPS
-			vN = _gps.vel_n_m_s;
-			vE = _gps.vel_e_m_s;
-			vD = _gps.vel_d_m_s;
-			setLatDegE7(_gps.lat);
-			setLonDegE7(_gps.lon);
-			setAltE3(_gps.alt);
-			// reset P matrix to P0
-			P = P0;
-			return ret_error;
-		}
-	}
-
-	// correct state
-	vN += xCorrect(VN);
-	vE += xCorrect(VE);
-	vD += xCorrect(VD);
-	lat += double(xCorrect(LAT));
-	lon += double(xCorrect(LON));
-	alt += xCorrect(ALT);
-
-	// update state covariance
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	P = P - K * HPos * P;
-
-	// fault detetcion
-	float beta = y * (S.inversed() * y);
-
-	static int counter = 0;
-	if (beta > _faultPos.get() && (counter % 10 == 0)) {
-		warnx("fault in gps: beta = %8.4f", (double)beta);
-		warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f, baro: %8.4f",
-		       double(y(0) / sqrtf(RPos(0, 0))),
-		       double(y(1) / sqrtf(RPos(1, 1))),
-		       double(y(2) / sqrtf(RPos(2, 2))),
-		       double(y(3) / sqrtf(RPos(3, 3))),
-		       double(y(4) / sqrtf(RPos(4, 4))),
-		       double(y(5) / sqrtf(RPos(5, 5))));
-	}
-	counter++;
-
-	return ret_ok;
-}
-
-void KalmanNav::updateParams()
-{
-	using namespace math;
-	using namespace control;
-	SuperBlock::updateParams();
-
-	// gyro noise
-	V(0, 0) = _vGyro.get();   // gyro x, rad/s
-	V(1, 1) = _vGyro.get();   // gyro y
-	V(2, 2) = _vGyro.get();   // gyro z
-
-	// accel noise
-	V(3, 3) = _vAccel.get();   // accel x, m/s^2
-	V(4, 4) = _vAccel.get();   // accel y
-	V(5, 5) = _vAccel.get();   // accel z
-
-	// magnetometer noise
-	float noiseMin = 1e-6f;
-	float noiseMagSq = _rMag.get() * _rMag.get();
-
-	if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
-
-	RAtt(0, 0) = noiseMagSq; // normalized direction
-
-	// accelerometer noise
-	float noiseAccelSq = _rAccel.get() * _rAccel.get();
-
-	// bound noise to prevent singularities
-	if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
-
-	RAtt(1, 1) = noiseAccelSq; // normalized direction
-	RAtt(2, 2) = noiseAccelSq;
-	RAtt(3, 3) = noiseAccelSq;
-
-	// gps noise
-	float R = R0 + float(alt);
-	float cosLSing = cosf(lat);
-
-	// prevent singularity
-	if (fabsf(cosLSing) < 0.01f) {
-		if (cosLSing > 0) cosLSing = 0.01;
-		else cosLSing = -0.01;
-	}
-
-	float noiseVel = _rGpsVel.get();
-	float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
-	float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
-	float noiseGpsAlt = _rGpsAlt.get();
-	float noisePressAlt = _rPressAlt.get();
-
-	// bound noise to prevent singularities
-	if (noiseVel < noiseMin) noiseVel = noiseMin;
-
-	if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
-
-	if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
-
-	if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
-
-	if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
-
-	RPos(0, 0) = noiseVel * noiseVel; // vn
-	RPos(1, 1) = noiseVel * noiseVel; // ve
-	RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
-	RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
-	RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
-	RPos(5, 5) = noisePressAlt * noisePressAlt; // h
-	// XXX, note that RPos depends on lat, so updateParams should
-	// be called if lat changes significantly
-}
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
deleted file mode 100644
index caf93bc78..000000000
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+++ /dev/null
@@ -1,192 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 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
- * 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 KalmanNav.hpp
- *
- * kalman filter navigation code
- */
-
-#pragma once
-
-//#define MATRIX_ASSERT
-//#define VECTOR_ASSERT
-
-#include <nuttx/config.h>
-
-#include <mathlib/mathlib.h>
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-#include <uORB/Subscription.hpp>
-#include <uORB/Publication.hpp>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/parameter_update.h>
-
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-
-#include <drivers/drv_hrt.h>
-#include <poll.h>
-#include <unistd.h>
-
-/**
- * Kalman filter navigation class
- * http://en.wikipedia.org/wiki/Extended_Kalman_filter
- * Discrete-time extended Kalman filter
- */
-class KalmanNav : public control::SuperBlock
-{
-public:
-	/**
-	 * Constructor
-	 */
-	KalmanNav(SuperBlock *parent, const char *name);
-
-	/**
-	 * Deconstuctor
-	 */
-
-	virtual ~KalmanNav() {};
-
-	math::Quaternion init(float ax, float ay, float az, float mx, float my, float mz);
-
-	/**
-	 * The main callback function for the class
-	 */
-	void update();
-
-
-	/**
-	 * Publication update
-	 */
-	virtual void updatePublications();
-
-	/**
-	 * State prediction
-	 * Continuous, non-linear
-	 */
-	int predictState(float dt);
-
-	/**
-	 * State covariance prediction
-	 * Continuous, linear
-	 */
-	int predictStateCovariance(float dt);
-
-	/**
-	 * Attitude correction
-	 */
-	int correctAtt();
-
-	/**
-	 * Position correction
-	 */
-	int correctPos();
-
-	/**
-	 * Overloaded update parameters
-	 */
-	virtual void updateParams();
-protected:
-	// kalman filter
-	math::Matrix<9,9> F;             /**< Jacobian(f,x), where dx/dt = f(x,u) */
-	math::Matrix<9,6> G;             /**< noise shaping matrix for gyro/accel */
-	math::Matrix<9,9> P;             /**< state covariance matrix */
-	math::Matrix<9,9> P0;            /**< initial state covariance matrix */
-	math::Matrix<6,6> V;             /**< gyro/ accel noise matrix */
-	math::Matrix<4,9> HAtt;          /**< attitude measurement matrix */
-	math::Matrix<4,4> RAtt;          /**< attitude measurement noise matrix */
-	math::Matrix<6,9> HPos;          /**< position measurement jacobian matrix */
-	math::Matrix<6,6> RPos;          /**< position measurement noise matrix */
-	// attitude
-	math::Matrix<3,3> C_nb;             /**< direction cosine matrix from body to nav frame */
-	math::Quaternion q;         /**< quaternion from body to nav frame */
-	// subscriptions
-	uORB::Subscription<sensor_combined_s> _sensors;          /**< sensors sub. */
-	uORB::Subscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
-	uORB::Subscription<parameter_update_s> _param_update;    /**< parameter update sub. */
-	// publications
-	uORB::Publication<vehicle_global_position_s> _pos;       /**< position pub. */
-	uORB::Publication<vehicle_local_position_s> _localPos;   /**< local position pub. */
-	uORB::Publication<vehicle_attitude_s> _att;              /**< attitude pub. */
-	// time stamps
-	uint64_t _pubTimeStamp;     /**< output data publication time stamp */
-	uint64_t _predictTimeStamp; /**< prediction time stamp */
-	uint64_t _attTimeStamp;     /**< attitude correction time stamp */
-	uint64_t _outTimeStamp;     /**< output time stamp */
-	// frame count
-	uint16_t _navFrames;        /**< navigation frames completed in output cycle */
-	// miss counts
-	uint16_t _miss;         	/**< number of times fast prediction loop missed */
-	// accelerations
-	float fN, fE, fD;           /**< navigation frame acceleration */
-	// states
-	enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};  /**< state enumeration */
-	float phi, theta, psi;                  /**< 3-2-1 euler angles */
-	float vN, vE, vD;                       /**< navigation velocity, m/s */
-	double lat, lon;                   	/**< lat, lon radians */
-	// parameters
-	float alt;                   		/**< altitude, meters */
-	double lat0, lon0;                   	/**< reference latitude and longitude */
-	float alt0;                   		/**<  refeerence altitude (ground height) */
-	control::BlockParamFloat _vGyro;      /**< gyro process noise */
-	control::BlockParamFloat _vAccel;     /**< accelerometer process noise  */
-	control::BlockParamFloat _rMag;       /**< magnetometer measurement noise  */
-	control::BlockParamFloat _rGpsVel;    /**< gps velocity measurement noise */
-	control::BlockParamFloat _rGpsPos;    /**< gps position measurement noise */
-	control::BlockParamFloat _rGpsAlt;    /**< gps altitude measurement noise */
-	control::BlockParamFloat _rPressAlt;  /**< press altitude measurement noise */
-	control::BlockParamFloat _rAccel;     /**< accelerometer measurement noise */
-	control::BlockParamFloat _magDip;     /**< magnetic inclination with level */
-	control::BlockParamFloat _magDec;     /**< magnetic declination, clockwise rotation */
-	control::BlockParamFloat _g;          /**< gravitational constant */
-	control::BlockParamFloat _faultPos;   /**< fault detection threshold for position */
-	control::BlockParamFloat _faultAtt;   /**< fault detection threshold for attitude */
-	// status
-	bool _attitudeInitialized;
-	bool _positionInitialized;
-	uint16_t _attitudeInitCounter;
-	// accessors
-	int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
-	void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
-	int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
-	void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
-	int32_t getAltE3() { return int32_t(alt * 1.0e3); }
-	void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
-};
diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
deleted file mode 100644
index 3d20d4d2d..000000000
--- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp
+++ /dev/null
@@ -1,157 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: 	James Goppert
- *
- * 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 kalman_main.cpp
- * Combined attitude / position estimator.
- *
- * @author James Goppert
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
-#include <systemlib/err.h>
-#include <drivers/drv_hrt.h>
-#include <math.h>
-#include "KalmanNav.hpp"
-
-static bool thread_should_exit = false;     /**< Deamon exit flag */
-static bool thread_running = false;     /**< Deamon status flag */
-static int daemon_task;             /**< Handle of deamon task / thread */
-
-/**
- * Deamon management function.
- */
-extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int kalman_demo_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int att_pos_estimator_ekf_main(int argc, char *argv[])
-{
-
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			warnx("already running");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-
-		daemon_task = task_spawn_cmd("att_pos_estimator_ekf",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 30,
-					 8192,
-					 kalman_demo_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("is running\n");
-			exit(0);
-
-		} else {
-			warnx("not started\n");
-			exit(1);
-		}
-
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int kalman_demo_thread_main(int argc, char *argv[])
-{
-
-	warnx("starting");
-
-	using namespace math;
-
-	thread_running = true;
-
-	KalmanNav nav(NULL, "KF");
-
-	while (!thread_should_exit) {
-		nav.update();
-	}
-
-	warnx("exiting.");
-
-	thread_running = false;
-
-	return 0;
-}
diff --git a/src/modules/att_pos_estimator_ekf/module.mk b/src/modules/att_pos_estimator_ekf/module.mk
deleted file mode 100644
index 8d4a40d95..000000000
--- a/src/modules/att_pos_estimator_ekf/module.mk
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 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
-# 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.
-#
-############################################################################
-
-#
-# Full attitude / position Extended Kalman Filter
-#
-
-MODULE_COMMAND	= att_pos_estimator_ekf
-
-SRCS		= kalman_main.cpp \
-		  KalmanNav.cpp \
-		  params.c
diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c
deleted file mode 100644
index 4af5edead..000000000
--- a/src/modules/att_pos_estimator_ekf/params.c
+++ /dev/null
@@ -1,49 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 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
- * 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.
- *
- ****************************************************************************/
-
-#include <systemlib/param/param.h>
-
-/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
-PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
-PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f);
-PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
-PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
-PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
-PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
-PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
-PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
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..2ec889efe 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 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
@@ -34,9 +32,12 @@
  ****************************************************************************/
 
 /*
- * @file attitude_estimator_ekf_main.c
+ * @file attitude_estimator_ekf_main.cpp
  *
  * Extended Kalman Filter for Attitude Estimation.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -111,7 +112,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_ekf_main(int argc, char *argv[])
 {
@@ -407,7 +408,7 @@ 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/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 4154e3db4..3ff3d9922 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -40,6 +40,7 @@
  */
 
 #include "attitude_estimator_ekf_params.h"
+#include <math.h>
 
 /* Extended Kalman Filter covariances */
 
@@ -113,6 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->yaw_off, &(p->yaw_off));
 
 	param_get(h->mag_decl, &(p->mag_decl));
+	p->mag_decl *= M_PI / 180.0f;
 
 	param_get(h->acc_comp, &(p->acc_comp));
 
diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
index d98647f99..99d0c5bf2 100644
--- a/src/modules/attitude_estimator_ekf/module.mk
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -50,3 +50,5 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/rtGetNaN.c \
 		   codegen/norm.c \
 		   codegen/cross.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
index 3653defa6..e55b01160 100755
--- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Hyon Lim <limhyon@gmail.com>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 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
@@ -36,6 +34,9 @@
  /*
  * @file attitude_estimator_so3_main.cpp
  *
+ * @author Hyon Lim <limhyon@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  * Implementation of nonlinear complementary filters on the SO(3).
  * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
  * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
@@ -131,7 +132,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_so3_main(int argc, char *argv[])
 {
diff --git a/src/modules/attitude_estimator_so3/module.mk b/src/modules/attitude_estimator_so3/module.mk
index e29bb16a6..f52715abb 100644
--- a/src/modules/attitude_estimator_so3/module.mk
+++ b/src/modules/attitude_estimator_so3/module.mk
@@ -6,3 +6,5 @@ MODULE_COMMAND	 = attitude_estimator_so3
 
 SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 1cbdf9bf8..7180048ff 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -194,13 +194,13 @@ int do_accel_calibration(int mavlink_fd)
 		int32_t board_rotation_int;
 		param_get(board_rotation_h, &(board_rotation_int));
 		enum Rotation board_rotation_id = (enum Rotation)board_rotation_int;
-		math::Matrix<3,3> board_rotation;
+		math::Matrix<3, 3> board_rotation;
 		get_rot_matrix(board_rotation_id, &board_rotation);
-		math::Matrix<3,3> board_rotation_t = board_rotation.transposed();
+		math::Matrix<3, 3> board_rotation_t = board_rotation.transposed();
 		math::Vector<3> accel_offs_vec(&accel_offs[0]);
-		math::Vector<3> accel_offs_rotated = board_rotation_t * accel_offs_vec;
-		math::Matrix<3,3> accel_T_mat(&accel_T[0][0]);
-		math::Matrix<3,3> accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation;
+		math::Vector<3> accel_offs_rotated = board_rotation_t *accel_offs_vec;
+		math::Matrix<3, 3> accel_T_mat(&accel_T[0][0]);
+		math::Matrix<3, 3> accel_T_rotated = board_rotation_t *accel_T_mat * board_rotation;
 
 		accel_scale.x_offset = accel_offs_rotated(0);
 		accel_scale.x_scale = accel_T_rotated(0, 0);
@@ -277,11 +277,13 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 			}
 		}
 
-		if (old_done_count != done_count)
+		if (old_done_count != done_count) {
 			mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count);
+		}
 
-		if (done)
+		if (done) {
 			break;
+		}
 
 		mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
 				 (!data_collected[0]) ? "x+ " : "",
@@ -380,11 +382,13 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
 				d = d * d;
 				accel_disp[i] = accel_disp[i] * (1.0f - w);
 
-				if (d > still_thr2 * 8.0f)
+				if (d > still_thr2 * 8.0f) {
 					d = still_thr2 * 8.0f;
+				}
 
-				if (d > accel_disp[i])
+				if (d > accel_disp[i]) {
 					accel_disp[i] = d;
+				}
 			}
 
 			/* still detector with hysteresis */
@@ -432,33 +436,39 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
 
 	if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 0;	// [ g, 0, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 0;        // [ g, 0, 0 ]
+	}
 
 	if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 1;	// [ -g, 0, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 1;        // [ -g, 0, 0 ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 2;	// [ 0, g, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 2;        // [ 0, g, 0 ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 3;	// [ 0, -g, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 3;        // [ 0, -g, 0 ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr)
-		return 4;	// [ 0, 0, g ]
+	    fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) {
+		return 4;        // [ 0, 0, g ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr)
-		return 5;	// [ 0, 0, -g ]
+	    fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) {
+		return 5;        // [ 0, 0, -g ]
+	}
 
 	mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation");
 
@@ -485,8 +495,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
 			struct sensor_combined_s sensor;
 			orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
 
-			for (int i = 0; i < 3; i++)
+			for (int i = 0; i < 3; i++) {
 				accel_sum[i] += sensor.accelerometer_m_s2[i];
+			}
 
 			count++;
 
@@ -495,8 +506,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
 			continue;
 		}
 
-		if (errcount > samples_num / 10)
+		if (errcount > samples_num / 10) {
 			return ERROR;
+		}
 	}
 
 	for (int i = 0; i < 3; i++) {
@@ -512,8 +524,9 @@ int mat_invert3(float src[3][3], float dst[3][3])
 		    src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
 		    src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
 
-	if (det == 0.0f)
-		return ERROR;	// Singular matrix
+	if (det == 0.0f) {
+		return ERROR;        // Singular matrix
+	}
 
 	dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
 	dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det;
@@ -549,8 +562,9 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
 	/* calculate inverse matrix for A */
 	float mat_A_inv[3][3];
 
-	if (mat_invert3(mat_A, mat_A_inv) != OK)
+	if (mat_invert3(mat_A, mat_A_inv) != OK) {
 		return ERROR;
+	}
 
 	/* copy results to accel_T */
 	for (int i = 0; i < 3; i++) {
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 6039d92a7..5d21d89d0 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -64,9 +64,9 @@ int do_airspeed_calibration(int mavlink_fd)
 {
 	/* give directions */
 	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
-	mavlink_log_info(mavlink_fd, "don't move system");
+	mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind");
 
-	const int calibration_count = 2500;
+	const int calibration_count = 2000;
 
 	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	struct differential_pressure_s diff_pres;
@@ -82,16 +82,21 @@ int do_airspeed_calibration(int mavlink_fd)
 
 	bool paramreset_successful = false;
 	int  fd = open(AIRSPEED_DEVICE_PATH, 0);
+
 	if (fd > 0) {
 		if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 			paramreset_successful = true;
+
+		} else {
+			mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
 		}
+
 		close(fd);
 	}
 
 	if (!paramreset_successful) {
-		warn("WARNING: failed to set scale / offsets for airspeed sensor");
-		mavlink_log_critical(mavlink_fd, "could not reset dpress sensor");
+		warn("FAILED to set scale / offsets for airspeed");
+		mavlink_log_critical(mavlink_fd, "dpress reset failed");
 		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 		return ERROR;
 	}
@@ -107,11 +112,12 @@ int do_airspeed_calibration(int mavlink_fd)
 
 		if (poll_ret) {
 			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
-			diff_pres_offset += diff_pres.differential_pressure_pa;
+			diff_pres_offset += diff_pres.differential_pressure_raw_pa;
 			calibration_counter++;
 
-			if (calibration_counter % (calibration_count / 20) == 0)
+			if (calibration_counter % (calibration_count / 20) == 0) {
 				mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
+			}
 
 		} else if (poll_ret == 0) {
 			/* any poll failure for 1s is a reason to abort */
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index b5570f424..96735d25e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -67,6 +67,7 @@
 #include <uORB/topics/home_position.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_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/subsystem_info.h>
@@ -112,16 +113,15 @@ extern struct system_load_s system_load;
 
 #define MAVLINK_OPEN_INTERVAL 50000
 
-#define STICK_ON_OFF_LIMIT 0.75f
-#define STICK_THRUST_RANGE 1.0f
+#define STICK_ON_OFF_LIMIT 0.9f
 #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 RC_TIMEOUT 100000
-#define RC_TIMEOUT_HIL 500000
-#define OFFBOARD_TIMEOUT 200000
-#define DIFFPRESS_TIMEOUT 2000000
+#define POSITION_TIMEOUT		(600 * 1000)		/**< consider the local or global position estimate invalid after 600ms */
+#define FAILSAFE_DEFAULT_TIMEOUT	(3 * 1000 * 1000)	/**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
+#define RC_TIMEOUT			500000
+#define OFFBOARD_TIMEOUT		500000
+#define DIFFPRESS_TIMEOUT		2000000
 
 #define PRINT_INTERVAL	5000000
 #define PRINT_MODE_REJECT_INTERVAL	2000000
@@ -139,7 +139,7 @@ enum MAV_MODE_FLAG {
 };
 
 /* Mavlink file descriptors */
-static int mavlink_fd;
+static int mavlink_fd = 0;
 
 /* flags */
 static bool commander_initialized = false;
@@ -155,6 +155,7 @@ 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;
@@ -197,7 +198,7 @@ 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.
@@ -210,7 +211,7 @@ void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool
 
 void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status);
 
-transition_result_t set_main_state_rc(struct vehicle_status_s *status);
+transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man);
 
 void set_control_mode();
 
@@ -220,11 +221,10 @@ void print_reject_arm(const char *msg);
 
 void print_status();
 
-int arm();
-int disarm();
-
 transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
 
+transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy);
+
 /**
  * Loop that runs at a lower rate and priority for calibration and parameter tasks.
  */
@@ -235,8 +235,9 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 
 int commander_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
@@ -250,7 +251,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
-					     3000,
+					     2950,
 					     commander_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 
@@ -263,8 +264,9 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "stop")) {
 
-		if (!thread_running)
+		if (!thread_running) {
 			errx(0, "commander already stopped");
+		}
 
 		thread_should_exit = true;
 
@@ -291,12 +293,12 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "arm")) {
-		arm();
+		arm_disarm(true, mavlink_fd, "command line");
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "disarm")) {
-		disarm();
+	if (!strcmp(argv[1], "2")) {
+		arm_disarm(false, mavlink_fd, "command line");
 		exit(0);
 	}
 
@@ -306,8 +308,9 @@ int commander_main(int argc, char *argv[])
 
 void usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
@@ -366,38 +369,35 @@ void print_status()
 
 static orb_advert_t status_pub;
 
-int arm()
+transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy)
 {
-	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
-
-	if (arming_res == TRANSITION_CHANGED) {
-		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
-		return 0;
-
-	} else {
-		return 1;
-	}
-}
+	transition_result_t arming_res = TRANSITION_NOT_CHANGED;
 
-int disarm()
-{
-	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
+	// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
+	// output appropriate error messages if the state cannot transition.
+	arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
 
-	if (arming_res == TRANSITION_CHANGED) {
-		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
-		return 0;
+	if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
+		mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
 
-	} else {
-		return 1;
+	} else if (arming_res == TRANSITION_DENIED) {
+		tune_negative(true);
 	}
+
+	return arming_res;
 }
 
-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;
 	bool ret = false;
 
+	/* only handle commands that are meant to be handled by this system and component */
+	if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
+		return false;
+	}
+
 	/* only handle high-priority commands here */
 
 	/* request to set different system mode */
@@ -424,43 +424,16 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 				}
 			}
 
-			if (hil_ret == OK)
+			if (hil_ret == OK) {
 				ret = true;
-
-			// TODO remove debug code
-			//mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode);
-			/* set arming state */
-			arming_res = TRANSITION_NOT_CHANGED;
-
-			if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
-					print_reject_arm("NOT ARMING: Press safety switch first.");
-					arming_res = TRANSITION_DENIED;
-
-				} else {
-					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
-				}
-
-				if (arming_res == TRANSITION_CHANGED) {
-					mavlink_log_info(mavlink_fd, "[cmd] ARMED by command");
-				}
-
-			} else {
-				if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) {
-					arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-					arming_res = arming_state_transition(status, safety, new_arming_state, armed);
-
-					if (arming_res == TRANSITION_CHANGED) {
-						mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command");
-					}
-
-				} else {
-					arming_res = TRANSITION_NOT_CHANGED;
-				}
 			}
 
-			if (arming_res == TRANSITION_CHANGED)
+			// Transition the arming state
+			arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
+
+			if (arming_res == TRANSITION_CHANGED) {
 				ret = true;
+			}
 
 			/* set main state */
 			transition_result_t main_res = TRANSITION_DENIED;
@@ -471,13 +444,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 					/* MANUAL */
 					main_res = main_state_transition(status, MAIN_STATE_MANUAL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) {
-					/* SEATBELT */
-					main_res = main_state_transition(status, MAIN_STATE_SEATBELT);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
+					/* ALTCTL */
+					main_res = main_state_transition(status, MAIN_STATE_ALTCTL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) {
-					/* EASY */
-					main_res = main_state_transition(status, MAIN_STATE_EASY);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
+					/* POSCTL */
+					main_res = main_state_transition(status, MAIN_STATE_POSCTL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
 					/* AUTO */
@@ -496,8 +469,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 				} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 					if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
-						/* EASY */
-						main_res = main_state_transition(status, MAIN_STATE_EASY);
+						/* POSCTL */
+						main_res = main_state_transition(status, MAIN_STATE_POSCTL);
 
 					} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
 						/* MANUAL */
@@ -506,8 +479,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 				}
 			}
 
-			if (main_res == TRANSITION_CHANGED)
+			if (main_res == TRANSITION_CHANGED) {
 				ret = true;
+			}
 
 			if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) {
 				result = VEHICLE_CMD_RESULT_ACCEPTED;
@@ -520,25 +494,26 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		}
 
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
-			transition_result_t arming_res = TRANSITION_NOT_CHANGED;
+			// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
+			// We use an float epsilon delta to test float equality.
+			if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
+				mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
 
-			if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
-				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
-					print_reject_arm("NOT ARMING: Press safety switch first.");
-					arming_res = TRANSITION_DENIED;
+			} else {
 
-				} else {
-					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
+				// Flick to inair restore first if this comes from an onboard system
+				if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
+					status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
 				}
 
-				if (arming_res == TRANSITION_CHANGED) {
-					mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd");
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-					ret = true;
+				transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
 
-				} else {
+				if (arming_res == TRANSITION_DENIED) {
 					mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
 					result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+
+				} else {
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				}
 			}
 		}
@@ -568,7 +543,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		}
 		break;
 
-		/* Flight termination */
+	/* Flight termination */
 	case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
 
 			//XXX: to enable the parachute, a param needs to be set
@@ -586,6 +561,53 @@ 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:
@@ -594,7 +616,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		break;
 
 	default:
-		/* warn about unsupported commands */
+		/* Warn about unsupported commands, this makes sense because only commands
+		 * to this component ID (or all) are passed by mavlink. */
 		answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
 		break;
 	}
@@ -618,6 +641,7 @@ 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");
@@ -631,8 +655,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	char *main_states_str[MAIN_STATE_MAX];
 	main_states_str[0] = "MANUAL";
-	main_states_str[1] = "SEATBELT";
-	main_states_str[2] = "EASY";
+	main_states_str[1] = "ALTCTL";
+	main_states_str[2] = "POSCTL";
 	main_states_str[3] = "AUTO";
 	main_states_str[4] = "OFFBOARD";
 
@@ -726,7 +750,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	pthread_attr_t commander_low_prio_attr;
 	pthread_attr_init(&commander_low_prio_attr);
-	pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
+	pthread_attr_setstacksize(&commander_low_prio_attr, 2900);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
@@ -745,8 +769,9 @@ int commander_thread_main(int argc, char *argv[])
 	bool low_battery_voltage_actions_done = false;
 	bool critical_battery_voltage_actions_done = false;
 
-	uint64_t last_idle_time = 0;
-	uint64_t start_time = 0;
+	hrt_abstime last_idle_time = 0;
+	hrt_abstime start_time = 0;
+	hrt_abstime last_auto_state_valid = 0;
 
 	bool status_changed = true;
 	bool param_init_forced = true;
@@ -774,6 +799,9 @@ int commander_thread_main(int argc, char *argv[])
 	int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	struct vehicle_global_position_s global_position;
 	memset(&global_position, 0, sizeof(global_position));
+	/* Init EPH and EPV */
+	global_position.eph = 1000.0f;
+	global_position.epv = 1000.0f;
 
 	/* Subscribe to local position data */
 	int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
@@ -821,6 +849,11 @@ int commander_thread_main(int argc, char *argv[])
 	struct subsystem_info_s info;
 	memset(&info, 0, sizeof(info));
 
+	/* Subscribe to position setpoint triplet */
+	int pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
+	struct position_setpoint_triplet_s pos_sp_triplet;
+	memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
+
 	control_status_leds(&status, &armed, true);
 
 	/* now initialized */
@@ -871,6 +904,7 @@ int commander_thread_main(int argc, char *argv[])
 				/* re-check RC calibration */
 				rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
 			}
+
 			/* navigation parameters */
 			param_get(_param_takeoff_alt, &takeoff_alt);
 			param_get(_param_enable_parachute, &parachute_enabled);
@@ -911,6 +945,7 @@ int commander_thread_main(int argc, char *argv[])
 			/* disarm if safety is now on and still armed */
 			if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
 				arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
+
 				if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
 					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
 				}
@@ -926,7 +961,53 @@ 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 {
+				eph_epv_good = true;
+			}
+
+		} else {
+			if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) {
+				eph_epv_good = true;
+
+			} else {
+				eph_epv_good = false;
+			}
+		}
+
+		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);
@@ -937,10 +1018,11 @@ 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;
+
 		if (status.is_rotary_wing && status.condition_local_altitude_valid) {
 			if (status.condition_landed != local_position.landed) {
 				status.condition_landed = local_position.landed;
@@ -954,6 +1036,7 @@ int commander_thread_main(int argc, char *argv[])
 					mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
 				}
 			}
+
 		} else {
 			if (!published_condition_landed_fw) {
 				status.condition_landed = false; // Fixedwing does not have a landing detector currently
@@ -969,7 +1052,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 
 			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
-			if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
+			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
 				status.condition_battery_voltage_valid = true;
@@ -1012,12 +1095,20 @@ int commander_thread_main(int argc, char *argv[])
 			status_changed = true;
 		}
 
+		/* update position setpoint triplet */
+		orb_check(pos_sp_triplet_sub, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet);
+		}
+
 		if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
 			/* compute system load */
 			uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
 
-			if (last_idle_time > 0)
-				status.load = 1.0f - ((float)interval_runtime / 1e6f);	//system load is time spent in non-idle
+			if (last_idle_time > 0) {
+				status.load = 1.0f - ((float)interval_runtime / 1e6f);        //system load is time spent in non-idle
+			}
 
 			last_idle_time = system_load.tasks[0].total_runtime;
 
@@ -1074,57 +1165,10 @@ 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);
-			}
 		}
 
-
-		/*
-		 * XXX workaround:
-		 * Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
-		 * which can trigger RC loss if the computer/simulator lags.
-		 */
-		uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
-
 		/* start RC input check */
-		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
+		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
 				status.rc_signal_found_once = true;
@@ -1140,22 +1184,22 @@ int commander_thread_main(int argc, char *argv[])
 
 			status.rc_signal_lost = false;
 
-			transition_result_t res;	// store all transitions results here
+			transition_result_t arming_res;	// store all transitions results here
 
 			/* arm/disarm by RC */
-			res = TRANSITION_NOT_CHANGED;
+			arming_res = TRANSITION_NOT_CHANGED;
 
-			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
+			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
 			 * do it only for rotary wings */
 			if (status.is_rotary_wing &&
 			    (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
 			    (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
-			    sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
+			    sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
 
 				if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 					/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
 					arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-					res = arming_state_transition(&status, &safety, new_arming_state, &armed);
+					arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed);
 					stick_off_counter = 0;
 
 				} else {
@@ -1168,7 +1212,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
 			if (status.arming_state == ARMING_STATE_STANDBY &&
-			    sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
+			    sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
 				if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 					if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
 						print_reject_arm("NOT ARMING: Press safety switch first.");
@@ -1177,7 +1221,7 @@ int commander_thread_main(int argc, char *argv[])
 						print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
 
 					} else {
-						res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
+						arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
 					}
 
 					stick_on_counter = 0;
@@ -1190,7 +1234,7 @@ int commander_thread_main(int argc, char *argv[])
 				stick_on_counter = 0;
 			}
 
-			if (res == TRANSITION_CHANGED) {
+			if (arming_res == TRANSITION_CHANGED) {
 				if (status.arming_state == ARMING_STATE_ARMED) {
 					mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC");
 
@@ -1198,31 +1242,56 @@ int commander_thread_main(int argc, char *argv[])
 					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC");
 				}
 
-			} else if (res == TRANSITION_DENIED) {
+			} else if (arming_res == TRANSITION_DENIED) {
 				/* DENIED here indicates bug in the commander */
 				mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
 			}
 
 			if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
 				/* recover from failsafe */
-				transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
+				(void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
 			}
 
-			/* fill status according to mode switches */
-			check_mode_switches(&sp_man, &status);
-
 			/* evaluate the main state machine according to mode switches */
-			res = set_main_state_rc(&status);
+			transition_result_t main_res = set_main_state_rc(&status, &sp_man);
 
 			/* play tune on mode change only if armed, blink LED always */
-			if (res == TRANSITION_CHANGED) {
+			if (main_res == TRANSITION_CHANGED) {
 				tune_positive(armed.armed);
 
-			} else if (res == TRANSITION_DENIED) {
+			} else if (main_res == TRANSITION_DENIED) {
 				/* DENIED here indicates bug in the commander */
 				mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied");
 			}
 
+			/* set navigation state */
+			/* RETURN switch, overrides MISSION switch */
+			if (sp_man.return_switch == SWITCH_POS_ON) {
+				/* switch to RTL if not already landed after RTL and home position set */
+				status.set_nav_state = NAV_STATE_RTL;
+				status.set_nav_state_timestamp = hrt_absolute_time();
+
+			} else {
+
+				/* LOITER switch */
+				if (sp_man.loiter_switch == SWITCH_POS_ON) {
+					/* stick is in LOITER position */
+					status.set_nav_state = NAV_STATE_LOITER;
+					status.set_nav_state_timestamp = hrt_absolute_time();
+
+				} else if (sp_man.loiter_switch != SWITCH_POS_NONE) {
+					/* stick is in MISSION position */
+					status.set_nav_state = NAV_STATE_MISSION;
+					status.set_nav_state_timestamp = hrt_absolute_time();
+
+				} else if ((sp_man.return_switch == SWITCH_POS_OFF || sp_man.return_switch == SWITCH_POS_MIDDLE) &&
+					   pos_sp_triplet.nav_state == NAV_STATE_RTL) {
+					/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
+					status.set_nav_state = NAV_STATE_MISSION;
+					status.set_nav_state_timestamp = hrt_absolute_time();
+				}
+			}
+
 		} else {
 			if (!status.rc_signal_lost) {
 				mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
@@ -1230,60 +1299,58 @@ int commander_thread_main(int argc, char *argv[])
 				status_changed = true;
 			}
 
-			/* switch to OFFBOARD mode if offboard signal available */
-			transition_result_t res = main_state_transition(&status, MAIN_STATE_OFFBOARD);
+			if (armed.armed) {
+				if (status.main_state == MAIN_STATE_AUTO) {
+					/* check if AUTO mode still allowed */
+					transition_result_t auto_res = main_state_transition(&status, MAIN_STATE_AUTO);
 
-			if (res == TRANSITION_DENIED) {
-				/* can't switch to OFFBOARD, do normal failsafe if needed */
-				if (armed.armed) {
-					if (status.main_state == MAIN_STATE_AUTO) {
-						/* check if AUTO mode still allowed */
-						transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
+					if (auto_res == TRANSITION_NOT_CHANGED) {
+						last_auto_state_valid = hrt_absolute_time();
+					}
 
-						if (res == TRANSITION_DENIED) {
-							/* AUTO mode denied, don't try RTL, switch to failsafe state LAND */
-							res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
+					/* still invalid state after the timeout interval, execute failsafe */
+					if ((hrt_elapsed_time(&last_auto_state_valid) > FAILSAFE_DEFAULT_TIMEOUT) && (auto_res == TRANSITION_DENIED)) {
+						/* AUTO mode denied, don't try RTL, switch to failsafe state LAND */
+						auto_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
 
-							if (res == TRANSITION_DENIED) {
-								/* LAND not allowed, set TERMINATION state */
-								transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
-							}
+						if (auto_res == TRANSITION_DENIED) {
+							/* LAND not allowed, set TERMINATION state */
+							(void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
 						}
+					}
 
-					} else if (status.main_state == MAIN_STATE_OFFBOARD) {
+				} else {
+					transition_result_t offboard_res = TRANSITION_DENIED;
+					if (status.main_state == MAIN_STATE_OFFBOARD) {
 						/* check if OFFBOARD mode still allowed */
-						transition_result_t res = main_state_transition(&status, MAIN_STATE_OFFBOARD);
+						offboard_res = main_state_transition(&status, MAIN_STATE_OFFBOARD);
+					}
 
-						if (res == TRANSITION_DENIED) {
-							/* AUTO mode denied, don't try RTL, switch to failsafe state LAND */
-							res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
+					if (offboard_res == TRANSITION_DENIED) {
+						/* not in OFFBOARD mode or OFFBOARD is not allowed anymore, switch to failsafe */
+						transition_result_t failsafe_res = TRANSITION_DENIED;
 
-							if (res == TRANSITION_DENIED) {
-								/* LAND not allowed, set TERMINATION state */
-								transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
-							}
+						if (!status.condition_landed) {
+							/* vehicle is not landed, try to perform RTL */
+							failsafe_res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
 						}
 
-					} else {
-						/* failsafe for manual modes */
-						transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
+						if (failsafe_res == TRANSITION_DENIED) {
+							/* RTL not allowed (no global position estimate) or not wanted, try LAND */
+							failsafe_res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
 
-						if (res == TRANSITION_DENIED) {
-							/* RTL not allowed (no global position estimate), try LAND */
-							res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
-
-							if (res == TRANSITION_DENIED) {
+							if (failsafe_res == TRANSITION_DENIED) {
 								/* LAND not allowed, set TERMINATION state */
-								res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
+								(void)failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
 							}
 						}
 					}
+				}
 
-				} else {
-					if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
-						/* reset failsafe when disarmed */
-						transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
-					}
+			} else {
+				if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
+					/* reset failsafe when disarmed */
+					(void)failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
 				}
 			}
 		}
@@ -1313,8 +1380,8 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		// TODO remove this hack
-		/* flight termination in manual mode if assisted switch is on easy position */
-		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
+		/* flight termination in manual mode if assist switch is on POSCTL position */
+		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) {
 			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
 				tune_positive(armed.armed);
 			}
@@ -1328,8 +1395,9 @@ 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;
+			}
 		}
 
 		/* check which state machines for changes, clear "changed" flag */
@@ -1343,8 +1411,34 @@ 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;
 			mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]);
@@ -1506,21 +1600,24 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 
 	} else if (actuator_armed->ready_to_arm) {
 		/* ready to arm, blink at 1Hz */
-		if (leds_counter % 20 == 0)
+		if (leds_counter % 20 == 0) {
 			led_toggle(LED_BLUE);
+		}
 
 	} else {
 		/* not ready to arm, blink at 10Hz */
-		if (leds_counter % 2 == 0)
+		if (leds_counter % 2 == 0) {
 			led_toggle(LED_BLUE);
+		}
 	}
 
 #endif
 
 	/* give system warnings on error LED, XXX maybe add memory usage warning too */
 	if (status->load > 0.95f) {
-		if (leds_counter % 2 == 0)
+		if (leds_counter % 2 == 0) {
 			led_toggle(LED_AMBER);
+		}
 
 	} else {
 		led_off(LED_AMBER);
@@ -1529,77 +1626,14 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 	leds_counter++;
 }
 
-void
-check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status)
-{
-	/* main mode switch */
-	if (!isfinite(sp_man->mode_switch)) {
-		/* default to manual if signal is invalid */
-		status->mode_switch = MODE_SWITCH_MANUAL;
-
-	} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
-		status->mode_switch = MODE_SWITCH_AUTO;
-
-	} else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) {
-		status->mode_switch = MODE_SWITCH_MANUAL;
-
-	} else {
-		status->mode_switch = MODE_SWITCH_ASSISTED;
-	}
-
-	/* return switch */
-	if (!isfinite(sp_man->return_switch)) {
-		status->return_switch = RETURN_SWITCH_NONE;
-
-	} else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) {
-		status->return_switch = RETURN_SWITCH_RETURN;
-
-	} else {
-		status->return_switch = RETURN_SWITCH_NORMAL;
-	}
-
-	/* assisted switch */
-	if (!isfinite(sp_man->assisted_switch)) {
-		status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
-
-	} else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) {
-		status->assisted_switch = ASSISTED_SWITCH_EASY;
-
-	} else {
-		status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
-	}
-
-	/* mission switch  */
-	if (!isfinite(sp_man->mission_switch)) {
-		status->mission_switch = MISSION_SWITCH_NONE;
-
-	} else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) {
-		status->mission_switch = MISSION_SWITCH_LOITER;
-
-	} else {
-		status->mission_switch = MISSION_SWITCH_MISSION;
-	}
-
-	 /* offboard switch  */
-	if (!isfinite(sp_man->offboard_switch)) {
-		status->offboard_switch = OFFBOARD_SWITCH_NONE;
-
-	} else if (sp_man->offboard_switch > STICK_ON_OFF_LIMIT) {
-		status->offboard_switch = OFFBOARD_SWITCH_OFFBOARD;
-
-	} else {
-		status->offboard_switch = OFFBOARD_SWITCH_ONBOARD;
-	}
-}
-
 transition_result_t
-set_main_state_rc(struct vehicle_status_s *status)
+set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man)
 {
 	/* set main state according to RC switches */
 	transition_result_t res = TRANSITION_DENIED;
 
 	/* offboard switch overrides main switch */
-	if (status->offboard_switch == OFFBOARD_SWITCH_OFFBOARD) {
+	if (sp_man->offboard_switch == SWITCH_POS_ON) {
 		res = main_state_transition(status, MAIN_STATE_OFFBOARD);
 		if (res == TRANSITION_DENIED) {
 			print_reject_mode(status, "OFFBOARD");
@@ -1609,49 +1643,58 @@ set_main_state_rc(struct vehicle_status_s *status)
 		}
 	}
 
-	/* offboard switched off or denied, check mode switch */
-	switch (status->mode_switch) {
-	case MODE_SWITCH_MANUAL:
+	/* offboard switched off or denied, check main mode switch */
+	switch (sp_man->mode_switch) {
+	case SWITCH_POS_NONE:
+		res = TRANSITION_NOT_CHANGED;
+		break;
+
+	case SWITCH_POS_OFF:		// MANUAL
 		res = main_state_transition(status, MAIN_STATE_MANUAL);
 		// TRANSITION_DENIED is not possible here
 		break;
 
-	case MODE_SWITCH_ASSISTED:
-		if (status->assisted_switch == ASSISTED_SWITCH_EASY) {
-			res = main_state_transition(status, MAIN_STATE_EASY);
+	case SWITCH_POS_MIDDLE:		// ASSIST
+		if (sp_man->posctl_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status, MAIN_STATE_POSCTL);
 
-			if (res != TRANSITION_DENIED)
+			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
+			}
 
-			// else fallback to SEATBELT
-			print_reject_mode(status, "EASY");
+			// else fallback to ALTCTL
+			print_reject_mode(status, "POSCTL");
 		}
 
-		res = main_state_transition(status, MAIN_STATE_SEATBELT);
+		res = main_state_transition(status, MAIN_STATE_ALTCTL);
 
-		if (res != TRANSITION_DENIED)
+		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this mode
+		}
 
-		if (status->assisted_switch != ASSISTED_SWITCH_EASY)	// don't print both messages
-			print_reject_mode(status, "SEATBELT");
+		if (sp_man->posctl_switch != SWITCH_POS_ON) {
+			print_reject_mode(status, "ALTCTL");
+		}
 
 		// else fallback to MANUAL
 		res = main_state_transition(status, MAIN_STATE_MANUAL);
 		// TRANSITION_DENIED is not possible here
 		break;
 
-	case MODE_SWITCH_AUTO:
+	case SWITCH_POS_ON:			// AUTO
 		res = main_state_transition(status, MAIN_STATE_AUTO);
 
-		if (res != TRANSITION_DENIED)
+		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this state
+		}
 
-		// else fallback to SEATBELT (EASY likely will not work too)
+		// else fallback to ALTCTL (POSCTL likely will not work too)
 		print_reject_mode(status, "AUTO");
-		res = main_state_transition(status, MAIN_STATE_SEATBELT);
+		res = main_state_transition(status, MAIN_STATE_ALTCTL);
 
-		if (res != TRANSITION_DENIED)
+		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this state
+		}
 
 		// else fallback to MANUAL
 		res = main_state_transition(status, MAIN_STATE_MANUAL);
@@ -1673,9 +1716,8 @@ set_control_mode()
 	control_mode.flag_armed = armed.armed;
 	control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
 	control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
-
-	control_mode.flag_control_auto_enabled = false;
 	control_mode.flag_control_offboard_enabled = false;
+
 	control_mode.flag_control_termination_enabled = false;
 
 	/* set this flag when navigator should act */
@@ -1686,6 +1728,7 @@ set_control_mode()
 		switch (status.main_state) {
 		case MAIN_STATE_MANUAL:
 			control_mode.flag_control_manual_enabled = true;
+			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = status.is_rotary_wing;
 			control_mode.flag_control_attitude_enabled = status.is_rotary_wing;
 			control_mode.flag_control_altitude_enabled = false;
@@ -1694,8 +1737,9 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_SEATBELT:
+		case MAIN_STATE_ALTCTL:
 			control_mode.flag_control_manual_enabled = true;
+			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;
 			control_mode.flag_control_attitude_enabled = true;
 			control_mode.flag_control_altitude_enabled = true;
@@ -1704,8 +1748,9 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_EASY:
+		case MAIN_STATE_POSCTL:
 			control_mode.flag_control_manual_enabled = true;
+			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;
 			control_mode.flag_control_attitude_enabled = true;
 			control_mode.flag_control_altitude_enabled = true;
@@ -1716,9 +1761,11 @@ set_control_mode()
 
 		case MAIN_STATE_AUTO:
 			navigator_enabled = true;
+			break;
 
 		case MAIN_STATE_OFFBOARD:
 			control_mode.flag_control_manual_enabled = false;
+			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_offboard_enabled = true;
 
 			switch (sp_offboard.mode) {
@@ -1766,6 +1813,7 @@ set_control_mode()
 	case FAILSAFE_STATE_TERMINATION:
 		/* disable all controllers on termination */
 		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = false;
 		control_mode.flag_control_rates_enabled = false;
 		control_mode.flag_control_attitude_enabled = false;
 		control_mode.flag_control_position_enabled = false;
@@ -1785,8 +1833,11 @@ set_control_mode()
 		control_mode.flag_control_auto_enabled = true;
 		control_mode.flag_control_rates_enabled = true;
 		control_mode.flag_control_attitude_enabled = true;
-		control_mode.flag_control_position_enabled = true;
-		control_mode.flag_control_velocity_enabled = true;
+
+		/* in failsafe LAND mode position may be not available */
+		control_mode.flag_control_position_enabled = status.condition_local_position_valid;
+		control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
+
 		control_mode.flag_control_altitude_enabled = true;
 		control_mode.flag_control_climb_rate_enabled = true;
 	}
@@ -1827,7 +1878,7 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 {
 	switch (result) {
 	case VEHICLE_CMD_RESULT_ACCEPTED:
-			tune_positive(true);
+		tune_positive(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_DENIED:
@@ -1877,8 +1928,9 @@ void *commander_low_prio_loop(void *arg)
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200);
 
 		/* timed out - periodic check for thread_should_exit, etc. */
-		if (pret == 0)
+		if (pret == 0) {
 			continue;
+		}
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -1893,8 +1945,9 @@ void *commander_low_prio_loop(void *arg)
 		if (cmd.command == VEHICLE_CMD_DO_SET_MODE ||
 		    cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM ||
 		    cmd.command == VEHICLE_CMD_NAV_TAKEOFF ||
-		    cmd.command == VEHICLE_CMD_DO_SET_SERVO)
+		    cmd.command == VEHICLE_CMD_DO_SET_SERVO) {
 			continue;
+		}
 
 		/* only handle low-priority commands here */
 		switch (cmd.command) {
@@ -1972,6 +2025,7 @@ void *commander_low_prio_loop(void *arg)
 					/* airspeed calibration */
 					answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
 					calib_ret = do_airspeed_calibration(mavlink_fd);
+
 				} else if ((int)(cmd.param4) == 0) {
 					/* RC calibration ended - have we been in one worth confirming? */
 					if (status.rc_input_blocked) {
@@ -1986,10 +2040,12 @@ void *commander_low_prio_loop(void *arg)
 
 				}
 
-				if (calib_ret == OK)
+				if (calib_ret == OK) {
 					tune_positive(true);
-				else
+
+				} else {
 					tune_negative(true);
+				}
 
 				arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
 
@@ -2009,11 +2065,13 @@ void *commander_low_prio_loop(void *arg)
 						mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR");
 
 						/* convenience as many parts of NuttX use negative errno */
-						if (ret < 0)
+						if (ret < 0) {
 							ret = -ret;
+						}
 
-						if (ret < 1000)
+						if (ret < 1000) {
 							mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
+						}
 
 						answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
 					}
@@ -2029,11 +2087,13 @@ void *commander_low_prio_loop(void *arg)
 						mavlink_log_critical(mavlink_fd, "#audio: parameters save error");
 
 						/* convenience as many parts of NuttX use negative errno */
-						if (ret < 0)
+						if (ret < 0) {
 							ret = -ret;
+						}
 
-						if (ret < 1000)
+						if (ret < 1000) {
 							mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
+						}
 
 						answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
 					}
@@ -2043,8 +2103,8 @@ void *commander_low_prio_loop(void *arg)
 			}
 
 		case VEHICLE_CMD_START_RX_PAIR:
-		/* handled in the IO driver */
-		break;
+			/* handled in the IO driver */
+			break;
 
 		default:
 			/* don't answer on unsupported commands, it will be done in main loop */
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index fe6c9bfaa..940a04aa1 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -113,17 +113,22 @@ void buzzer_deinit()
 	close(buzzer);
 }
 
-void set_tune(int tune) {
+void set_tune(int tune)
+{
 	unsigned int new_tune_duration = tune_durations[tune];
+
 	/* don't interrupt currently playing non-repeating tune by repeating */
 	if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
 		/* allow interrupting current non-repeating tune by the same tune */
 		if (tune != tune_current || new_tune_duration != 0) {
 			ioctl(buzzer, TONE_SET_ALARM, tune);
 		}
+
 		tune_current = tune;
+
 		if (new_tune_duration != 0) {
 			tune_end = hrt_absolute_time() + new_tune_duration;
+
 		} else {
 			tune_end = 0;
 		}
@@ -138,6 +143,7 @@ void tune_positive(bool use_buzzer)
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_GREEN);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+
 	if (use_buzzer) {
 		set_tune(TONE_NOTIFY_POSITIVE_TUNE);
 	}
@@ -151,6 +157,7 @@ void tune_neutral(bool use_buzzer)
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_WHITE);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+
 	if (use_buzzer) {
 		set_tune(TONE_NOTIFY_NEUTRAL_TUNE);
 	}
@@ -164,6 +171,7 @@ void tune_negative(bool use_buzzer)
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_RED);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+
 	if (use_buzzer) {
 		set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
 	}
@@ -198,16 +206,10 @@ int led_init()
 		return ERROR;
 	}
 
-	/* 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
+	/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
+	(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 +219,7 @@ 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;
@@ -254,22 +252,25 @@ int led_off(int led)
 void rgbled_set_color(rgbled_color_t color)
 {
 
-	if (rgbleds != -1)
+	if (rgbleds != -1) {
 		ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
+	}
 }
 
 void rgbled_set_mode(rgbled_mode_t mode)
 {
 
-	if (rgbleds != -1)
+	if (rgbleds != -1) {
 		ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
+	}
 }
 
 void rgbled_set_pattern(rgbled_pattern_t *pattern)
 {
 
-	if (rgbleds != -1)
+	if (rgbleds != -1) {
 		ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
+	}
 }
 
 float battery_remaining_estimate_voltage(float voltage, float discharged)
@@ -309,6 +310,7 @@ float battery_remaining_estimate_voltage(float voltage, float discharged)
 	if (bat_capacity > 0.0f) {
 		/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */
 		ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity);
+
 	} else {
 		/* else use voltage */
 		ret = remaining_voltage;
diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp
index 6e72cf0d9..0abb84a82 100644
--- a/src/modules/commander/commander_tests/commander_tests.cpp
+++ b/src/modules/commander/commander_tests/commander_tests.cpp
@@ -48,8 +48,7 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]);
 
 int commander_tests_main(int argc, char *argv[])
 {
-	state_machine_helper_test();
-	//state_machine_test();
+	stateMachineHelperTest();
 
 	return 0;
 }
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index 40bedd9f3..ee0d08391 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -49,13 +49,12 @@ public:
 	StateMachineHelperTest();
 	virtual ~StateMachineHelperTest();
 
-	virtual const char*	run_tests();
+	virtual void runTests(void);
 
 private:
-	const char*	arming_state_transition_test();
-	const char*	arming_state_transition_arm_disarm_test();
-	const char*	main_state_transition_test();
-	const char*	is_safe_test();
+	bool armingStateTransitionTest();
+	bool mainStateTransitionTest();
+	bool isSafeTest();
 };
 
 StateMachineHelperTest::StateMachineHelperTest() {
@@ -64,61 +63,242 @@ StateMachineHelperTest::StateMachineHelperTest() {
 StateMachineHelperTest::~StateMachineHelperTest() {
 }
 
-const char*
-StateMachineHelperTest::arming_state_transition_test()
+bool StateMachineHelperTest::armingStateTransitionTest(void)
 {
+    // These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
+    // to simulate machine state prior to testing an arming state transition. This structure is also
+    // use to represent the expected machine state after the transition has been requested.
+    typedef struct {
+        arming_state_t  arming_state;   // vehicle_status_s.arming_state
+        bool            armed;          // actuator_armed_s.armed
+        bool            ready_to_arm;   // actuator_armed_s.ready_to_arm
+    } ArmingTransitionVolatileState_t;
+    
+    // This structure represents a test case for arming_state_transition. It contains the machine
+    // state prior to transtion, the requested state to transition to and finally the expected
+    // machine state after transition.
+    typedef struct {
+        const char*                     assertMsg;                              // Text to show when test case fails
+        ArmingTransitionVolatileState_t current_state;                          // Machine state prior to transtion
+        hil_state_t                     hil_state;                              // Current vehicle_status_s.hil_state
+        bool                            condition_system_sensors_initialized;   // Current vehicle_status_s.condition_system_sensors_initialized
+        bool                            safety_switch_available;                // Current safety_s.safety_switch_available
+        bool                            safety_off;                             // Current safety_s.safety_off
+        arming_state_t                  requested_state;                        // Requested arming state to transition to
+        ArmingTransitionVolatileState_t expected_state;                         // Expected machine state after transition
+        transition_result_t             expected_transition_result;             // Expected result from arming_state_transition
+    } ArmingTransitionTest_t;
+    
+    // We use these defines so that our test cases are more readable
+    #define ATT_ARMED true
+    #define ATT_DISARMED false
+    #define ATT_READY_TO_ARM true
+    #define ATT_NOT_READY_TO_ARM false
+    #define ATT_SENSORS_INITIALIZED true
+    #define ATT_SENSORS_NOT_INITIALIZED false
+    #define ATT_SAFETY_AVAILABLE true
+    #define ATT_SAFETY_NOT_AVAILABLE true
+    #define ATT_SAFETY_OFF true
+    #define ATT_SAFETY_ON false
+    
+    // These are test cases for arming_state_transition
+    static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
+        // TRANSITION_NOT_CHANGED tests
+        
+        { "no transition: identical states",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED },
+        
+        // TRANSITION_CHANGED tests
+        
+        // Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
+        
+        { "transition: init to standby",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to standby error",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to reboot",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to init",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to standby error",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to reboot",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed to standby",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed to armed error",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED_ERROR,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed error to standby error",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby error to reboot",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: in air restore to armed",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: in air restore to reboot",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // hil on tests, standby error to standby not normally allowed
+        
+        { "transition: standby error to standby, hil on",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // Safety switch arming tests
+        
+        { "transition: init to standby, no safety switch",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to standby, safety switch off",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // standby error
+        { "transition: armed error to standby error requested standby",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // TRANSITION_DENIED tests
+        
+        // Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
+        
+        { "no transition: init to armed",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby to armed error",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED_ERROR,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed to init",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed to reboot",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed error to armed",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed error to reboot",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby error to armed",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby error to standby",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: reboot to armed",
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: in air restore to standby",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        // Sensor tests
+        
+        { "no transition: init to standby - sensors not initialized",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        // Safety switch arming tests
+        
+        { "no transition: init to standby, safety switch on",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+    };
+    
 	struct vehicle_status_s status;
-	struct safety_s safety;
-	arming_state_t new_arming_state;
-	struct actuator_armed_s armed;
-
-	// Identical states.
-	status.arming_state = ARMING_STATE_INIT;
-	new_arming_state = ARMING_STATE_INIT;
-	mu_assert("no transition: identical states",
-		  TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-
-	// INIT to STANDBY.
-	armed.armed = false;
-	armed.ready_to_arm = false;
-	status.arming_state = ARMING_STATE_INIT;
-	status.condition_system_sensors_initialized = true;
-	new_arming_state = ARMING_STATE_STANDBY;
-	mu_assert("transition: init to standby",
-		  TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-	mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state);
-	mu_assert("not armed", !armed.armed);
-	mu_assert("ready to arm", armed.ready_to_arm);
-
-	// INIT to STANDBY, sensors not initialized.
-	armed.armed = false;
-	armed.ready_to_arm = false;
-	status.arming_state = ARMING_STATE_INIT;
-	status.condition_system_sensors_initialized = false;
-	new_arming_state = ARMING_STATE_STANDBY;
-	mu_assert("no transition: sensors not initialized",
-		  TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-	mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state);
-	mu_assert("not armed", !armed.armed);
-	mu_assert("not ready to arm", !armed.ready_to_arm);
-
-	return 0;
-}
-
-const char*
-StateMachineHelperTest::arming_state_transition_arm_disarm_test()
-{
-	struct vehicle_status_s status;
-	struct safety_s safety;
-	arming_state_t new_arming_state;
+	struct safety_s         safety;
 	struct actuator_armed_s armed;
-
-	// TODO(sjwilks): ARM then DISARM.
-	return 0;
+    
+    size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
+    for (size_t i=0; i<cArmingTransitionTests; i++) {
+        const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i];
+        
+        // Setup initial machine state
+        status.arming_state = test->current_state.arming_state;
+        status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
+        status.hil_state = test->hil_state;
+        safety.safety_switch_available = test->safety_switch_available;
+        safety.safety_off = test->safety_off;
+        armed.armed = test->current_state.armed;
+        armed.ready_to_arm = test->current_state.ready_to_arm;
+        
+        // Attempt transition
+        transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed);
+        
+        // Validate result of transition
+        ut_assert(test->assertMsg, test->expected_transition_result == result);
+        ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state);
+        ut_assert(test->assertMsg, armed.armed == test->expected_state.armed);
+        ut_assert(test->assertMsg, armed.ready_to_arm == test->expected_state.ready_to_arm);
+    }
+
+	return true;
 }
 
-const char*
-StateMachineHelperTest::main_state_transition_test()
+bool StateMachineHelperTest::mainStateTransitionTest(void)
 {
 	struct vehicle_status_s current_state;
 	main_state_t new_main_state;
@@ -126,70 +306,69 @@ StateMachineHelperTest::main_state_transition_test()
 	// Identical states.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	new_main_state = MAIN_STATE_MANUAL;
-	mu_assert("no transition: identical states",
+	ut_assert("no transition: identical states",
 		  TRANSITION_NOT_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);	
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);	
 
 	// AUTO to MANUAL.
 	current_state.main_state = MAIN_STATE_AUTO;
 	new_main_state = MAIN_STATE_MANUAL;
-	mu_assert("transition changed: auto to manual",
+	ut_assert("transition changed: auto to manual",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to SEATBELT.
+	// MANUAL to ALTCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = true;
-	new_main_state = MAIN_STATE_SEATBELT;
-	mu_assert("tranisition: manual to seatbelt", 
+	new_main_state = MAIN_STATE_ALTCTL;
+	ut_assert("tranisition: manual to altctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
+	ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state);
 
-	// MANUAL to SEATBELT, invalid local altitude.
+	// MANUAL to ALTCTRL, invalid local altitude.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = false;
-	new_main_state = MAIN_STATE_SEATBELT;
-	mu_assert("no transition: invalid local altitude",
+	new_main_state = MAIN_STATE_ALTCTL;
+	ut_assert("no transition: invalid local altitude",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to EASY.
+	// MANUAL to POSCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = true;
-	new_main_state = MAIN_STATE_EASY;
-	mu_assert("transition: manual to easy",
+	new_main_state = MAIN_STATE_POSCTL;
+	ut_assert("transition: manual to posctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
+	ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state);
 
-	// MANUAL to EASY, invalid local position.
+	// MANUAL to POSCTRL, invalid local position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = false;
-	new_main_state = MAIN_STATE_EASY;
-	mu_assert("no transition: invalid position",
+	new_main_state = MAIN_STATE_POSCTL;
+	ut_assert("no transition: invalid position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
 	// MANUAL to AUTO.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_global_position_valid = true;
 	new_main_state = MAIN_STATE_AUTO;
-	mu_assert("transition: manual to auto",
+	ut_assert("transition: manual to auto",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
+	ut_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
 
 	// MANUAL to AUTO, invalid global position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_global_position_valid = false;
 	new_main_state = MAIN_STATE_AUTO;
-	mu_assert("no transition: invalid global position",
+	ut_assert("no transition: invalid global position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	return 0;
+	return true;
 }
 
-const char*
-StateMachineHelperTest::is_safe_test()
+bool StateMachineHelperTest::isSafeTest(void)
 {
 	struct vehicle_status_s current_state;
 	struct safety_s safety;
@@ -199,49 +378,45 @@ StateMachineHelperTest::is_safe_test()
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	mu_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = false;
 	armed.lockdown = true;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	mu_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	mu_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
+	ut_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	mu_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = false;
 	safety.safety_off = false;
-	mu_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
+	ut_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
 
-	return 0;
+	return true;
 }
 
-const char*
-StateMachineHelperTest::run_tests()
+void StateMachineHelperTest::runTests(void)
 {
-	mu_run_test(arming_state_transition_test);
-	mu_run_test(arming_state_transition_arm_disarm_test);
-	mu_run_test(main_state_transition_test);
-	mu_run_test(is_safe_test);
-
-	return 0;
+	ut_run_test(armingStateTransitionTest);
+	ut_run_test(mainStateTransitionTest);
+	ut_run_test(isSafeTest);
 }
 
-void
-state_machine_helper_test()
+void stateMachineHelperTest(void)
 {
 	StateMachineHelperTest* test = new StateMachineHelperTest();
-	test->UnitTest::print_results(test->run_tests());
+    test->runTests();
+	test->printResults();
 }
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h
index 10a68e602..bbf66255e 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.h
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.h
@@ -39,6 +39,6 @@
 #ifndef STATE_MACHINE_HELPER_TEST_H_
 #define STATE_MACHINE_HELPER_TEST_
 
-void state_machine_helper_test();
+void stateMachineHelperTest(void);
 
 #endif /* STATE_MACHINE_HELPER_TEST_H_ */
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 30cd0d48d..cbc2844c1 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -110,8 +110,9 @@ int do_gyro_calibration(int mavlink_fd)
 				gyro_scale.z_offset += gyro_report.z;
 				calibration_counter++;
 
-				if (calibration_counter % (calibration_count / 20) == 0)
+				if (calibration_counter % (calibration_count / 20) == 0) {
 					mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
+				}
 
 			} else {
 				poll_errcount++;
@@ -163,8 +164,9 @@ int do_gyro_calibration(int mavlink_fd)
 	/* apply new offsets */
 	fd = open(GYRO_DEVICE_PATH, 0);
 
-	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale))
+	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) {
 		warn("WARNING: failed to apply new offsets for gyro");
+	}
 
 	close(fd);
 
@@ -178,9 +180,9 @@ int do_gyro_calibration(int mavlink_fd)
 
 	float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
 
-	if (mag_last > M_PI_F) mag_last -= 2 * M_PI_F;
+	if (mag_last > M_PI_F) { mag_last -= 2 * M_PI_F; }
 
-	if (mag_last < -M_PI_F) mag_last += 2 * M_PI_F;
+	if (mag_last < -M_PI_F) { mag_last += 2 * M_PI_F; }
 
 
 	uint64_t last_time = hrt_absolute_time();
@@ -220,15 +222,15 @@ int do_gyro_calibration(int mavlink_fd)
 			//float mag = -atan2f(magNav(1),magNav(0));
 			float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
 
-			if (mag > M_PI_F) mag -= 2 * M_PI_F;
+			if (mag > M_PI_F) { mag -= 2 * M_PI_F; }
 
-			if (mag < -M_PI_F) mag += 2 * M_PI_F;
+			if (mag < -M_PI_F) { mag += 2 * M_PI_F; }
 
 			float diff = mag - mag_last;
 
-			if (diff > M_PI_F) diff -= 2 * M_PI_F;
+			if (diff > M_PI_F) { diff -= 2 * M_PI_F; }
 
-			if (diff < -M_PI_F) diff += 2 * M_PI_F;
+			if (diff < -M_PI_F) { diff += 2 * M_PI_F; }
 
 			baseline_integral += diff;
 			mag_last = mag;
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 4ebf266f4..0ead22f77 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -72,7 +72,7 @@ int do_mag_calibration(int mavlink_fd)
 	uint64_t calibration_interval = 45 * 1000 * 1000;
 
 	/* maximum 500 values */
-	const unsigned int calibration_maxcount = 500;
+	const unsigned int calibration_maxcount = 240;
 	unsigned int calibration_counter;
 
 	struct mag_scale mscale_null = {
@@ -121,9 +121,24 @@ int do_mag_calibration(int mavlink_fd)
 
 		if (x == NULL || y == NULL || z == NULL) {
 			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
+
+			/* clean up */
+			if (x != NULL) {
+				free(x);
+			}
+
+			if (y != NULL) {
+				free(y);
+			}
+
+			if (z != NULL) {
+				free(z);
+			}
+
 			res = ERROR;
 			return res;
 		}
+
 	} else {
 		/* exit */
 		return ERROR;
@@ -163,8 +178,9 @@ int do_mag_calibration(int mavlink_fd)
 
 				calibration_counter++;
 
-				if (calibration_counter % (calibration_maxcount / 20) == 0)
+				if (calibration_counter % (calibration_maxcount / 20) == 0) {
 					mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount);
+				}
 
 			} else {
 				poll_errcount++;
@@ -198,14 +214,17 @@ int do_mag_calibration(int mavlink_fd)
 		}
 	}
 
-	if (x != NULL)
+	if (x != NULL) {
 		free(x);
+	}
 
-	if (y != NULL)
+	if (y != NULL) {
 		free(y);
+	}
 
-	if (z != NULL)
+	if (z != NULL) {
 		free(z);
+	}
 
 	if (res == OK) {
 		/* apply calibration and set parameters */
@@ -234,23 +253,29 @@ int do_mag_calibration(int mavlink_fd)
 
 		if (res == OK) {
 			/* set parameters */
-			if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset)))
+			if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset)))
+			if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset)))
+			if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale)))
+			if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale)))
+			if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale)))
+			if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
 				res = ERROR;
+			}
 
 			if (res != OK) {
 				mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
index 554dfcb08..27ca5c182 100644
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@@ -47,3 +47,7 @@ SRCS		 	= commander.cpp \
 			baro_calibration.cpp \
 			rc_calibration.cpp \
 			airspeed_calibration.cpp
+
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index 65c8e8947..9589c9acb 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -12,8 +12,8 @@
 
 enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
-	PX4_CUSTOM_MAIN_MODE_SEATBELT,
-	PX4_CUSTOM_MAIN_MODE_EASY,
+	PX4_CUSTOM_MAIN_MODE_ALTCTL,
+	PX4_CUSTOM_MAIN_MODE_POSCTL,
 	PX4_CUSTOM_MAIN_MODE_AUTO,
 	PX4_CUSTOM_MAIN_MODE_OFFBOARD,
 };
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index 41f3ca0aa..0776894fb 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd)
 	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
 
 	/* set parameters */
-	float p = sp.roll;
+	float p = sp.y;
 	param_set(param_find("TRIM_ROLL"), &p);
-	p = sp.pitch;
+	p = sp.x;
 	param_set(param_find("TRIM_PITCH"), &p);
-	p = sp.yaw;
+	p = sp.r;
 	param_set(param_find("TRIM_YAW"), &p);
 
 	/* store to permanent storage */
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 9cecf5371..aaabde66b 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -69,10 +69,44 @@ static bool arming_state_changed = true;
 static bool main_state_changed = true;
 static bool failsafe_state_changed = true;
 
+// This array defines the arming state transitions. The rows are the new state, and the columns
+// are the current state. Using new state and current  state you can index into the array which
+// will be true for a valid transition or false for a invalid transition. In some cases even
+// though the transition is marked as true additional checks must be made. See arming_state_transition
+// code for those checks.
+static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
+	//                                  INIT,   STANDBY,    ARMED,  ARMED_ERROR,    STANDBY_ERROR,  REBOOT,     IN_AIR_RESTORE
+	{ /* ARMING_STATE_INIT */           true,   true,       false,  false,          false,          false,      false },
+	{ /* ARMING_STATE_STANDBY */        true,   true,       true,   true,           false,          false,      false },
+	{ /* ARMING_STATE_ARMED */          false,  true,       true,   false,          false,          false,      true },
+	{ /* ARMING_STATE_ARMED_ERROR */    false,  false,      true,   true,           false,          false,      false },
+	{ /* ARMING_STATE_STANDBY_ERROR */  true,   true,       false,  true,           true,           false,      false },
+	{ /* ARMING_STATE_REBOOT */         true,   true,       false,  false,          true,           true,       true },
+	{ /* ARMING_STATE_IN_AIR_RESTORE */ false,  false,      false,  false,          false,          false,      false }, // NYI
+};
+
+// You can index into the array with an arming_state_t in order to get it's textual representation
+static const char *state_names[ARMING_STATE_MAX] = {
+	"ARMING_STATE_INIT",
+	"ARMING_STATE_STANDBY",
+	"ARMING_STATE_ARMED",
+	"ARMING_STATE_ARMED_ERROR",
+	"ARMING_STATE_STANDBY_ERROR",
+	"ARMING_STATE_REBOOT",
+	"ARMING_STATE_IN_AIR_RESTORE",
+};
+
 transition_result_t
-arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
-			arming_state_t new_arming_state, struct actuator_armed_s *armed)
+arming_state_transition(struct vehicle_status_s *status,            /// current vehicle status
+			const struct safety_s   *safety,            /// current safety settings
+			arming_state_t          new_arming_state,   /// arming state requested
+			struct actuator_armed_s *armed,             /// current armed status
+			const int               mavlink_fd)         /// mavlink fd for error reporting, 0 for none
 {
+	// Double check that our static arrays are still valid
+	ASSERT(ARMING_STATE_INIT == 0);
+	ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
+
 	/*
 	 * Perform an atomic state update
 	 */
@@ -85,7 +119,6 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 		ret = TRANSITION_NOT_CHANGED;
 
 	} else {
-
 		/* enforce lockdown in HIL */
 		if (status->hil_state == HIL_STATE_ON) {
 			armed->lockdown = true;
@@ -94,95 +127,43 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 			armed->lockdown = false;
 		}
 
-		switch (new_arming_state) {
-		case ARMING_STATE_INIT:
-
-			/* allow going back from INIT for calibration */
-			if (status->arming_state == ARMING_STATE_STANDBY) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_STANDBY:
-
-			/* allow coming from INIT and disarming from ARMED */
-			if (status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_ARMED
-			    || status->hil_state == HIL_STATE_ON) {
+		// Check that we have a valid state transition
+		bool valid_transition = arming_transitions[new_arming_state][status->arming_state];
+
+		if (valid_transition) {
+			// We have a good transition. Now perform any secondary validation.
+			if (new_arming_state == ARMING_STATE_ARMED) {
+				// Fail transition if we need safety switch press
+				//      Allow if coming from in air restore
+				//      Allow if HIL_STATE_ON
+				if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) {
+					if (mavlink_fd) {
+						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first.");
+					}
 
-				/* sensors need to be initialized for STANDBY state */
-				if (status->condition_system_sensors_initialized) {
-					ret = TRANSITION_CHANGED;
-					armed->armed = false;
-					armed->ready_to_arm = true;
+					valid_transition = false;
 				}
-			}
-
-			break;
-
-		case ARMING_STATE_ARMED:
 
-			/* allow arming from STANDBY and IN-AIR-RESTORE */
-			if ((status->arming_state == ARMING_STATE_STANDBY
-			     || status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
-			    && (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */
-				ret = TRANSITION_CHANGED;
-				armed->armed = true;
-				armed->ready_to_arm = true;
-			}
-
-			break;
-
-		case ARMING_STATE_ARMED_ERROR:
-
-			/* an armed error happens when ARMED obviously */
-			if (status->arming_state == ARMING_STATE_ARMED) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = true;
-				armed->ready_to_arm = false;
+			} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {
+				new_arming_state = ARMING_STATE_STANDBY_ERROR;
 			}
+		}
 
-			break;
-
-		case ARMING_STATE_STANDBY_ERROR:
-
-			/* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */
-			if (status->arming_state == ARMING_STATE_STANDBY
-			    || status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_REBOOT:
-
-			/* an armed error happens when ARMED obviously */
-			if (status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_STANDBY
-			    || status->arming_state == ARMING_STATE_STANDBY_ERROR) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_IN_AIR_RESTORE:
-
-			/* XXX implement */
-			break;
+		// HIL can always go to standby
+		if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) {
+			valid_transition = true;
+		}
 
-		default:
-			break;
+		/* Sensors need to be initialized for STANDBY state */
+		if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
+			valid_transition = false;
 		}
 
-		if (ret == TRANSITION_CHANGED) {
+		// Finish up the state transition
+		if (valid_transition) {
+			armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR;
+			armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY;
+			ret = TRANSITION_CHANGED;
 			status->arming_state = new_arming_state;
 			arming_state_changed = true;
 		}
@@ -191,8 +172,15 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 	/* end of atomic state update */
 	irqrestore(flags);
 
-	if (ret == TRANSITION_DENIED)
-		warnx("arming transition rejected");
+	if (ret == TRANSITION_DENIED) {
+		static const char *errMsg = "Invalid arming transition from %s to %s";
+
+		if (mavlink_fd) {
+			mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]);
+		}
+
+		warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]);
+	}
 
 	return ret;
 }
@@ -234,7 +222,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 		ret = TRANSITION_CHANGED;
 		break;
 
-	case MAIN_STATE_SEATBELT:
+	case MAIN_STATE_ALTCTL:
 
 		/* need at minimum altitude estimate */
 		if (!status->is_rotary_wing ||
@@ -245,7 +233,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 
 		break;
 
-	case MAIN_STATE_EASY:
+	case MAIN_STATE_POSCTL:
 
 		/* need at minimum local position estimate */
 		if (status->condition_local_position_valid ||
@@ -266,7 +254,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 
 	case MAIN_STATE_OFFBOARD:
 
-		/* need global position estimate */
+		/* need offboard signal */
 		if (!status->offboard_control_signal_lost) {
 			ret = TRANSITION_CHANGED;
 		}
@@ -351,6 +339,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 				/* list directory */
 				DIR		*d;
 				d = opendir("/dev");
+
 				if (d) {
 
 					struct dirent	*direntry;
@@ -362,26 +351,32 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 						if (!strncmp("tty", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip mtd devices */
 						if (!strncmp("mtd", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip ram devices */
 						if (!strncmp("ram", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip MMC devices */
 						if (!strncmp("mmc", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip mavlink */
 						if (!strcmp("mavlink", direntry->d_name)) {
 							continue;
 						}
+
 						/* skip console */
 						if (!strcmp("console", direntry->d_name)) {
 							continue;
 						}
+
 						/* skip null */
 						if (!strcmp("null", direntry->d_name)) {
 							continue;
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index f04879ff9..0ddd4f05a 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -57,7 +57,7 @@ typedef enum {
 } transition_result_t;
 
 transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
-		arming_state_t new_arming_state, struct actuator_armed_s *armed);
+		arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd = 0);
 
 bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
 
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c
index 34d20e485..1a65313e8 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Jean Cyr
- *              Lorenz Meier
- *              Julian Oes
- *              Thomas Gubler
+ *   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
@@ -37,6 +33,11 @@
 /**
  * @file dataman.c
  * DATAMANAGER driver.
+ *
+ * @author Jean Cyr
+ * @author Lorenz Meier
+ * @author Julian Oes
+ * @author Thomas Gubler
  */
 
 #include <nuttx/config.h>
@@ -44,7 +45,9 @@
 #include <stdlib.h>
 #include <fcntl.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/err.h>
 #include <queue.h>
+#include <string.h>
 
 #include "dataman.h"
 
@@ -60,7 +63,7 @@ __EXPORT ssize_t dm_write(dm_item_t  item, unsigned char index, dm_persitence_t
 __EXPORT int dm_clear(dm_item_t item);
 __EXPORT int dm_restart(dm_reset_reason restart_type);
 
-/* Types of function calls supported by the worker task */
+/** Types of function calls supported by the worker task */
 typedef enum {
 	dm_write_func = 0,
 	dm_read_func,
@@ -69,11 +72,12 @@ typedef enum {
 	dm_number_of_funcs
 } dm_function_t;
 
-/* Work task work item */
+/** Work task work item */
 typedef struct {
 	sq_entry_t link;	/**< list linkage */
 	sem_t wait_sem;
-	dm_function_t func;
+	unsigned char first;
+	unsigned char func;
 	ssize_t result;
 	union {
 		struct {
@@ -98,6 +102,8 @@ typedef struct {
 	};
 } work_q_item_t;
 
+const size_t k_work_item_allocation_chunk_size = 8;
+
 /* Usage statistics */
 static unsigned g_func_counts[dm_number_of_funcs];
 
@@ -175,9 +181,23 @@ create_work_item(void)
 
 	unlock_queue(&g_free_q);
 
-	/* If we there weren't any free items then obtain memory for a new one */
-	if (item == NULL)
-		item = (work_q_item_t *)malloc(sizeof(work_q_item_t));
+	/* If we there weren't any free items then obtain memory for a new ones */
+	if (item == NULL) {
+		item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t));
+		if (item) {
+			item->first = 1;
+			lock_queue(&g_free_q);
+			for (int i = 1; i < k_work_item_allocation_chunk_size; i++) {
+				(item + i)->first = 0;
+				sq_addfirst(&(item + i)->link, &(g_free_q.q));
+			}
+			/* Update the queue size and potentially the maximum queue size */
+			g_free_q.size += k_work_item_allocation_chunk_size - 1;
+			if (g_free_q.size > g_free_q.max_size)
+				g_free_q.max_size = g_free_q.size;
+			unlock_queue(&g_free_q);
+		}
+	}
 
 	/* If we got one then lock the item*/
 	if (item)
@@ -409,31 +429,31 @@ _clear(dm_item_t item)
 	return result;
 }
 
-/* Tell the data manager about the type of the last reset */
+/** Tell the data manager about the type of the last reset */
 static int
 _restart(dm_reset_reason reason)
 {
 	unsigned char buffer[2];
-	int offset, result = 0;
+	int offset = 0, result = 0;
 
 	/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
 
 	/* Loop through all of the data segments and delete those that are not persistent */
-	offset = 0;
-
 	while (1) {
 		size_t len;
 
 		/* Get data segment at current offset */
 		if (lseek(g_task_fd, offset, SEEK_SET) != offset) {
-			result = -1;
+			/* must be at eof */
 			break;
 		}
 
 		len = read(g_task_fd, buffer, sizeof(buffer));
 
-		if (len == 0)
+		if (len != sizeof(buffer)) {
+			/* must be at eof */
 			break;
+		}
 
 		/* check if segment contains data */
 		if (buffer[0]) {
@@ -441,12 +461,12 @@ _restart(dm_reset_reason reason)
 
 			/* Whether data gets deleted depends on reset type and data segment's persistence setting */
 			if (reason == DM_INIT_REASON_POWER_ON) {
-				if (buffer[1] != DM_PERSIST_POWER_ON_RESET) {
+				if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
 					clear_entry = 1;
 				}
 
 			} else {
-				if ((buffer[1] != DM_PERSIST_POWER_ON_RESET) && (buffer[1] != DM_PERSIST_IN_FLIGHT_RESET)) {
+				if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
 					clear_entry = 1;
 				}
 			}
@@ -478,7 +498,7 @@ _restart(dm_reset_reason reason)
 	return result;
 }
 
-/* write to the data manager file */
+/** Write to the data manager file */
 __EXPORT ssize_t
 dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count)
 {
@@ -503,7 +523,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
 	return (ssize_t)enqueue_work_item_and_wait_for_result(work);
 }
 
-/* Retrieve from the data manager file */
+/** Retrieve from the data manager file */
 __EXPORT ssize_t
 dm_read(dm_item_t item, unsigned char index, void *buf, size_t count)
 {
@@ -594,6 +614,20 @@ task_main(int argc, char *argv[])
 
 	sem_init(&g_work_queued_sema, 1, 0);
 
+	/* See if the data manage file exists and is a multiple of the sector size */
+	g_task_fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
+	if (g_task_fd >= 0) {
+		/* File exists, check its size */
+		int file_size = lseek(g_task_fd, 0, SEEK_END);
+		if ((file_size % k_sector_size) != 0) {
+			warnx("Incompatible data manager file %s, resetting it", k_data_manager_device_path);
+			close(g_task_fd);
+			unlink(k_data_manager_device_path);
+		}
+		else
+			close(g_task_fd);
+	}
+
 	/* Open or create the data manager file */
 	g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
 
@@ -603,7 +637,7 @@ task_main(int argc, char *argv[])
 		return -1;
 	}
 
-	if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
+	if ((unsigned)lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
 		close(g_task_fd);
 		warnx("Could not seek data manager file %s", k_data_manager_device_path);
 		sem_post(&g_init_sema); /* Don't want to hang startup */
@@ -612,6 +646,23 @@ task_main(int argc, char *argv[])
 
 	fsync(g_task_fd);
 
+	/* see if we need to erase any items based on restart type */
+	int sys_restart_val;
+	if (param_get(param_find("SYS_RESTART_TYPE"), &sys_restart_val) == OK) {
+		if (sys_restart_val == DM_INIT_REASON_POWER_ON) {
+			warnx("Power on restart");
+			_restart(DM_INIT_REASON_POWER_ON);
+		}
+		else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
+			warnx("In flight restart");
+			_restart(DM_INIT_REASON_IN_FLIGHT);
+		}
+		else
+			warnx("Unknown restart");
+	}
+	else
+		warnx("Unknown restart");
+
 	/* We use two file descriptors, one for the caller context and one for the worker thread */
 	/* They are actually the same but we need to some way to reject caller request while the */
 	/* worker thread is shutting down but still processing requests */
@@ -684,8 +735,8 @@ task_main(int argc, char *argv[])
 	for (;;) {
 		if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL)
 			break;
-
-		free(work);
+		if (work->first)
+			free(work);
 	}
 
 	destroy_q(&g_work_q);
@@ -703,12 +754,12 @@ start(void)
 	sem_init(&g_init_sema, 1, 0);
 
 	/* start the worker thread */
-	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) {
+	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) {
 		warn("task start failed");
 		return -1;
 	}
 
-	/* wait for the thread to actuall initialize */
+	/* wait for the thread to actually initialize */
 	sem_wait(&g_init_sema);
 	sem_destroy(&g_init_sema);
 
@@ -776,4 +827,3 @@ dataman_main(int argc, char *argv[])
 
 	exit(1);
 }
-
diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h
index a70638ccc..1dfb26f73 100644
--- a/src/modules/dataman/dataman.h
+++ b/src/modules/dataman/dataman.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -46,7 +46,7 @@
 extern "C" {
 #endif
 
-	/* Types of items that the data manager can store */
+	/** Types of items that the data manager can store */
 	typedef enum {
 		DM_KEY_SAFE_POINTS = 0,		/* Safe points coordinates, safe point 0 is home point */
 		DM_KEY_FENCE_POINTS,		/* Fence vertex coordinates */
@@ -56,7 +56,7 @@ extern "C" {
 		DM_KEY_NUM_KEYS			/* Total number of item types defined */
 	} dm_item_t;
 
-	/* The maximum number of instances for each item type */
+	/** The maximum number of instances for each item type */
 	enum {
 		DM_KEY_SAFE_POINTS_MAX = 8,
 		DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
@@ -65,23 +65,24 @@ extern "C" {
 		DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
 	};
 
-	/* Data persistence levels */
+	/** Data persistence levels */
 	typedef enum {
 		DM_PERSIST_POWER_ON_RESET = 0,	/* Data survives all resets */
 		DM_PERSIST_IN_FLIGHT_RESET,     /* Data survives in-flight resets only */
 		DM_PERSIST_VOLATILE             /* Data does not survive resets */
 	} dm_persitence_t;
 
-	/* The reason for the last reset */
+	/** The reason for the last reset */
 	typedef enum {
 		DM_INIT_REASON_POWER_ON = 0,	/* Data survives resets */
-		DM_INIT_REASON_IN_FLIGHT	/* Data survives in-flight resets only */
+		DM_INIT_REASON_IN_FLIGHT,		/* Data survives in-flight resets only */
+		DM_INIT_REASON_VOLATILE			/* Data does not survive reset */
 	} dm_reset_reason;
 
-	/* Maximum size in bytes of a single item instance */
-	#define DM_MAX_DATA_SIZE 126
+	/** Maximum size in bytes of a single item instance */
+	#define DM_MAX_DATA_SIZE 124
 
-	/* Retrieve from the data manager store */
+	/** Retrieve from the data manager store */
 	__EXPORT ssize_t
 	dm_read(
 		dm_item_t item,			/* The item type to retrieve */
@@ -90,7 +91,7 @@ extern "C" {
 		size_t buflen			/* Length in bytes of data to retrieve */
 	);
 
-	/* write to the data manager store */
+	/** write to the data manager store */
 	__EXPORT ssize_t
 	dm_write(
 		dm_item_t  item,		/* The item type to store */
@@ -100,13 +101,13 @@ extern "C" {
 		size_t buflen			/* Length in bytes of data to retrieve */
 	);
 
-	/* Retrieve from the data manager store */
+	/** Erase all items of this type */
 	__EXPORT int
 	dm_clear(
 		dm_item_t item			/* The item type to clear */
 		);
 
-	/* Tell the data manager about the type of the last reset */
+	/** Tell the data manager about the type of the last reset */
 	__EXPORT int
 	dm_restart(
 		dm_reset_reason restart_type	/* The last reset type */
diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk
index 27670dd3f..234607b3d 100644
--- a/src/modules/dataman/module.mk
+++ b/src/modules/dataman/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= dataman
 
 SRCS		= dataman.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp
new file mode 100644
index 000000000..23ecd89ac
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator.cpp
@@ -0,0 +1,2609 @@
+#include "estimator.h"
+#include <string.h>
+#include <stdarg.h>
+
+// Define EKF_DEBUG here to enable the debug print calls
+// if the macro is not set, these will be completely
+// optimized out by the compiler.
+#define EKF_DEBUG
+
+#ifdef EKF_DEBUG
+#include <stdio.h>
+
+static void
+ekf_debug_print(const char *fmt, va_list args)
+{
+    fprintf(stderr, "%s: ", "[ekf]");
+    vfprintf(stderr, fmt, args);
+
+    fprintf(stderr, "\n");
+}
+
+static void
+ekf_debug(const char *fmt, ...)
+{
+    va_list args;
+
+    va_start(args, fmt);
+    ekf_debug_print(fmt, args);
+}
+
+#else
+
+static void ekf_debug(const char *fmt, ...) { while(0){} }
+#endif
+
+float Vector3f::length(void) const
+{
+    return sqrt(x*x + y*y + z*z);
+}
+
+void Vector3f::zero(void)
+{
+    x = 0.0f;
+    y = 0.0f;
+    z = 0.0f;
+}
+
+Mat3f::Mat3f() {
+    identity();
+}
+
+void Mat3f::identity() {
+    x.x = 1.0f;
+    x.y = 0.0f;
+    x.z = 0.0f;
+
+    y.x = 0.0f;
+    y.y = 1.0f;
+    y.z = 0.0f;
+
+    z.x = 0.0f;
+    z.y = 0.0f;
+    z.z = 1.0f;
+}
+
+Mat3f Mat3f::transpose(void) const
+{
+    Mat3f ret = *this;
+    swap_var(ret.x.y, ret.y.x);
+    swap_var(ret.x.z, ret.z.x);
+    swap_var(ret.y.z, ret.z.y);
+    return ret;
+}
+
+// overload + operator to provide a vector addition
+Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x + vecIn2.x;
+    vecOut.y = vecIn1.y + vecIn2.y;
+    vecOut.z = vecIn1.z + vecIn2.z;
+    return vecOut;
+}
+
+// overload - operator to provide a vector subtraction
+Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x - vecIn2.x;
+    vecOut.y = vecIn1.y - vecIn2.y;
+    vecOut.z = vecIn1.z - vecIn2.z;
+    return vecOut;
+}
+
+// overload * operator to provide a matrix vector product
+Vector3f operator*( Mat3f matIn, Vector3f vecIn)
+{
+    Vector3f vecOut;
+    vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
+    vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
+    vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
+    return vecOut;
+}
+
+// overload % operator to provide a vector cross product
+Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y;
+    vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z;
+    vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x;
+    return vecOut;
+}
+
+// overload * operator to provide a vector scaler product
+Vector3f operator*(Vector3f vecIn1, float sclIn1)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x * sclIn1;
+    vecOut.y = vecIn1.y * sclIn1;
+    vecOut.z = vecIn1.z * sclIn1;
+    return vecOut;
+}
+
+// overload * operator to provide a vector scaler product
+Vector3f operator*(float sclIn1, Vector3f vecIn1)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x * sclIn1;
+    vecOut.y = vecIn1.y * sclIn1;
+    vecOut.z = vecIn1.z * sclIn1;
+    return vecOut;
+}
+
+void swap_var(float &d1, float &d2)
+{
+    float tmp = d1;
+    d1 = d2;
+    d2 = tmp;
+}
+
+AttPosEKF::AttPosEKF()
+
+    /* NOTE: DO NOT initialize class members here. Use ZeroVariables()
+     * instead to allow clean in-air re-initialization.
+     */
+{
+
+    ZeroVariables();
+    InitialiseParameters();
+}
+
+AttPosEKF::~AttPosEKF()
+{
+}
+
+void AttPosEKF::UpdateStrapdownEquationsNED()
+{
+    Vector3f delVelNav;
+    float q00;
+    float q11;
+    float q22;
+    float q33;
+    float q01;
+    float q02;
+    float q03;
+    float q12;
+    float q13;
+    float q23;
+    float rotationMag;
+    float qUpdated[4];
+    float quatMag;
+    float deltaQuat[4];
+    const Vector3f gravityNED = {0.0,0.0,GRAVITY_MSS};
+
+// Remove sensor bias errors
+    correctedDelAng.x = dAngIMU.x - states[10];
+    correctedDelAng.y = dAngIMU.y - states[11];
+    correctedDelAng.z = dAngIMU.z - states[12];
+    dVelIMU.x = dVelIMU.x;
+    dVelIMU.y = dVelIMU.y;
+    dVelIMU.z = dVelIMU.z - states[13];
+
+// Save current measurements
+    Vector3f  prevDelAng = correctedDelAng;
+
+// Apply corrections for earths rotation rate and coning errors
+// * and + operators have been overloaded
+    correctedDelAng   = correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng);
+
+// Convert the rotation vector to its equivalent quaternion
+    rotationMag = correctedDelAng.length();
+    if (rotationMag < 1e-12f)
+    {
+        deltaQuat[0] = 1.0;
+        deltaQuat[1] = 0.0;
+        deltaQuat[2] = 0.0;
+        deltaQuat[3] = 0.0;
+    }
+    else
+    {
+        deltaQuat[0] = cosf(0.5f*rotationMag);
+        float rotScaler = (sinf(0.5f*rotationMag))/rotationMag;
+        deltaQuat[1] = correctedDelAng.x*rotScaler;
+        deltaQuat[2] = correctedDelAng.y*rotScaler;
+        deltaQuat[3] = correctedDelAng.z*rotScaler;
+    }
+
+// Update the quaternions by rotating from the previous attitude through
+// the delta angle rotation quaternion
+    qUpdated[0] = states[0]*deltaQuat[0] - states[1]*deltaQuat[1] - states[2]*deltaQuat[2] - states[3]*deltaQuat[3];
+    qUpdated[1] = states[0]*deltaQuat[1] + states[1]*deltaQuat[0] + states[2]*deltaQuat[3] - states[3]*deltaQuat[2];
+    qUpdated[2] = states[0]*deltaQuat[2] + states[2]*deltaQuat[0] + states[3]*deltaQuat[1] - states[1]*deltaQuat[3];
+    qUpdated[3] = states[0]*deltaQuat[3] + states[3]*deltaQuat[0] + states[1]*deltaQuat[2] - states[2]*deltaQuat[1];
+
+// Normalise the quaternions and update the quaternion states
+    quatMag = sqrtf(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3]));
+    if (quatMag > 1e-16f)
+    {
+        float quatMagInv = 1.0f/quatMag;
+        states[0] = quatMagInv*qUpdated[0];
+        states[1] = quatMagInv*qUpdated[1];
+        states[2] = quatMagInv*qUpdated[2];
+        states[3] = quatMagInv*qUpdated[3];
+    }
+
+// Calculate the body to nav cosine matrix
+    q00 = sq(states[0]);
+    q11 = sq(states[1]);
+    q22 = sq(states[2]);
+    q33 = sq(states[3]);
+    q01 =  states[0]*states[1];
+    q02 =  states[0]*states[2];
+    q03 =  states[0]*states[3];
+    q12 =  states[1]*states[2];
+    q13 =  states[1]*states[3];
+    q23 =  states[2]*states[3];
+
+    Tbn.x.x = q00 + q11 - q22 - q33;
+    Tbn.y.y = q00 - q11 + q22 - q33;
+    Tbn.z.z = q00 - q11 - q22 + q33;
+    Tbn.x.y = 2*(q12 - q03);
+    Tbn.x.z = 2*(q13 + q02);
+    Tbn.y.x = 2*(q12 + q03);
+    Tbn.y.z = 2*(q23 - q01);
+    Tbn.z.x = 2*(q13 - q02);
+    Tbn.z.y = 2*(q23 + q01);
+
+    Tnb = Tbn.transpose();
+
+// transform body delta velocities to delta velocities in the nav frame
+// * and + operators have been overloaded
+    //delVelNav = Tbn*dVelIMU + gravityNED*dtIMU;
+    delVelNav.x = Tbn.x.x*dVelIMU.x + Tbn.x.y*dVelIMU.y + Tbn.x.z*dVelIMU.z + gravityNED.x*dtIMU;
+    delVelNav.y = Tbn.y.x*dVelIMU.x + Tbn.y.y*dVelIMU.y + Tbn.y.z*dVelIMU.z + gravityNED.y*dtIMU;
+    delVelNav.z = Tbn.z.x*dVelIMU.x + Tbn.z.y*dVelIMU.y + Tbn.z.z*dVelIMU.z + gravityNED.z*dtIMU;
+
+// calculate the magnitude of the nav acceleration (required for GPS
+// variance estimation)
+    accNavMag = delVelNav.length()/dtIMU;
+
+// If calculating position save previous velocity
+    float lastVelocity[3];
+    lastVelocity[0] = states[4];
+    lastVelocity[1] = states[5];
+    lastVelocity[2] = states[6];
+
+// Sum delta velocities to get velocity
+    states[4] = states[4] + delVelNav.x;
+    states[5] = states[5] + delVelNav.y;
+    states[6] = states[6] + delVelNav.z;
+
+// If calculating postions, do a trapezoidal integration for position
+    states[7] = states[7] + 0.5f*(states[4] + lastVelocity[0])*dtIMU;
+    states[8] = states[8] + 0.5f*(states[5] + lastVelocity[1])*dtIMU;
+    states[9] = states[9] + 0.5f*(states[6] + lastVelocity[2])*dtIMU;
+
+    // Constrain states (to protect against filter divergence)
+    ConstrainStates();
+}
+
+void AttPosEKF::CovariancePrediction(float dt)
+{
+    // scalars
+    float daxCov;
+    float dayCov;
+    float dazCov;
+    float dvxCov;
+    float dvyCov;
+    float dvzCov;
+    float dvx;
+    float dvy;
+    float dvz;
+    float dax;
+    float day;
+    float daz;
+    float q0;
+    float q1;
+    float q2;
+    float q3;
+    float dax_b;
+    float day_b;
+    float daz_b;
+    float dvz_b;
+
+    // arrays
+    float processNoise[n_states];
+    float SF[15];
+    float SG[8];
+    float SQ[11];
+    float SPP[8] = {0};
+    float nextP[n_states][n_states];
+
+    // calculate covariance prediction process noise
+    for (uint8_t i= 0; i<=9;  i++) processNoise[i] = 1.0e-9f;
+    for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma;
+    // scale gyro bias noise when on ground to allow for faster bias estimation
+    for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma;
+    processNoise[13] = dVelBiasSigma;
+    for (uint8_t i=14; i<=15; i++) processNoise[i] = dt * windVelSigma;
+    for (uint8_t i=16; i<=18; i++) processNoise[i] = dt * magEarthSigma;
+    for (uint8_t i=19; i<=21; i++) processNoise[i] = dt * magBodySigma;
+    processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma;
+
+    // square all sigmas
+    for (unsigned i = 0; i < n_states; i++) processNoise[i] = sq(processNoise[i]);
+
+    // set variables used to calculate covariance growth
+    dvx = summedDelVel.x;
+    dvy = summedDelVel.y;
+    dvz = summedDelVel.z;
+    dax = summedDelAng.x;
+    day = summedDelAng.y;
+    daz = summedDelAng.z;
+    q0 = states[0];
+    q1 = states[1];
+    q2 = states[2];
+    q3 = states[3];
+    dax_b = states[10];
+    day_b = states[11];
+    daz_b = states[12];
+    dvz_b =  states[13];
+    gyroProcessNoise = ConstrainFloat(gyroProcessNoise, 1e-3f, 5e-2f);
+    daxCov = sq(dt*gyroProcessNoise);
+    dayCov = sq(dt*gyroProcessNoise);
+    dazCov = sq(dt*gyroProcessNoise);
+    if (onGround) dazCov = dazCov * sq(yawVarScale);
+    accelProcessNoise = ConstrainFloat(accelProcessNoise, 5e-2, 1.0f);
+    dvxCov = sq(dt*accelProcessNoise);
+    dvyCov = sq(dt*accelProcessNoise);
+    dvzCov = sq(dt*accelProcessNoise);
+
+    // Predicted covariance calculation
+    SF[0] = dvz - dvz_b;
+    SF[1] = 2*q3*SF[0] + 2*dvx*q1 + 2*dvy*q2;
+    SF[2] = 2*dvx*q3 - 2*q1*SF[0] + 2*dvy*q0;
+    SF[3] = 2*q2*SF[0] + 2*dvx*q0 - 2*dvy*q3;
+    SF[4] = day/2 - day_b/2;
+    SF[5] = daz/2 - daz_b/2;
+    SF[6] = dax/2 - dax_b/2;
+    SF[7] = dax_b/2 - dax/2;
+    SF[8] = daz_b/2 - daz/2;
+    SF[9] = day_b/2 - day/2;
+    SF[10] = 2*q0*SF[0];
+    SF[11] = q1/2;
+    SF[12] = q2/2;
+    SF[13] = q3/2;
+    SF[14] = 2*dvy*q1;
+
+    SG[0] = q0/2;
+    SG[1] = sq(q3);
+    SG[2] = sq(q2);
+    SG[3] = sq(q1);
+    SG[4] = sq(q0);
+    SG[5] = 2*q2*q3;
+    SG[6] = 2*q1*q3;
+    SG[7] = 2*q1*q2;
+
+    SQ[0] = dvzCov*(SG[5] - 2*q0*q1)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvyCov*(SG[5] + 2*q0*q1)*(SG[1] - SG[2] + SG[3] - SG[4]) + dvxCov*(SG[6] - 2*q0*q2)*(SG[7] + 2*q0*q3);
+    SQ[1] = dvzCov*(SG[6] + 2*q0*q2)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvxCov*(SG[6] - 2*q0*q2)*(SG[1] + SG[2] - SG[3] - SG[4]) + dvyCov*(SG[5] + 2*q0*q1)*(SG[7] - 2*q0*q3);
+    SQ[2] = dvzCov*(SG[5] - 2*q0*q1)*(SG[6] + 2*q0*q2) - dvyCov*(SG[7] - 2*q0*q3)*(SG[1] - SG[2] + SG[3] - SG[4]) - dvxCov*(SG[7] + 2*q0*q3)*(SG[1] + SG[2] - SG[3] - SG[4]);
+    SQ[3] = (dayCov*q1*SG[0])/2 - (dazCov*q1*SG[0])/2 - (daxCov*q2*q3)/4;
+    SQ[4] = (dazCov*q2*SG[0])/2 - (daxCov*q2*SG[0])/2 - (dayCov*q1*q3)/4;
+    SQ[5] = (daxCov*q3*SG[0])/2 - (dayCov*q3*SG[0])/2 - (dazCov*q1*q2)/4;
+    SQ[6] = (daxCov*q1*q2)/4 - (dazCov*q3*SG[0])/2 - (dayCov*q1*q2)/4;
+    SQ[7] = (dazCov*q1*q3)/4 - (daxCov*q1*q3)/4 - (dayCov*q2*SG[0])/2;
+    SQ[8] = (dayCov*q2*q3)/4 - (daxCov*q1*SG[0])/2 - (dazCov*q2*q3)/4;
+    SQ[9] = sq(SG[0]);
+    SQ[10] = sq(q1);
+
+    SPP[0] = SF[10] + SF[14] - 2*dvx*q2;
+    SPP[1] = 2*q2*SF[0] + 2*dvx*q0 - 2*dvy*q3;
+    SPP[2] = 2*dvx*q3 - 2*q1*SF[0] + 2*dvy*q0;
+    SPP[3] = 2*q0*q1 - 2*q2*q3;
+    SPP[4] = 2*q0*q2 + 2*q1*q3;
+    SPP[5] = sq(q0) - sq(q1) - sq(q2) + sq(q3);
+    SPP[6] = SF[13];
+    SPP[7] = SF[12];
+
+    nextP[0][0] = P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6] + (daxCov*SQ[10])/4 + SF[7]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[9]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[8]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SF[11]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) + SPP[7]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) + SPP[6]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) + (dayCov*sq(q2))/4 + (dazCov*sq(q3))/4;
+    nextP[0][1] = P[0][1] + SQ[8] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6] + SF[6]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[5]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[9]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SPP[6]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) - SPP[7]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) - (q0*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]))/2;
+    nextP[0][2] = P[0][2] + SQ[7] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6] + SF[4]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[8]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[6]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SF[11]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) - SPP[6]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) - (q0*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]))/2;
+    nextP[0][3] = P[0][3] + SQ[6] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6] + SF[5]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[4]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[7]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - SF[11]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) + SPP[7]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) - (q0*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]))/2;
+    nextP[0][4] = P[0][4] + P[1][4]*SF[7] + P[2][4]*SF[9] + P[3][4]*SF[8] + P[10][4]*SF[11] + P[11][4]*SPP[7] + P[12][4]*SPP[6] + SF[3]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[1]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SPP[0]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - SPP[2]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) - SPP[4]*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]);
+    nextP[0][5] = P[0][5] + P[1][5]*SF[7] + P[2][5]*SF[9] + P[3][5]*SF[8] + P[10][5]*SF[11] + P[11][5]*SPP[7] + P[12][5]*SPP[6] + SF[2]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[1]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[3]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) - SPP[0]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SPP[3]*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]);
+    nextP[0][6] = P[0][6] + P[1][6]*SF[7] + P[2][6]*SF[9] + P[3][6]*SF[8] + P[10][6]*SF[11] + P[11][6]*SPP[7] + P[12][6]*SPP[6] + SF[2]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[1]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SPP[0]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) - SPP[1]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]);
+    nextP[0][7] = P[0][7] + P[1][7]*SF[7] + P[2][7]*SF[9] + P[3][7]*SF[8] + P[10][7]*SF[11] + P[11][7]*SPP[7] + P[12][7]*SPP[6] + dt*(P[0][4] + P[1][4]*SF[7] + P[2][4]*SF[9] + P[3][4]*SF[8] + P[10][4]*SF[11] + P[11][4]*SPP[7] + P[12][4]*SPP[6]);
+    nextP[0][8] = P[0][8] + P[1][8]*SF[7] + P[2][8]*SF[9] + P[3][8]*SF[8] + P[10][8]*SF[11] + P[11][8]*SPP[7] + P[12][8]*SPP[6] + dt*(P[0][5] + P[1][5]*SF[7] + P[2][5]*SF[9] + P[3][5]*SF[8] + P[10][5]*SF[11] + P[11][5]*SPP[7] + P[12][5]*SPP[6]);
+    nextP[0][9] = P[0][9] + P[1][9]*SF[7] + P[2][9]*SF[9] + P[3][9]*SF[8] + P[10][9]*SF[11] + P[11][9]*SPP[7] + P[12][9]*SPP[6] + dt*(P[0][6] + P[1][6]*SF[7] + P[2][6]*SF[9] + P[3][6]*SF[8] + P[10][6]*SF[11] + P[11][6]*SPP[7] + P[12][6]*SPP[6]);
+    nextP[0][10] = P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6];
+    nextP[0][11] = P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6];
+    nextP[0][12] = P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6];
+    nextP[0][13] = P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6];
+    nextP[0][14] = P[0][14] + P[1][14]*SF[7] + P[2][14]*SF[9] + P[3][14]*SF[8] + P[10][14]*SF[11] + P[11][14]*SPP[7] + P[12][14]*SPP[6];
+    nextP[0][15] = P[0][15] + P[1][15]*SF[7] + P[2][15]*SF[9] + P[3][15]*SF[8] + P[10][15]*SF[11] + P[11][15]*SPP[7] + P[12][15]*SPP[6];
+    nextP[0][16] = P[0][16] + P[1][16]*SF[7] + P[2][16]*SF[9] + P[3][16]*SF[8] + P[10][16]*SF[11] + P[11][16]*SPP[7] + P[12][16]*SPP[6];
+    nextP[0][17] = P[0][17] + P[1][17]*SF[7] + P[2][17]*SF[9] + P[3][17]*SF[8] + P[10][17]*SF[11] + P[11][17]*SPP[7] + P[12][17]*SPP[6];
+    nextP[0][18] = P[0][18] + P[1][18]*SF[7] + P[2][18]*SF[9] + P[3][18]*SF[8] + P[10][18]*SF[11] + P[11][18]*SPP[7] + P[12][18]*SPP[6];
+    nextP[0][19] = P[0][19] + P[1][19]*SF[7] + P[2][19]*SF[9] + P[3][19]*SF[8] + P[10][19]*SF[11] + P[11][19]*SPP[7] + P[12][19]*SPP[6];
+    nextP[0][20] = P[0][20] + P[1][20]*SF[7] + P[2][20]*SF[9] + P[3][20]*SF[8] + P[10][20]*SF[11] + P[11][20]*SPP[7] + P[12][20]*SPP[6];
+    nextP[0][21] = P[0][21] + P[1][21]*SF[7] + P[2][21]*SF[9] + P[3][21]*SF[8] + P[10][21]*SF[11] + P[11][21]*SPP[7] + P[12][21]*SPP[6];
+    nextP[0][22] = P[0][22] + P[1][22]*SF[7] + P[2][22]*SF[9] + P[3][22]*SF[8] + P[10][22]*SF[11] + P[11][22]*SPP[7] + P[12][22]*SPP[6];
+    nextP[1][0] = P[1][0] + SQ[8] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2 + SF[7]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[9]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[8]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SF[11]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) + SPP[7]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) + SPP[6]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2);
+    nextP[1][1] = P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] + daxCov*SQ[9] - (P[10][1]*q0)/2 + SF[6]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[5]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[9]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SPP[6]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) - SPP[7]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2) + (dayCov*sq(q3))/4 + (dazCov*sq(q2))/4 - (q0*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2))/2;
+    nextP[1][2] = P[1][2] + SQ[5] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2 + SF[4]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[8]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[6]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SF[11]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2) - SPP[6]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) - (q0*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2))/2;
+    nextP[1][3] = P[1][3] + SQ[4] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2 + SF[5]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[4]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[7]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - SF[11]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) + SPP[7]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) - (q0*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2))/2;
+    nextP[1][4] = P[1][4] + P[0][4]*SF[6] + P[2][4]*SF[5] + P[3][4]*SF[9] + P[11][4]*SPP[6] - P[12][4]*SPP[7] - (P[10][4]*q0)/2 + SF[3]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[1]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SPP[0]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - SPP[2]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) - SPP[4]*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2);
+    nextP[1][5] = P[1][5] + P[0][5]*SF[6] + P[2][5]*SF[5] + P[3][5]*SF[9] + P[11][5]*SPP[6] - P[12][5]*SPP[7] - (P[10][5]*q0)/2 + SF[2]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[1]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[3]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) - SPP[0]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SPP[3]*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2);
+    nextP[1][6] = P[1][6] + P[0][6]*SF[6] + P[2][6]*SF[5] + P[3][6]*SF[9] + P[11][6]*SPP[6] - P[12][6]*SPP[7] - (P[10][6]*q0)/2 + SF[2]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[1]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SPP[0]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) - SPP[1]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2);
+    nextP[1][7] = P[1][7] + P[0][7]*SF[6] + P[2][7]*SF[5] + P[3][7]*SF[9] + P[11][7]*SPP[6] - P[12][7]*SPP[7] - (P[10][7]*q0)/2 + dt*(P[1][4] + P[0][4]*SF[6] + P[2][4]*SF[5] + P[3][4]*SF[9] + P[11][4]*SPP[6] - P[12][4]*SPP[7] - (P[10][4]*q0)/2);
+    nextP[1][8] = P[1][8] + P[0][8]*SF[6] + P[2][8]*SF[5] + P[3][8]*SF[9] + P[11][8]*SPP[6] - P[12][8]*SPP[7] - (P[10][8]*q0)/2 + dt*(P[1][5] + P[0][5]*SF[6] + P[2][5]*SF[5] + P[3][5]*SF[9] + P[11][5]*SPP[6] - P[12][5]*SPP[7] - (P[10][5]*q0)/2);
+    nextP[1][9] = P[1][9] + P[0][9]*SF[6] + P[2][9]*SF[5] + P[3][9]*SF[9] + P[11][9]*SPP[6] - P[12][9]*SPP[7] - (P[10][9]*q0)/2 + dt*(P[1][6] + P[0][6]*SF[6] + P[2][6]*SF[5] + P[3][6]*SF[9] + P[11][6]*SPP[6] - P[12][6]*SPP[7] - (P[10][6]*q0)/2);
+    nextP[1][10] = P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2;
+    nextP[1][11] = P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2;
+    nextP[1][12] = P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2;
+    nextP[1][13] = P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2;
+    nextP[1][14] = P[1][14] + P[0][14]*SF[6] + P[2][14]*SF[5] + P[3][14]*SF[9] + P[11][14]*SPP[6] - P[12][14]*SPP[7] - (P[10][14]*q0)/2;
+    nextP[1][15] = P[1][15] + P[0][15]*SF[6] + P[2][15]*SF[5] + P[3][15]*SF[9] + P[11][15]*SPP[6] - P[12][15]*SPP[7] - (P[10][15]*q0)/2;
+    nextP[1][16] = P[1][16] + P[0][16]*SF[6] + P[2][16]*SF[5] + P[3][16]*SF[9] + P[11][16]*SPP[6] - P[12][16]*SPP[7] - (P[10][16]*q0)/2;
+    nextP[1][17] = P[1][17] + P[0][17]*SF[6] + P[2][17]*SF[5] + P[3][17]*SF[9] + P[11][17]*SPP[6] - P[12][17]*SPP[7] - (P[10][17]*q0)/2;
+    nextP[1][18] = P[1][18] + P[0][18]*SF[6] + P[2][18]*SF[5] + P[3][18]*SF[9] + P[11][18]*SPP[6] - P[12][18]*SPP[7] - (P[10][18]*q0)/2;
+    nextP[1][19] = P[1][19] + P[0][19]*SF[6] + P[2][19]*SF[5] + P[3][19]*SF[9] + P[11][19]*SPP[6] - P[12][19]*SPP[7] - (P[10][19]*q0)/2;
+    nextP[1][20] = P[1][20] + P[0][20]*SF[6] + P[2][20]*SF[5] + P[3][20]*SF[9] + P[11][20]*SPP[6] - P[12][20]*SPP[7] - (P[10][20]*q0)/2;
+    nextP[1][21] = P[1][21] + P[0][21]*SF[6] + P[2][21]*SF[5] + P[3][21]*SF[9] + P[11][21]*SPP[6] - P[12][21]*SPP[7] - (P[10][21]*q0)/2;
+    nextP[1][22] = P[1][22] + P[0][22]*SF[6] + P[2][22]*SF[5] + P[3][22]*SF[9] + P[11][22]*SPP[6] - P[12][22]*SPP[7] - (P[10][22]*q0)/2;
+    nextP[2][0] = P[2][0] + SQ[7] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2 + SF[7]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[9]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[8]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SF[11]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) + SPP[7]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) + SPP[6]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2);
+    nextP[2][1] = P[2][1] + SQ[5] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2 + SF[6]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[5]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[9]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SPP[6]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) - SPP[7]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2) - (q0*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2))/2;
+    nextP[2][2] = P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] + dayCov*SQ[9] + (dazCov*SQ[10])/4 - (P[11][2]*q0)/2 + SF[4]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[8]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[6]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SF[11]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2) - SPP[6]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) + (daxCov*sq(q3))/4 - (q0*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2))/2;
+    nextP[2][3] = P[2][3] + SQ[3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2 + SF[5]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[4]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[7]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - SF[11]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) + SPP[7]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) - (q0*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2))/2;
+    nextP[2][4] = P[2][4] + P[0][4]*SF[4] + P[1][4]*SF[8] + P[3][4]*SF[6] + P[12][4]*SF[11] - P[10][4]*SPP[6] - (P[11][4]*q0)/2 + SF[3]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[1]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SPP[0]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - SPP[2]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) - SPP[4]*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2);
+    nextP[2][5] = P[2][5] + P[0][5]*SF[4] + P[1][5]*SF[8] + P[3][5]*SF[6] + P[12][5]*SF[11] - P[10][5]*SPP[6] - (P[11][5]*q0)/2 + SF[2]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[1]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[3]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) - SPP[0]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SPP[3]*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2);
+    nextP[2][6] = P[2][6] + P[0][6]*SF[4] + P[1][6]*SF[8] + P[3][6]*SF[6] + P[12][6]*SF[11] - P[10][6]*SPP[6] - (P[11][6]*q0)/2 + SF[2]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[1]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SPP[0]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) - SPP[1]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2);
+    nextP[2][7] = P[2][7] + P[0][7]*SF[4] + P[1][7]*SF[8] + P[3][7]*SF[6] + P[12][7]*SF[11] - P[10][7]*SPP[6] - (P[11][7]*q0)/2 + dt*(P[2][4] + P[0][4]*SF[4] + P[1][4]*SF[8] + P[3][4]*SF[6] + P[12][4]*SF[11] - P[10][4]*SPP[6] - (P[11][4]*q0)/2);
+    nextP[2][8] = P[2][8] + P[0][8]*SF[4] + P[1][8]*SF[8] + P[3][8]*SF[6] + P[12][8]*SF[11] - P[10][8]*SPP[6] - (P[11][8]*q0)/2 + dt*(P[2][5] + P[0][5]*SF[4] + P[1][5]*SF[8] + P[3][5]*SF[6] + P[12][5]*SF[11] - P[10][5]*SPP[6] - (P[11][5]*q0)/2);
+    nextP[2][9] = P[2][9] + P[0][9]*SF[4] + P[1][9]*SF[8] + P[3][9]*SF[6] + P[12][9]*SF[11] - P[10][9]*SPP[6] - (P[11][9]*q0)/2 + dt*(P[2][6] + P[0][6]*SF[4] + P[1][6]*SF[8] + P[3][6]*SF[6] + P[12][6]*SF[11] - P[10][6]*SPP[6] - (P[11][6]*q0)/2);
+    nextP[2][10] = P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2;
+    nextP[2][11] = P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2;
+    nextP[2][12] = P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2;
+    nextP[2][13] = P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2;
+    nextP[2][14] = P[2][14] + P[0][14]*SF[4] + P[1][14]*SF[8] + P[3][14]*SF[6] + P[12][14]*SF[11] - P[10][14]*SPP[6] - (P[11][14]*q0)/2;
+    nextP[2][15] = P[2][15] + P[0][15]*SF[4] + P[1][15]*SF[8] + P[3][15]*SF[6] + P[12][15]*SF[11] - P[10][15]*SPP[6] - (P[11][15]*q0)/2;
+    nextP[2][16] = P[2][16] + P[0][16]*SF[4] + P[1][16]*SF[8] + P[3][16]*SF[6] + P[12][16]*SF[11] - P[10][16]*SPP[6] - (P[11][16]*q0)/2;
+    nextP[2][17] = P[2][17] + P[0][17]*SF[4] + P[1][17]*SF[8] + P[3][17]*SF[6] + P[12][17]*SF[11] - P[10][17]*SPP[6] - (P[11][17]*q0)/2;
+    nextP[2][18] = P[2][18] + P[0][18]*SF[4] + P[1][18]*SF[8] + P[3][18]*SF[6] + P[12][18]*SF[11] - P[10][18]*SPP[6] - (P[11][18]*q0)/2;
+    nextP[2][19] = P[2][19] + P[0][19]*SF[4] + P[1][19]*SF[8] + P[3][19]*SF[6] + P[12][19]*SF[11] - P[10][19]*SPP[6] - (P[11][19]*q0)/2;
+    nextP[2][20] = P[2][20] + P[0][20]*SF[4] + P[1][20]*SF[8] + P[3][20]*SF[6] + P[12][20]*SF[11] - P[10][20]*SPP[6] - (P[11][20]*q0)/2;
+    nextP[2][21] = P[2][21] + P[0][21]*SF[4] + P[1][21]*SF[8] + P[3][21]*SF[6] + P[12][21]*SF[11] - P[10][21]*SPP[6] - (P[11][21]*q0)/2;
+    nextP[2][22] = P[2][22] + P[0][22]*SF[4] + P[1][22]*SF[8] + P[3][22]*SF[6] + P[12][22]*SF[11] - P[10][22]*SPP[6] - (P[11][22]*q0)/2;
+    nextP[3][0] = P[3][0] + SQ[6] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2 + SF[7]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[9]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[8]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SF[11]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) + SPP[7]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) + SPP[6]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2);
+    nextP[3][1] = P[3][1] + SQ[4] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2 + SF[6]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[5]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[9]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SPP[6]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) - SPP[7]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2) - (q0*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2))/2;
+    nextP[3][2] = P[3][2] + SQ[3] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2 + SF[4]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[8]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[6]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SF[11]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2) - SPP[6]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) - (q0*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2))/2;
+    nextP[3][3] = P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] + (dayCov*SQ[10])/4 + dazCov*SQ[9] - (P[12][3]*q0)/2 + SF[5]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[4]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[7]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - SF[11]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) + SPP[7]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) + (daxCov*sq(q2))/4 - (q0*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2))/2;
+    nextP[3][4] = P[3][4] + P[0][4]*SF[5] + P[1][4]*SF[4] + P[2][4]*SF[7] - P[11][4]*SF[11] + P[10][4]*SPP[7] - (P[12][4]*q0)/2 + SF[3]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[1]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SPP[0]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - SPP[2]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) - SPP[4]*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2);
+    nextP[3][5] = P[3][5] + P[0][5]*SF[5] + P[1][5]*SF[4] + P[2][5]*SF[7] - P[11][5]*SF[11] + P[10][5]*SPP[7] - (P[12][5]*q0)/2 + SF[2]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[1]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[3]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) - SPP[0]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SPP[3]*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2);
+    nextP[3][6] = P[3][6] + P[0][6]*SF[5] + P[1][6]*SF[4] + P[2][6]*SF[7] - P[11][6]*SF[11] + P[10][6]*SPP[7] - (P[12][6]*q0)/2 + SF[2]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[1]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SPP[0]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) - SPP[1]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2);
+    nextP[3][7] = P[3][7] + P[0][7]*SF[5] + P[1][7]*SF[4] + P[2][7]*SF[7] - P[11][7]*SF[11] + P[10][7]*SPP[7] - (P[12][7]*q0)/2 + dt*(P[3][4] + P[0][4]*SF[5] + P[1][4]*SF[4] + P[2][4]*SF[7] - P[11][4]*SF[11] + P[10][4]*SPP[7] - (P[12][4]*q0)/2);
+    nextP[3][8] = P[3][8] + P[0][8]*SF[5] + P[1][8]*SF[4] + P[2][8]*SF[7] - P[11][8]*SF[11] + P[10][8]*SPP[7] - (P[12][8]*q0)/2 + dt*(P[3][5] + P[0][5]*SF[5] + P[1][5]*SF[4] + P[2][5]*SF[7] - P[11][5]*SF[11] + P[10][5]*SPP[7] - (P[12][5]*q0)/2);
+    nextP[3][9] = P[3][9] + P[0][9]*SF[5] + P[1][9]*SF[4] + P[2][9]*SF[7] - P[11][9]*SF[11] + P[10][9]*SPP[7] - (P[12][9]*q0)/2 + dt*(P[3][6] + P[0][6]*SF[5] + P[1][6]*SF[4] + P[2][6]*SF[7] - P[11][6]*SF[11] + P[10][6]*SPP[7] - (P[12][6]*q0)/2);
+    nextP[3][10] = P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2;
+    nextP[3][11] = P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2;
+    nextP[3][12] = P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2;
+    nextP[3][13] = P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2;
+    nextP[3][14] = P[3][14] + P[0][14]*SF[5] + P[1][14]*SF[4] + P[2][14]*SF[7] - P[11][14]*SF[11] + P[10][14]*SPP[7] - (P[12][14]*q0)/2;
+    nextP[3][15] = P[3][15] + P[0][15]*SF[5] + P[1][15]*SF[4] + P[2][15]*SF[7] - P[11][15]*SF[11] + P[10][15]*SPP[7] - (P[12][15]*q0)/2;
+    nextP[3][16] = P[3][16] + P[0][16]*SF[5] + P[1][16]*SF[4] + P[2][16]*SF[7] - P[11][16]*SF[11] + P[10][16]*SPP[7] - (P[12][16]*q0)/2;
+    nextP[3][17] = P[3][17] + P[0][17]*SF[5] + P[1][17]*SF[4] + P[2][17]*SF[7] - P[11][17]*SF[11] + P[10][17]*SPP[7] - (P[12][17]*q0)/2;
+    nextP[3][18] = P[3][18] + P[0][18]*SF[5] + P[1][18]*SF[4] + P[2][18]*SF[7] - P[11][18]*SF[11] + P[10][18]*SPP[7] - (P[12][18]*q0)/2;
+    nextP[3][19] = P[3][19] + P[0][19]*SF[5] + P[1][19]*SF[4] + P[2][19]*SF[7] - P[11][19]*SF[11] + P[10][19]*SPP[7] - (P[12][19]*q0)/2;
+    nextP[3][20] = P[3][20] + P[0][20]*SF[5] + P[1][20]*SF[4] + P[2][20]*SF[7] - P[11][20]*SF[11] + P[10][20]*SPP[7] - (P[12][20]*q0)/2;
+    nextP[3][21] = P[3][21] + P[0][21]*SF[5] + P[1][21]*SF[4] + P[2][21]*SF[7] - P[11][21]*SF[11] + P[10][21]*SPP[7] - (P[12][21]*q0)/2;
+    nextP[3][22] = P[3][22] + P[0][22]*SF[5] + P[1][22]*SF[4] + P[2][22]*SF[7] - P[11][22]*SF[11] + P[10][22]*SPP[7] - (P[12][22]*q0)/2;
+    nextP[4][0] = P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4] + SF[7]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[9]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[8]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SF[11]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) + SPP[7]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) + SPP[6]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]);
+    nextP[4][1] = P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4] + SF[6]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[5]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[9]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SPP[6]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) - SPP[7]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]) - (q0*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]))/2;
+    nextP[4][2] = P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4] + SF[4]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[8]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[6]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SF[11]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]) - SPP[6]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) - (q0*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]))/2;
+    nextP[4][3] = P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4] + SF[5]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[4]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[7]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - SF[11]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) + SPP[7]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) - (q0*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]))/2;
+    nextP[4][4] = P[4][4] + P[0][4]*SF[3] + P[1][4]*SF[1] + P[2][4]*SPP[0] - P[3][4]*SPP[2] - P[13][4]*SPP[4] + dvyCov*sq(SG[7] - 2*q0*q3) + dvzCov*sq(SG[6] + 2*q0*q2) + SF[3]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[1]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SPP[0]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - SPP[2]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) - SPP[4]*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]) + dvxCov*sq(SG[1] + SG[2] - SG[3] - SG[4]);
+    nextP[4][5] = P[4][5] + SQ[2] + P[0][5]*SF[3] + P[1][5]*SF[1] + P[2][5]*SPP[0] - P[3][5]*SPP[2] - P[13][5]*SPP[4] + SF[2]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[1]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[3]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) - SPP[0]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SPP[3]*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]);
+    nextP[4][6] = P[4][6] + SQ[1] + P[0][6]*SF[3] + P[1][6]*SF[1] + P[2][6]*SPP[0] - P[3][6]*SPP[2] - P[13][6]*SPP[4] + SF[2]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[1]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SPP[0]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) - SPP[1]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]);
+    nextP[4][7] = P[4][7] + P[0][7]*SF[3] + P[1][7]*SF[1] + P[2][7]*SPP[0] - P[3][7]*SPP[2] - P[13][7]*SPP[4] + dt*(P[4][4] + P[0][4]*SF[3] + P[1][4]*SF[1] + P[2][4]*SPP[0] - P[3][4]*SPP[2] - P[13][4]*SPP[4]);
+    nextP[4][8] = P[4][8] + P[0][8]*SF[3] + P[1][8]*SF[1] + P[2][8]*SPP[0] - P[3][8]*SPP[2] - P[13][8]*SPP[4] + dt*(P[4][5] + P[0][5]*SF[3] + P[1][5]*SF[1] + P[2][5]*SPP[0] - P[3][5]*SPP[2] - P[13][5]*SPP[4]);
+    nextP[4][9] = P[4][9] + P[0][9]*SF[3] + P[1][9]*SF[1] + P[2][9]*SPP[0] - P[3][9]*SPP[2] - P[13][9]*SPP[4] + dt*(P[4][6] + P[0][6]*SF[3] + P[1][6]*SF[1] + P[2][6]*SPP[0] - P[3][6]*SPP[2] - P[13][6]*SPP[4]);
+    nextP[4][10] = P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4];
+    nextP[4][11] = P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4];
+    nextP[4][12] = P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4];
+    nextP[4][13] = P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4];
+    nextP[4][14] = P[4][14] + P[0][14]*SF[3] + P[1][14]*SF[1] + P[2][14]*SPP[0] - P[3][14]*SPP[2] - P[13][14]*SPP[4];
+    nextP[4][15] = P[4][15] + P[0][15]*SF[3] + P[1][15]*SF[1] + P[2][15]*SPP[0] - P[3][15]*SPP[2] - P[13][15]*SPP[4];
+    nextP[4][16] = P[4][16] + P[0][16]*SF[3] + P[1][16]*SF[1] + P[2][16]*SPP[0] - P[3][16]*SPP[2] - P[13][16]*SPP[4];
+    nextP[4][17] = P[4][17] + P[0][17]*SF[3] + P[1][17]*SF[1] + P[2][17]*SPP[0] - P[3][17]*SPP[2] - P[13][17]*SPP[4];
+    nextP[4][18] = P[4][18] + P[0][18]*SF[3] + P[1][18]*SF[1] + P[2][18]*SPP[0] - P[3][18]*SPP[2] - P[13][18]*SPP[4];
+    nextP[4][19] = P[4][19] + P[0][19]*SF[3] + P[1][19]*SF[1] + P[2][19]*SPP[0] - P[3][19]*SPP[2] - P[13][19]*SPP[4];
+    nextP[4][20] = P[4][20] + P[0][20]*SF[3] + P[1][20]*SF[1] + P[2][20]*SPP[0] - P[3][20]*SPP[2] - P[13][20]*SPP[4];
+    nextP[4][21] = P[4][21] + P[0][21]*SF[3] + P[1][21]*SF[1] + P[2][21]*SPP[0] - P[3][21]*SPP[2] - P[13][21]*SPP[4];
+    nextP[4][22] = P[4][22] + P[0][22]*SF[3] + P[1][22]*SF[1] + P[2][22]*SPP[0] - P[3][22]*SPP[2] - P[13][22]*SPP[4];
+    nextP[5][0] = P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3] + SF[7]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[9]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[8]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SF[11]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) + SPP[7]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) + SPP[6]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]);
+    nextP[5][1] = P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3] + SF[6]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[5]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[9]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SPP[6]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) - SPP[7]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]) - (q0*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]))/2;
+    nextP[5][2] = P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3] + SF[4]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[8]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[6]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SF[11]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]) - SPP[6]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) - (q0*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]))/2;
+    nextP[5][3] = P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3] + SF[5]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[4]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[7]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - SF[11]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) + SPP[7]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) - (q0*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]))/2;
+    nextP[5][4] = P[5][4] + SQ[2] + P[0][4]*SF[2] + P[2][4]*SF[1] + P[3][4]*SF[3] - P[1][4]*SPP[0] + P[13][4]*SPP[3] + SF[3]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[1]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SPP[0]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - SPP[2]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) - SPP[4]*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]);
+    nextP[5][5] = P[5][5] + P[0][5]*SF[2] + P[2][5]*SF[1] + P[3][5]*SF[3] - P[1][5]*SPP[0] + P[13][5]*SPP[3] + dvxCov*sq(SG[7] + 2*q0*q3) + dvzCov*sq(SG[5] - 2*q0*q1) + SF[2]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[1]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[3]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) - SPP[0]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SPP[3]*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]) + dvyCov*sq(SG[1] - SG[2] + SG[3] - SG[4]);
+    nextP[5][6] = P[5][6] + SQ[0] + P[0][6]*SF[2] + P[2][6]*SF[1] + P[3][6]*SF[3] - P[1][6]*SPP[0] + P[13][6]*SPP[3] + SF[2]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[1]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SPP[0]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) - SPP[1]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]);
+    nextP[5][7] = P[5][7] + P[0][7]*SF[2] + P[2][7]*SF[1] + P[3][7]*SF[3] - P[1][7]*SPP[0] + P[13][7]*SPP[3] + dt*(P[5][4] + P[0][4]*SF[2] + P[2][4]*SF[1] + P[3][4]*SF[3] - P[1][4]*SPP[0] + P[13][4]*SPP[3]);
+    nextP[5][8] = P[5][8] + P[0][8]*SF[2] + P[2][8]*SF[1] + P[3][8]*SF[3] - P[1][8]*SPP[0] + P[13][8]*SPP[3] + dt*(P[5][5] + P[0][5]*SF[2] + P[2][5]*SF[1] + P[3][5]*SF[3] - P[1][5]*SPP[0] + P[13][5]*SPP[3]);
+    nextP[5][9] = P[5][9] + P[0][9]*SF[2] + P[2][9]*SF[1] + P[3][9]*SF[3] - P[1][9]*SPP[0] + P[13][9]*SPP[3] + dt*(P[5][6] + P[0][6]*SF[2] + P[2][6]*SF[1] + P[3][6]*SF[3] - P[1][6]*SPP[0] + P[13][6]*SPP[3]);
+    nextP[5][10] = P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3];
+    nextP[5][11] = P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3];
+    nextP[5][12] = P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3];
+    nextP[5][13] = P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3];
+    nextP[5][14] = P[5][14] + P[0][14]*SF[2] + P[2][14]*SF[1] + P[3][14]*SF[3] - P[1][14]*SPP[0] + P[13][14]*SPP[3];
+    nextP[5][15] = P[5][15] + P[0][15]*SF[2] + P[2][15]*SF[1] + P[3][15]*SF[3] - P[1][15]*SPP[0] + P[13][15]*SPP[3];
+    nextP[5][16] = P[5][16] + P[0][16]*SF[2] + P[2][16]*SF[1] + P[3][16]*SF[3] - P[1][16]*SPP[0] + P[13][16]*SPP[3];
+    nextP[5][17] = P[5][17] + P[0][17]*SF[2] + P[2][17]*SF[1] + P[3][17]*SF[3] - P[1][17]*SPP[0] + P[13][17]*SPP[3];
+    nextP[5][18] = P[5][18] + P[0][18]*SF[2] + P[2][18]*SF[1] + P[3][18]*SF[3] - P[1][18]*SPP[0] + P[13][18]*SPP[3];
+    nextP[5][19] = P[5][19] + P[0][19]*SF[2] + P[2][19]*SF[1] + P[3][19]*SF[3] - P[1][19]*SPP[0] + P[13][19]*SPP[3];
+    nextP[5][20] = P[5][20] + P[0][20]*SF[2] + P[2][20]*SF[1] + P[3][20]*SF[3] - P[1][20]*SPP[0] + P[13][20]*SPP[3];
+    nextP[5][21] = P[5][21] + P[0][21]*SF[2] + P[2][21]*SF[1] + P[3][21]*SF[3] - P[1][21]*SPP[0] + P[13][21]*SPP[3];
+    nextP[5][22] = P[5][22] + P[0][22]*SF[2] + P[2][22]*SF[1] + P[3][22]*SF[3] - P[1][22]*SPP[0] + P[13][22]*SPP[3];
+    nextP[6][0] = P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[7]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[9]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[8]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[11]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[7]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[6]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)));
+    nextP[6][1] = P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[6]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[5]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[9]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[6]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[7]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2;
+    nextP[6][2] = P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[4]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[8]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[6]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[11]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[6]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2;
+    nextP[6][3] = P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[5]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[4]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[7]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SF[11]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[7]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2;
+    nextP[6][4] = P[6][4] + SQ[1] + P[1][4]*SF[2] + P[3][4]*SF[1] + P[0][4]*SPP[0] - P[2][4]*SPP[1] - P[13][4]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[3]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[0]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[2]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[4]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)));
+    nextP[6][5] = P[6][5] + SQ[0] + P[1][5]*SF[2] + P[3][5]*SF[1] + P[0][5]*SPP[0] - P[2][5]*SPP[1] - P[13][5]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[2]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[3]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[0]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[3]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)));
+    nextP[6][6] = P[6][6] + P[1][6]*SF[2] + P[3][6]*SF[1] + P[0][6]*SPP[0] - P[2][6]*SPP[1] - P[13][6]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + dvxCov*sq(SG[6] - 2*q0*q2) + dvyCov*sq(SG[5] + 2*q0*q1) - SPP[5]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*SPP[5]) + SF[2]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[0]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[1]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + dvzCov*sq(SG[1] - SG[2] - SG[3] + SG[4]);
+    nextP[6][7] = P[6][7] + P[1][7]*SF[2] + P[3][7]*SF[1] + P[0][7]*SPP[0] - P[2][7]*SPP[1] - P[13][7]*SPP[5] + dt*(P[6][4] + P[1][4]*SF[2] + P[3][4]*SF[1] + P[0][4]*SPP[0] - P[2][4]*SPP[1] - P[13][4]*SPP[5]);
+    nextP[6][8] = P[6][8] + P[1][8]*SF[2] + P[3][8]*SF[1] + P[0][8]*SPP[0] - P[2][8]*SPP[1] - P[13][8]*SPP[5] + dt*(P[6][5] + P[1][5]*SF[2] + P[3][5]*SF[1] + P[0][5]*SPP[0] - P[2][5]*SPP[1] - P[13][5]*SPP[5]);
+    nextP[6][9] = P[6][9] + P[1][9]*SF[2] + P[3][9]*SF[1] + P[0][9]*SPP[0] - P[2][9]*SPP[1] - P[13][9]*SPP[5] + dt*(P[6][6] + P[1][6]*SF[2] + P[3][6]*SF[1] + P[0][6]*SPP[0] - P[2][6]*SPP[1] - P[13][6]*SPP[5]);
+    nextP[6][10] = P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*SPP[5];
+    nextP[6][11] = P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*SPP[5];
+    nextP[6][12] = P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*SPP[5];
+    nextP[6][13] = P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*SPP[5];
+    nextP[6][14] = P[6][14] + P[1][14]*SF[2] + P[3][14]*SF[1] + P[0][14]*SPP[0] - P[2][14]*SPP[1] - P[13][14]*SPP[5];
+    nextP[6][15] = P[6][15] + P[1][15]*SF[2] + P[3][15]*SF[1] + P[0][15]*SPP[0] - P[2][15]*SPP[1] - P[13][15]*SPP[5];
+    nextP[6][16] = P[6][16] + P[1][16]*SF[2] + P[3][16]*SF[1] + P[0][16]*SPP[0] - P[2][16]*SPP[1] - P[13][16]*SPP[5];
+    nextP[6][17] = P[6][17] + P[1][17]*SF[2] + P[3][17]*SF[1] + P[0][17]*SPP[0] - P[2][17]*SPP[1] - P[13][17]*SPP[5];
+    nextP[6][18] = P[6][18] + P[1][18]*SF[2] + P[3][18]*SF[1] + P[0][18]*SPP[0] - P[2][18]*SPP[1] - P[13][18]*SPP[5];
+    nextP[6][19] = P[6][19] + P[1][19]*SF[2] + P[3][19]*SF[1] + P[0][19]*SPP[0] - P[2][19]*SPP[1] - P[13][19]*SPP[5];
+    nextP[6][20] = P[6][20] + P[1][20]*SF[2] + P[3][20]*SF[1] + P[0][20]*SPP[0] - P[2][20]*SPP[1] - P[13][20]*SPP[5];
+    nextP[6][21] = P[6][21] + P[1][21]*SF[2] + P[3][21]*SF[1] + P[0][21]*SPP[0] - P[2][21]*SPP[1] - P[13][21]*SPP[5];
+    nextP[6][22] = P[6][22] + P[1][22]*SF[2] + P[3][22]*SF[1] + P[0][22]*SPP[0] - P[2][22]*SPP[1] - P[13][22]*SPP[5];
+    nextP[7][0] = P[7][0] + P[4][0]*dt + SF[7]*(P[7][1] + P[4][1]*dt) + SF[9]*(P[7][2] + P[4][2]*dt) + SF[8]*(P[7][3] + P[4][3]*dt) + SF[11]*(P[7][10] + P[4][10]*dt) + SPP[7]*(P[7][11] + P[4][11]*dt) + SPP[6]*(P[7][12] + P[4][12]*dt);
+    nextP[7][1] = P[7][1] + P[4][1]*dt + SF[6]*(P[7][0] + P[4][0]*dt) + SF[5]*(P[7][2] + P[4][2]*dt) + SF[9]*(P[7][3] + P[4][3]*dt) + SPP[6]*(P[7][11] + P[4][11]*dt) - SPP[7]*(P[7][12] + P[4][12]*dt) - (q0*(P[7][10] + P[4][10]*dt))/2;
+    nextP[7][2] = P[7][2] + P[4][2]*dt + SF[4]*(P[7][0] + P[4][0]*dt) + SF[8]*(P[7][1] + P[4][1]*dt) + SF[6]*(P[7][3] + P[4][3]*dt) + SF[11]*(P[7][12] + P[4][12]*dt) - SPP[6]*(P[7][10] + P[4][10]*dt) - (q0*(P[7][11] + P[4][11]*dt))/2;
+    nextP[7][3] = P[7][3] + P[4][3]*dt + SF[5]*(P[7][0] + P[4][0]*dt) + SF[4]*(P[7][1] + P[4][1]*dt) + SF[7]*(P[7][2] + P[4][2]*dt) - SF[11]*(P[7][11] + P[4][11]*dt) + SPP[7]*(P[7][10] + P[4][10]*dt) - (q0*(P[7][12] + P[4][12]*dt))/2;
+    nextP[7][4] = P[7][4] + P[4][4]*dt + SF[1]*(P[7][1] + P[4][1]*dt) + SF[3]*(P[7][0] + P[4][0]*dt) + SPP[0]*(P[7][2] + P[4][2]*dt) - SPP[2]*(P[7][3] + P[4][3]*dt) - SPP[4]*(P[7][13] + P[4][13]*dt);
+    nextP[7][5] = P[7][5] + P[4][5]*dt + SF[2]*(P[7][0] + P[4][0]*dt) + SF[1]*(P[7][2] + P[4][2]*dt) + SF[3]*(P[7][3] + P[4][3]*dt) - SPP[0]*(P[7][1] + P[4][1]*dt) + SPP[3]*(P[7][13] + P[4][13]*dt);
+    nextP[7][6] = P[7][6] + P[4][6]*dt + SF[2]*(P[7][1] + P[4][1]*dt) + SF[1]*(P[7][3] + P[4][3]*dt) + SPP[0]*(P[7][0] + P[4][0]*dt) - SPP[1]*(P[7][2] + P[4][2]*dt) - SPP[5]*(P[7][13] + P[4][13]*dt);
+    nextP[7][7] = P[7][7] + P[4][7]*dt + dt*(P[7][4] + P[4][4]*dt);
+    nextP[7][8] = P[7][8] + P[4][8]*dt + dt*(P[7][5] + P[4][5]*dt);
+    nextP[7][9] = P[7][9] + P[4][9]*dt + dt*(P[7][6] + P[4][6]*dt);
+    nextP[7][10] = P[7][10] + P[4][10]*dt;
+    nextP[7][11] = P[7][11] + P[4][11]*dt;
+    nextP[7][12] = P[7][12] + P[4][12]*dt;
+    nextP[7][13] = P[7][13] + P[4][13]*dt;
+    nextP[7][14] = P[7][14] + P[4][14]*dt;
+    nextP[7][15] = P[7][15] + P[4][15]*dt;
+    nextP[7][16] = P[7][16] + P[4][16]*dt;
+    nextP[7][17] = P[7][17] + P[4][17]*dt;
+    nextP[7][18] = P[7][18] + P[4][18]*dt;
+    nextP[7][19] = P[7][19] + P[4][19]*dt;
+    nextP[7][20] = P[7][20] + P[4][20]*dt;
+    nextP[7][21] = P[7][21] + P[4][21]*dt;
+    nextP[7][22] = P[7][22] + P[4][22]*dt;
+    nextP[8][0] = P[8][0] + P[5][0]*dt + SF[7]*(P[8][1] + P[5][1]*dt) + SF[9]*(P[8][2] + P[5][2]*dt) + SF[8]*(P[8][3] + P[5][3]*dt) + SF[11]*(P[8][10] + P[5][10]*dt) + SPP[7]*(P[8][11] + P[5][11]*dt) + SPP[6]*(P[8][12] + P[5][12]*dt);
+    nextP[8][1] = P[8][1] + P[5][1]*dt + SF[6]*(P[8][0] + P[5][0]*dt) + SF[5]*(P[8][2] + P[5][2]*dt) + SF[9]*(P[8][3] + P[5][3]*dt) + SPP[6]*(P[8][11] + P[5][11]*dt) - SPP[7]*(P[8][12] + P[5][12]*dt) - (q0*(P[8][10] + P[5][10]*dt))/2;
+    nextP[8][2] = P[8][2] + P[5][2]*dt + SF[4]*(P[8][0] + P[5][0]*dt) + SF[8]*(P[8][1] + P[5][1]*dt) + SF[6]*(P[8][3] + P[5][3]*dt) + SF[11]*(P[8][12] + P[5][12]*dt) - SPP[6]*(P[8][10] + P[5][10]*dt) - (q0*(P[8][11] + P[5][11]*dt))/2;
+    nextP[8][3] = P[8][3] + P[5][3]*dt + SF[5]*(P[8][0] + P[5][0]*dt) + SF[4]*(P[8][1] + P[5][1]*dt) + SF[7]*(P[8][2] + P[5][2]*dt) - SF[11]*(P[8][11] + P[5][11]*dt) + SPP[7]*(P[8][10] + P[5][10]*dt) - (q0*(P[8][12] + P[5][12]*dt))/2;
+    nextP[8][4] = P[8][4] + P[5][4]*dt + SF[1]*(P[8][1] + P[5][1]*dt) + SF[3]*(P[8][0] + P[5][0]*dt) + SPP[0]*(P[8][2] + P[5][2]*dt) - SPP[2]*(P[8][3] + P[5][3]*dt) - SPP[4]*(P[8][13] + P[5][13]*dt);
+    nextP[8][5] = P[8][5] + P[5][5]*dt + SF[2]*(P[8][0] + P[5][0]*dt) + SF[1]*(P[8][2] + P[5][2]*dt) + SF[3]*(P[8][3] + P[5][3]*dt) - SPP[0]*(P[8][1] + P[5][1]*dt) + SPP[3]*(P[8][13] + P[5][13]*dt);
+    nextP[8][6] = P[8][6] + P[5][6]*dt + SF[2]*(P[8][1] + P[5][1]*dt) + SF[1]*(P[8][3] + P[5][3]*dt) + SPP[0]*(P[8][0] + P[5][0]*dt) - SPP[1]*(P[8][2] + P[5][2]*dt) - SPP[5]*(P[8][13] + P[5][13]*dt);
+    nextP[8][7] = P[8][7] + P[5][7]*dt + dt*(P[8][4] + P[5][4]*dt);
+    nextP[8][8] = P[8][8] + P[5][8]*dt + dt*(P[8][5] + P[5][5]*dt);
+    nextP[8][9] = P[8][9] + P[5][9]*dt + dt*(P[8][6] + P[5][6]*dt);
+    nextP[8][10] = P[8][10] + P[5][10]*dt;
+    nextP[8][11] = P[8][11] + P[5][11]*dt;
+    nextP[8][12] = P[8][12] + P[5][12]*dt;
+    nextP[8][13] = P[8][13] + P[5][13]*dt;
+    nextP[8][14] = P[8][14] + P[5][14]*dt;
+    nextP[8][15] = P[8][15] + P[5][15]*dt;
+    nextP[8][16] = P[8][16] + P[5][16]*dt;
+    nextP[8][17] = P[8][17] + P[5][17]*dt;
+    nextP[8][18] = P[8][18] + P[5][18]*dt;
+    nextP[8][19] = P[8][19] + P[5][19]*dt;
+    nextP[8][20] = P[8][20] + P[5][20]*dt;
+    nextP[8][21] = P[8][21] + P[5][21]*dt;
+    nextP[8][22] = P[8][22] + P[5][22]*dt;
+    nextP[9][0] = P[9][0] + P[6][0]*dt + SF[7]*(P[9][1] + P[6][1]*dt) + SF[9]*(P[9][2] + P[6][2]*dt) + SF[8]*(P[9][3] + P[6][3]*dt) + SF[11]*(P[9][10] + P[6][10]*dt) + SPP[7]*(P[9][11] + P[6][11]*dt) + SPP[6]*(P[9][12] + P[6][12]*dt);
+    nextP[9][1] = P[9][1] + P[6][1]*dt + SF[6]*(P[9][0] + P[6][0]*dt) + SF[5]*(P[9][2] + P[6][2]*dt) + SF[9]*(P[9][3] + P[6][3]*dt) + SPP[6]*(P[9][11] + P[6][11]*dt) - SPP[7]*(P[9][12] + P[6][12]*dt) - (q0*(P[9][10] + P[6][10]*dt))/2;
+    nextP[9][2] = P[9][2] + P[6][2]*dt + SF[4]*(P[9][0] + P[6][0]*dt) + SF[8]*(P[9][1] + P[6][1]*dt) + SF[6]*(P[9][3] + P[6][3]*dt) + SF[11]*(P[9][12] + P[6][12]*dt) - SPP[6]*(P[9][10] + P[6][10]*dt) - (q0*(P[9][11] + P[6][11]*dt))/2;
+    nextP[9][3] = P[9][3] + P[6][3]*dt + SF[5]*(P[9][0] + P[6][0]*dt) + SF[4]*(P[9][1] + P[6][1]*dt) + SF[7]*(P[9][2] + P[6][2]*dt) - SF[11]*(P[9][11] + P[6][11]*dt) + SPP[7]*(P[9][10] + P[6][10]*dt) - (q0*(P[9][12] + P[6][12]*dt))/2;
+    nextP[9][4] = P[9][4] + P[6][4]*dt + SF[1]*(P[9][1] + P[6][1]*dt) + SF[3]*(P[9][0] + P[6][0]*dt) + SPP[0]*(P[9][2] + P[6][2]*dt) - SPP[2]*(P[9][3] + P[6][3]*dt) - SPP[4]*(P[9][13] + P[6][13]*dt);
+    nextP[9][5] = P[9][5] + P[6][5]*dt + SF[2]*(P[9][0] + P[6][0]*dt) + SF[1]*(P[9][2] + P[6][2]*dt) + SF[3]*(P[9][3] + P[6][3]*dt) - SPP[0]*(P[9][1] + P[6][1]*dt) + SPP[3]*(P[9][13] + P[6][13]*dt);
+    nextP[9][6] = P[9][6] + P[6][6]*dt + SF[2]*(P[9][1] + P[6][1]*dt) + SF[1]*(P[9][3] + P[6][3]*dt) + SPP[0]*(P[9][0] + P[6][0]*dt) - SPP[1]*(P[9][2] + P[6][2]*dt) - SPP[5]*(P[9][13] + P[6][13]*dt);
+    nextP[9][7] = P[9][7] + P[6][7]*dt + dt*(P[9][4] + P[6][4]*dt);
+    nextP[9][8] = P[9][8] + P[6][8]*dt + dt*(P[9][5] + P[6][5]*dt);
+    nextP[9][9] = P[9][9] + P[6][9]*dt + dt*(P[9][6] + P[6][6]*dt);
+    nextP[9][10] = P[9][10] + P[6][10]*dt;
+    nextP[9][11] = P[9][11] + P[6][11]*dt;
+    nextP[9][12] = P[9][12] + P[6][12]*dt;
+    nextP[9][13] = P[9][13] + P[6][13]*dt;
+    nextP[9][14] = P[9][14] + P[6][14]*dt;
+    nextP[9][15] = P[9][15] + P[6][15]*dt;
+    nextP[9][16] = P[9][16] + P[6][16]*dt;
+    nextP[9][17] = P[9][17] + P[6][17]*dt;
+    nextP[9][18] = P[9][18] + P[6][18]*dt;
+    nextP[9][19] = P[9][19] + P[6][19]*dt;
+    nextP[9][20] = P[9][20] + P[6][20]*dt;
+    nextP[9][21] = P[9][21] + P[6][21]*dt;
+    nextP[9][22] = P[9][22] + P[6][22]*dt;
+    nextP[10][0] = P[10][0] + P[10][1]*SF[7] + P[10][2]*SF[9] + P[10][3]*SF[8] + P[10][10]*SF[11] + P[10][11]*SPP[7] + P[10][12]*SPP[6];
+    nextP[10][1] = P[10][1] + P[10][0]*SF[6] + P[10][2]*SF[5] + P[10][3]*SF[9] + P[10][11]*SPP[6] - P[10][12]*SPP[7] - (P[10][10]*q0)/2;
+    nextP[10][2] = P[10][2] + P[10][0]*SF[4] + P[10][1]*SF[8] + P[10][3]*SF[6] + P[10][12]*SF[11] - P[10][10]*SPP[6] - (P[10][11]*q0)/2;
+    nextP[10][3] = P[10][3] + P[10][0]*SF[5] + P[10][1]*SF[4] + P[10][2]*SF[7] - P[10][11]*SF[11] + P[10][10]*SPP[7] - (P[10][12]*q0)/2;
+    nextP[10][4] = P[10][4] + P[10][1]*SF[1] + P[10][0]*SF[3] + P[10][2]*SPP[0] - P[10][3]*SPP[2] - P[10][13]*SPP[4];
+    nextP[10][5] = P[10][5] + P[10][0]*SF[2] + P[10][2]*SF[1] + P[10][3]*SF[3] - P[10][1]*SPP[0] + P[10][13]*SPP[3];
+    nextP[10][6] = P[10][6] + P[10][1]*SF[2] + P[10][3]*SF[1] + P[10][0]*SPP[0] - P[10][2]*SPP[1] - P[10][13]*SPP[5];
+    nextP[10][7] = P[10][7] + P[10][4]*dt;
+    nextP[10][8] = P[10][8] + P[10][5]*dt;
+    nextP[10][9] = P[10][9] + P[10][6]*dt;
+    nextP[10][10] = P[10][10];
+    nextP[10][11] = P[10][11];
+    nextP[10][12] = P[10][12];
+    nextP[10][13] = P[10][13];
+    nextP[10][14] = P[10][14];
+    nextP[10][15] = P[10][15];
+    nextP[10][16] = P[10][16];
+    nextP[10][17] = P[10][17];
+    nextP[10][18] = P[10][18];
+    nextP[10][19] = P[10][19];
+    nextP[10][20] = P[10][20];
+    nextP[10][21] = P[10][21];
+    nextP[10][22] = P[10][22];
+    nextP[11][0] = P[11][0] + P[11][1]*SF[7] + P[11][2]*SF[9] + P[11][3]*SF[8] + P[11][10]*SF[11] + P[11][11]*SPP[7] + P[11][12]*SPP[6];
+    nextP[11][1] = P[11][1] + P[11][0]*SF[6] + P[11][2]*SF[5] + P[11][3]*SF[9] + P[11][11]*SPP[6] - P[11][12]*SPP[7] - (P[11][10]*q0)/2;
+    nextP[11][2] = P[11][2] + P[11][0]*SF[4] + P[11][1]*SF[8] + P[11][3]*SF[6] + P[11][12]*SF[11] - P[11][10]*SPP[6] - (P[11][11]*q0)/2;
+    nextP[11][3] = P[11][3] + P[11][0]*SF[5] + P[11][1]*SF[4] + P[11][2]*SF[7] - P[11][11]*SF[11] + P[11][10]*SPP[7] - (P[11][12]*q0)/2;
+    nextP[11][4] = P[11][4] + P[11][1]*SF[1] + P[11][0]*SF[3] + P[11][2]*SPP[0] - P[11][3]*SPP[2] - P[11][13]*SPP[4];
+    nextP[11][5] = P[11][5] + P[11][0]*SF[2] + P[11][2]*SF[1] + P[11][3]*SF[3] - P[11][1]*SPP[0] + P[11][13]*SPP[3];
+    nextP[11][6] = P[11][6] + P[11][1]*SF[2] + P[11][3]*SF[1] + P[11][0]*SPP[0] - P[11][2]*SPP[1] - P[11][13]*SPP[5];
+    nextP[11][7] = P[11][7] + P[11][4]*dt;
+    nextP[11][8] = P[11][8] + P[11][5]*dt;
+    nextP[11][9] = P[11][9] + P[11][6]*dt;
+    nextP[11][10] = P[11][10];
+    nextP[11][11] = P[11][11];
+    nextP[11][12] = P[11][12];
+    nextP[11][13] = P[11][13];
+    nextP[11][14] = P[11][14];
+    nextP[11][15] = P[11][15];
+    nextP[11][16] = P[11][16];
+    nextP[11][17] = P[11][17];
+    nextP[11][18] = P[11][18];
+    nextP[11][19] = P[11][19];
+    nextP[11][20] = P[11][20];
+    nextP[11][21] = P[11][21];
+    nextP[11][22] = P[11][22];
+    nextP[12][0] = P[12][0] + P[12][1]*SF[7] + P[12][2]*SF[9] + P[12][3]*SF[8] + P[12][10]*SF[11] + P[12][11]*SPP[7] + P[12][12]*SPP[6];
+    nextP[12][1] = P[12][1] + P[12][0]*SF[6] + P[12][2]*SF[5] + P[12][3]*SF[9] + P[12][11]*SPP[6] - P[12][12]*SPP[7] - (P[12][10]*q0)/2;
+    nextP[12][2] = P[12][2] + P[12][0]*SF[4] + P[12][1]*SF[8] + P[12][3]*SF[6] + P[12][12]*SF[11] - P[12][10]*SPP[6] - (P[12][11]*q0)/2;
+    nextP[12][3] = P[12][3] + P[12][0]*SF[5] + P[12][1]*SF[4] + P[12][2]*SF[7] - P[12][11]*SF[11] + P[12][10]*SPP[7] - (P[12][12]*q0)/2;
+    nextP[12][4] = P[12][4] + P[12][1]*SF[1] + P[12][0]*SF[3] + P[12][2]*SPP[0] - P[12][3]*SPP[2] - P[12][13]*SPP[4];
+    nextP[12][5] = P[12][5] + P[12][0]*SF[2] + P[12][2]*SF[1] + P[12][3]*SF[3] - P[12][1]*SPP[0] + P[12][13]*SPP[3];
+    nextP[12][6] = P[12][6] + P[12][1]*SF[2] + P[12][3]*SF[1] + P[12][0]*SPP[0] - P[12][2]*SPP[1] - P[12][13]*SPP[5];
+    nextP[12][7] = P[12][7] + P[12][4]*dt;
+    nextP[12][8] = P[12][8] + P[12][5]*dt;
+    nextP[12][9] = P[12][9] + P[12][6]*dt;
+    nextP[12][10] = P[12][10];
+    nextP[12][11] = P[12][11];
+    nextP[12][12] = P[12][12];
+    nextP[12][13] = P[12][13];
+    nextP[12][14] = P[12][14];
+    nextP[12][15] = P[12][15];
+    nextP[12][16] = P[12][16];
+    nextP[12][17] = P[12][17];
+    nextP[12][18] = P[12][18];
+    nextP[12][19] = P[12][19];
+    nextP[12][20] = P[12][20];
+    nextP[12][21] = P[12][21];
+    nextP[12][22] = P[12][22];
+    nextP[13][0] = P[13][0] + P[13][1]*SF[7] + P[13][2]*SF[9] + P[13][3]*SF[8] + P[13][10]*SF[11] + P[13][11]*SPP[7] + P[13][12]*SPP[6];
+    nextP[13][1] = P[13][1] + P[13][0]*SF[6] + P[13][2]*SF[5] + P[13][3]*SF[9] + P[13][11]*SPP[6] - P[13][12]*SPP[7] - (P[13][10]*q0)/2;
+    nextP[13][2] = P[13][2] + P[13][0]*SF[4] + P[13][1]*SF[8] + P[13][3]*SF[6] + P[13][12]*SF[11] - P[13][10]*SPP[6] - (P[13][11]*q0)/2;
+    nextP[13][3] = P[13][3] + P[13][0]*SF[5] + P[13][1]*SF[4] + P[13][2]*SF[7] - P[13][11]*SF[11] + P[13][10]*SPP[7] - (P[13][12]*q0)/2;
+    nextP[13][4] = P[13][4] + P[13][1]*SF[1] + P[13][0]*SF[3] + P[13][2]*SPP[0] - P[13][3]*SPP[2] - P[13][13]*SPP[4];
+    nextP[13][5] = P[13][5] + P[13][0]*SF[2] + P[13][2]*SF[1] + P[13][3]*SF[3] - P[13][1]*SPP[0] + P[13][13]*SPP[3];
+    nextP[13][6] = P[13][6] + P[13][1]*SF[2] + P[13][3]*SF[1] + P[13][0]*SPP[0] - P[13][2]*SPP[1] - P[13][13]*SPP[5];
+    nextP[13][7] = P[13][7] + P[13][4]*dt;
+    nextP[13][8] = P[13][8] + P[13][5]*dt;
+    nextP[13][9] = P[13][9] + P[13][6]*dt;
+    nextP[13][10] = P[13][10];
+    nextP[13][11] = P[13][11];
+    nextP[13][12] = P[13][12];
+    nextP[13][13] = P[13][13];
+    nextP[13][14] = P[13][14];
+    nextP[13][15] = P[13][15];
+    nextP[13][16] = P[13][16];
+    nextP[13][17] = P[13][17];
+    nextP[13][18] = P[13][18];
+    nextP[13][19] = P[13][19];
+    nextP[13][20] = P[13][20];
+    nextP[13][21] = P[13][21];
+    nextP[13][22] = P[13][22];
+    nextP[14][0] = P[14][0] + P[14][1]*SF[7] + P[14][2]*SF[9] + P[14][3]*SF[8] + P[14][10]*SF[11] + P[14][11]*SPP[7] + P[14][12]*SPP[6];
+    nextP[14][1] = P[14][1] + P[14][0]*SF[6] + P[14][2]*SF[5] + P[14][3]*SF[9] + P[14][11]*SPP[6] - P[14][12]*SPP[7] - (P[14][10]*q0)/2;
+    nextP[14][2] = P[14][2] + P[14][0]*SF[4] + P[14][1]*SF[8] + P[14][3]*SF[6] + P[14][12]*SF[11] - P[14][10]*SPP[6] - (P[14][11]*q0)/2;
+    nextP[14][3] = P[14][3] + P[14][0]*SF[5] + P[14][1]*SF[4] + P[14][2]*SF[7] - P[14][11]*SF[11] + P[14][10]*SPP[7] - (P[14][12]*q0)/2;
+    nextP[14][4] = P[14][4] + P[14][1]*SF[1] + P[14][0]*SF[3] + P[14][2]*SPP[0] - P[14][3]*SPP[2] - P[14][13]*SPP[4];
+    nextP[14][5] = P[14][5] + P[14][0]*SF[2] + P[14][2]*SF[1] + P[14][3]*SF[3] - P[14][1]*SPP[0] + P[14][13]*SPP[3];
+    nextP[14][6] = P[14][6] + P[14][1]*SF[2] + P[14][3]*SF[1] + P[14][0]*SPP[0] - P[14][2]*SPP[1] - P[14][13]*SPP[5];
+    nextP[14][7] = P[14][7] + P[14][4]*dt;
+    nextP[14][8] = P[14][8] + P[14][5]*dt;
+    nextP[14][9] = P[14][9] + P[14][6]*dt;
+    nextP[14][10] = P[14][10];
+    nextP[14][11] = P[14][11];
+    nextP[14][12] = P[14][12];
+    nextP[14][13] = P[14][13];
+    nextP[14][14] = P[14][14];
+    nextP[14][15] = P[14][15];
+    nextP[14][16] = P[14][16];
+    nextP[14][17] = P[14][17];
+    nextP[14][18] = P[14][18];
+    nextP[14][19] = P[14][19];
+    nextP[14][20] = P[14][20];
+    nextP[14][21] = P[14][21];
+    nextP[14][22] = P[14][22];
+    nextP[15][0] = P[15][0] + P[15][1]*SF[7] + P[15][2]*SF[9] + P[15][3]*SF[8] + P[15][10]*SF[11] + P[15][11]*SPP[7] + P[15][12]*SPP[6];
+    nextP[15][1] = P[15][1] + P[15][0]*SF[6] + P[15][2]*SF[5] + P[15][3]*SF[9] + P[15][11]*SPP[6] - P[15][12]*SPP[7] - (P[15][10]*q0)/2;
+    nextP[15][2] = P[15][2] + P[15][0]*SF[4] + P[15][1]*SF[8] + P[15][3]*SF[6] + P[15][12]*SF[11] - P[15][10]*SPP[6] - (P[15][11]*q0)/2;
+    nextP[15][3] = P[15][3] + P[15][0]*SF[5] + P[15][1]*SF[4] + P[15][2]*SF[7] - P[15][11]*SF[11] + P[15][10]*SPP[7] - (P[15][12]*q0)/2;
+    nextP[15][4] = P[15][4] + P[15][1]*SF[1] + P[15][0]*SF[3] + P[15][2]*SPP[0] - P[15][3]*SPP[2] - P[15][13]*SPP[4];
+    nextP[15][5] = P[15][5] + P[15][0]*SF[2] + P[15][2]*SF[1] + P[15][3]*SF[3] - P[15][1]*SPP[0] + P[15][13]*SPP[3];
+    nextP[15][6] = P[15][6] + P[15][1]*SF[2] + P[15][3]*SF[1] + P[15][0]*SPP[0] - P[15][2]*SPP[1] - P[15][13]*SPP[5];
+    nextP[15][7] = P[15][7] + P[15][4]*dt;
+    nextP[15][8] = P[15][8] + P[15][5]*dt;
+    nextP[15][9] = P[15][9] + P[15][6]*dt;
+    nextP[15][10] = P[15][10];
+    nextP[15][11] = P[15][11];
+    nextP[15][12] = P[15][12];
+    nextP[15][13] = P[15][13];
+    nextP[15][14] = P[15][14];
+    nextP[15][15] = P[15][15];
+    nextP[15][16] = P[15][16];
+    nextP[15][17] = P[15][17];
+    nextP[15][18] = P[15][18];
+    nextP[15][19] = P[15][19];
+    nextP[15][20] = P[15][20];
+    nextP[15][21] = P[15][21];
+    nextP[15][22] = P[15][22];
+    nextP[16][0] = P[16][0] + P[16][1]*SF[7] + P[16][2]*SF[9] + P[16][3]*SF[8] + P[16][10]*SF[11] + P[16][11]*SPP[7] + P[16][12]*SPP[6];
+    nextP[16][1] = P[16][1] + P[16][0]*SF[6] + P[16][2]*SF[5] + P[16][3]*SF[9] + P[16][11]*SPP[6] - P[16][12]*SPP[7] - (P[16][10]*q0)/2;
+    nextP[16][2] = P[16][2] + P[16][0]*SF[4] + P[16][1]*SF[8] + P[16][3]*SF[6] + P[16][12]*SF[11] - P[16][10]*SPP[6] - (P[16][11]*q0)/2;
+    nextP[16][3] = P[16][3] + P[16][0]*SF[5] + P[16][1]*SF[4] + P[16][2]*SF[7] - P[16][11]*SF[11] + P[16][10]*SPP[7] - (P[16][12]*q0)/2;
+    nextP[16][4] = P[16][4] + P[16][1]*SF[1] + P[16][0]*SF[3] + P[16][2]*SPP[0] - P[16][3]*SPP[2] - P[16][13]*SPP[4];
+    nextP[16][5] = P[16][5] + P[16][0]*SF[2] + P[16][2]*SF[1] + P[16][3]*SF[3] - P[16][1]*SPP[0] + P[16][13]*SPP[3];
+    nextP[16][6] = P[16][6] + P[16][1]*SF[2] + P[16][3]*SF[1] + P[16][0]*SPP[0] - P[16][2]*SPP[1] - P[16][13]*SPP[5];
+    nextP[16][7] = P[16][7] + P[16][4]*dt;
+    nextP[16][8] = P[16][8] + P[16][5]*dt;
+    nextP[16][9] = P[16][9] + P[16][6]*dt;
+    nextP[16][10] = P[16][10];
+    nextP[16][11] = P[16][11];
+    nextP[16][12] = P[16][12];
+    nextP[16][13] = P[16][13];
+    nextP[16][14] = P[16][14];
+    nextP[16][15] = P[16][15];
+    nextP[16][16] = P[16][16];
+    nextP[16][17] = P[16][17];
+    nextP[16][18] = P[16][18];
+    nextP[16][19] = P[16][19];
+    nextP[16][20] = P[16][20];
+    nextP[16][21] = P[16][21];
+    nextP[16][22] = P[16][22];
+    nextP[17][0] = P[17][0] + P[17][1]*SF[7] + P[17][2]*SF[9] + P[17][3]*SF[8] + P[17][10]*SF[11] + P[17][11]*SPP[7] + P[17][12]*SPP[6];
+    nextP[17][1] = P[17][1] + P[17][0]*SF[6] + P[17][2]*SF[5] + P[17][3]*SF[9] + P[17][11]*SPP[6] - P[17][12]*SPP[7] - (P[17][10]*q0)/2;
+    nextP[17][2] = P[17][2] + P[17][0]*SF[4] + P[17][1]*SF[8] + P[17][3]*SF[6] + P[17][12]*SF[11] - P[17][10]*SPP[6] - (P[17][11]*q0)/2;
+    nextP[17][3] = P[17][3] + P[17][0]*SF[5] + P[17][1]*SF[4] + P[17][2]*SF[7] - P[17][11]*SF[11] + P[17][10]*SPP[7] - (P[17][12]*q0)/2;
+    nextP[17][4] = P[17][4] + P[17][1]*SF[1] + P[17][0]*SF[3] + P[17][2]*SPP[0] - P[17][3]*SPP[2] - P[17][13]*SPP[4];
+    nextP[17][5] = P[17][5] + P[17][0]*SF[2] + P[17][2]*SF[1] + P[17][3]*SF[3] - P[17][1]*SPP[0] + P[17][13]*SPP[3];
+    nextP[17][6] = P[17][6] + P[17][1]*SF[2] + P[17][3]*SF[1] + P[17][0]*SPP[0] - P[17][2]*SPP[1] - P[17][13]*SPP[5];
+    nextP[17][7] = P[17][7] + P[17][4]*dt;
+    nextP[17][8] = P[17][8] + P[17][5]*dt;
+    nextP[17][9] = P[17][9] + P[17][6]*dt;
+    nextP[17][10] = P[17][10];
+    nextP[17][11] = P[17][11];
+    nextP[17][12] = P[17][12];
+    nextP[17][13] = P[17][13];
+    nextP[17][14] = P[17][14];
+    nextP[17][15] = P[17][15];
+    nextP[17][16] = P[17][16];
+    nextP[17][17] = P[17][17];
+    nextP[17][18] = P[17][18];
+    nextP[17][19] = P[17][19];
+    nextP[17][20] = P[17][20];
+    nextP[17][21] = P[17][21];
+    nextP[17][22] = P[17][22];
+    nextP[18][0] = P[18][0] + P[18][1]*SF[7] + P[18][2]*SF[9] + P[18][3]*SF[8] + P[18][10]*SF[11] + P[18][11]*SPP[7] + P[18][12]*SPP[6];
+    nextP[18][1] = P[18][1] + P[18][0]*SF[6] + P[18][2]*SF[5] + P[18][3]*SF[9] + P[18][11]*SPP[6] - P[18][12]*SPP[7] - (P[18][10]*q0)/2;
+    nextP[18][2] = P[18][2] + P[18][0]*SF[4] + P[18][1]*SF[8] + P[18][3]*SF[6] + P[18][12]*SF[11] - P[18][10]*SPP[6] - (P[18][11]*q0)/2;
+    nextP[18][3] = P[18][3] + P[18][0]*SF[5] + P[18][1]*SF[4] + P[18][2]*SF[7] - P[18][11]*SF[11] + P[18][10]*SPP[7] - (P[18][12]*q0)/2;
+    nextP[18][4] = P[18][4] + P[18][1]*SF[1] + P[18][0]*SF[3] + P[18][2]*SPP[0] - P[18][3]*SPP[2] - P[18][13]*SPP[4];
+    nextP[18][5] = P[18][5] + P[18][0]*SF[2] + P[18][2]*SF[1] + P[18][3]*SF[3] - P[18][1]*SPP[0] + P[18][13]*SPP[3];
+    nextP[18][6] = P[18][6] + P[18][1]*SF[2] + P[18][3]*SF[1] + P[18][0]*SPP[0] - P[18][2]*SPP[1] - P[18][13]*SPP[5];
+    nextP[18][7] = P[18][7] + P[18][4]*dt;
+    nextP[18][8] = P[18][8] + P[18][5]*dt;
+    nextP[18][9] = P[18][9] + P[18][6]*dt;
+    nextP[18][10] = P[18][10];
+    nextP[18][11] = P[18][11];
+    nextP[18][12] = P[18][12];
+    nextP[18][13] = P[18][13];
+    nextP[18][14] = P[18][14];
+    nextP[18][15] = P[18][15];
+    nextP[18][16] = P[18][16];
+    nextP[18][17] = P[18][17];
+    nextP[18][18] = P[18][18];
+    nextP[18][19] = P[18][19];
+    nextP[18][20] = P[18][20];
+    nextP[18][21] = P[18][21];
+    nextP[18][22] = P[18][22];
+    nextP[19][0] = P[19][0] + P[19][1]*SF[7] + P[19][2]*SF[9] + P[19][3]*SF[8] + P[19][10]*SF[11] + P[19][11]*SPP[7] + P[19][12]*SPP[6];
+    nextP[19][1] = P[19][1] + P[19][0]*SF[6] + P[19][2]*SF[5] + P[19][3]*SF[9] + P[19][11]*SPP[6] - P[19][12]*SPP[7] - (P[19][10]*q0)/2;
+    nextP[19][2] = P[19][2] + P[19][0]*SF[4] + P[19][1]*SF[8] + P[19][3]*SF[6] + P[19][12]*SF[11] - P[19][10]*SPP[6] - (P[19][11]*q0)/2;
+    nextP[19][3] = P[19][3] + P[19][0]*SF[5] + P[19][1]*SF[4] + P[19][2]*SF[7] - P[19][11]*SF[11] + P[19][10]*SPP[7] - (P[19][12]*q0)/2;
+    nextP[19][4] = P[19][4] + P[19][1]*SF[1] + P[19][0]*SF[3] + P[19][2]*SPP[0] - P[19][3]*SPP[2] - P[19][13]*SPP[4];
+    nextP[19][5] = P[19][5] + P[19][0]*SF[2] + P[19][2]*SF[1] + P[19][3]*SF[3] - P[19][1]*SPP[0] + P[19][13]*SPP[3];
+    nextP[19][6] = P[19][6] + P[19][1]*SF[2] + P[19][3]*SF[1] + P[19][0]*SPP[0] - P[19][2]*SPP[1] - P[19][13]*SPP[5];
+    nextP[19][7] = P[19][7] + P[19][4]*dt;
+    nextP[19][8] = P[19][8] + P[19][5]*dt;
+    nextP[19][9] = P[19][9] + P[19][6]*dt;
+    nextP[19][10] = P[19][10];
+    nextP[19][11] = P[19][11];
+    nextP[19][12] = P[19][12];
+    nextP[19][13] = P[19][13];
+    nextP[19][14] = P[19][14];
+    nextP[19][15] = P[19][15];
+    nextP[19][16] = P[19][16];
+    nextP[19][17] = P[19][17];
+    nextP[19][18] = P[19][18];
+    nextP[19][19] = P[19][19];
+    nextP[19][20] = P[19][20];
+    nextP[19][21] = P[19][21];
+    nextP[19][22] = P[19][22];
+    nextP[20][0] = P[20][0] + P[20][1]*SF[7] + P[20][2]*SF[9] + P[20][3]*SF[8] + P[20][10]*SF[11] + P[20][11]*SPP[7] + P[20][12]*SPP[6];
+    nextP[20][1] = P[20][1] + P[20][0]*SF[6] + P[20][2]*SF[5] + P[20][3]*SF[9] + P[20][11]*SPP[6] - P[20][12]*SPP[7] - (P[20][10]*q0)/2;
+    nextP[20][2] = P[20][2] + P[20][0]*SF[4] + P[20][1]*SF[8] + P[20][3]*SF[6] + P[20][12]*SF[11] - P[20][10]*SPP[6] - (P[20][11]*q0)/2;
+    nextP[20][3] = P[20][3] + P[20][0]*SF[5] + P[20][1]*SF[4] + P[20][2]*SF[7] - P[20][11]*SF[11] + P[20][10]*SPP[7] - (P[20][12]*q0)/2;
+    nextP[20][4] = P[20][4] + P[20][1]*SF[1] + P[20][0]*SF[3] + P[20][2]*SPP[0] - P[20][3]*SPP[2] - P[20][13]*SPP[4];
+    nextP[20][5] = P[20][5] + P[20][0]*SF[2] + P[20][2]*SF[1] + P[20][3]*SF[3] - P[20][1]*SPP[0] + P[20][13]*SPP[3];
+    nextP[20][6] = P[20][6] + P[20][1]*SF[2] + P[20][3]*SF[1] + P[20][0]*SPP[0] - P[20][2]*SPP[1] - P[20][13]*SPP[5];
+    nextP[20][7] = P[20][7] + P[20][4]*dt;
+    nextP[20][8] = P[20][8] + P[20][5]*dt;
+    nextP[20][9] = P[20][9] + P[20][6]*dt;
+    nextP[20][10] = P[20][10];
+    nextP[20][11] = P[20][11];
+    nextP[20][12] = P[20][12];
+    nextP[20][13] = P[20][13];
+    nextP[20][14] = P[20][14];
+    nextP[20][15] = P[20][15];
+    nextP[20][16] = P[20][16];
+    nextP[20][17] = P[20][17];
+    nextP[20][18] = P[20][18];
+    nextP[20][19] = P[20][19];
+    nextP[20][20] = P[20][20];
+    nextP[20][21] = P[20][21];
+    nextP[20][22] = P[20][22];
+    nextP[21][0] = P[21][0] + P[21][1]*SF[7] + P[21][2]*SF[9] + P[21][3]*SF[8] + P[21][10]*SF[11] + P[21][11]*SPP[7] + P[21][12]*SPP[6];
+    nextP[21][1] = P[21][1] + P[21][0]*SF[6] + P[21][2]*SF[5] + P[21][3]*SF[9] + P[21][11]*SPP[6] - P[21][12]*SPP[7] - (P[21][10]*q0)/2;
+    nextP[21][2] = P[21][2] + P[21][0]*SF[4] + P[21][1]*SF[8] + P[21][3]*SF[6] + P[21][12]*SF[11] - P[21][10]*SPP[6] - (P[21][11]*q0)/2;
+    nextP[21][3] = P[21][3] + P[21][0]*SF[5] + P[21][1]*SF[4] + P[21][2]*SF[7] - P[21][11]*SF[11] + P[21][10]*SPP[7] - (P[21][12]*q0)/2;
+    nextP[21][4] = P[21][4] + P[21][1]*SF[1] + P[21][0]*SF[3] + P[21][2]*SPP[0] - P[21][3]*SPP[2] - P[21][13]*SPP[4];
+    nextP[21][5] = P[21][5] + P[21][0]*SF[2] + P[21][2]*SF[1] + P[21][3]*SF[3] - P[21][1]*SPP[0] + P[21][13]*SPP[3];
+    nextP[21][6] = P[21][6] + P[21][1]*SF[2] + P[21][3]*SF[1] + P[21][0]*SPP[0] - P[21][2]*SPP[1] - P[21][13]*SPP[5];
+    nextP[21][7] = P[21][7] + P[21][4]*dt;
+    nextP[21][8] = P[21][8] + P[21][5]*dt;
+    nextP[21][9] = P[21][9] + P[21][6]*dt;
+    nextP[21][10] = P[21][10];
+    nextP[21][11] = P[21][11];
+    nextP[21][12] = P[21][12];
+    nextP[21][13] = P[21][13];
+    nextP[21][14] = P[21][14];
+    nextP[21][15] = P[21][15];
+    nextP[21][16] = P[21][16];
+    nextP[21][17] = P[21][17];
+    nextP[21][18] = P[21][18];
+    nextP[21][19] = P[21][19];
+    nextP[21][20] = P[21][20];
+    nextP[21][21] = P[21][21];
+    nextP[21][22] = P[21][22];
+    nextP[22][0] = P[22][0] + P[22][1]*SF[7] + P[22][2]*SF[9] + P[22][3]*SF[8] + P[22][10]*SF[11] + P[22][11]*SPP[7] + P[22][12]*SPP[6];
+    nextP[22][1] = P[22][1] + P[22][0]*SF[6] + P[22][2]*SF[5] + P[22][3]*SF[9] + P[22][11]*SPP[6] - P[22][12]*SPP[7] - (P[22][10]*q0)/2;
+    nextP[22][2] = P[22][2] + P[22][0]*SF[4] + P[22][1]*SF[8] + P[22][3]*SF[6] + P[22][12]*SF[11] - P[22][10]*SPP[6] - (P[22][11]*q0)/2;
+    nextP[22][3] = P[22][3] + P[22][0]*SF[5] + P[22][1]*SF[4] + P[22][2]*SF[7] - P[22][11]*SF[11] + P[22][10]*SPP[7] - (P[22][12]*q0)/2;
+    nextP[22][4] = P[22][4] + P[22][1]*SF[1] + P[22][0]*SF[3] + P[22][2]*SPP[0] - P[22][3]*SPP[2] - P[22][13]*SPP[4];
+    nextP[22][5] = P[22][5] + P[22][0]*SF[2] + P[22][2]*SF[1] + P[22][3]*SF[3] - P[22][1]*SPP[0] + P[22][13]*SPP[3];
+    nextP[22][6] = P[22][6] + P[22][1]*SF[2] + P[22][3]*SF[1] + P[22][0]*SPP[0] - P[22][2]*SPP[1] - P[22][13]*SPP[5];
+    nextP[22][7] = P[22][7] + P[22][4]*dt;
+    nextP[22][8] = P[22][8] + P[22][5]*dt;
+    nextP[22][9] = P[22][9] + P[22][6]*dt;
+    nextP[22][10] = P[22][10];
+    nextP[22][11] = P[22][11];
+    nextP[22][12] = P[22][12];
+    nextP[22][13] = P[22][13];
+    nextP[22][14] = P[22][14];
+    nextP[22][15] = P[22][15];
+    nextP[22][16] = P[22][16];
+    nextP[22][17] = P[22][17];
+    nextP[22][18] = P[22][18];
+    nextP[22][19] = P[22][19];
+    nextP[22][20] = P[22][20];
+    nextP[22][21] = P[22][21];
+    nextP[22][22] = P[22][22];
+
+    for (unsigned i = 0; i < n_states; i++)
+    {
+        nextP[i][i] = nextP[i][i] + processNoise[i];
+    }
+
+    // If on ground or no magnetometer fitted, inhibit magnetometer bias updates by
+    // setting the coresponding covariance terms to zero.
+    if (onGround || !useCompass)
+    {
+        zeroRows(nextP,16,21);
+        zeroCols(nextP,16,21);
+    }
+
+    // If on ground or not using airspeed sensing, inhibit wind velocity
+    // covariance growth.
+    if (onGround || !useAirspeed)
+    {
+        zeroRows(nextP,14,15);
+        zeroCols(nextP,14,15);
+    }
+
+    // If on ground, inhibit terrain offset updates by
+    // setting the coresponding covariance terms to zero.
+    if (onGround)
+    {
+        zeroRows(nextP,22,22);
+        zeroCols(nextP,22,22);
+    }
+
+    // If the total position variance exceds 1E6 (1000m), then stop covariance
+    // growth by setting the predicted to the previous values
+    // This prevent an ill conditioned matrix from occurring for long periods
+    // without GPS
+    if ((P[7][7] + P[8][8]) > 1E6f)
+    {
+        for (uint8_t i=7; i<=8; i++)
+        {
+            for (unsigned j = 0; j < n_states; j++)
+            {
+                nextP[i][j] = P[i][j];
+                nextP[j][i] = P[j][i];
+            }
+        }
+    }
+
+    if (onGround || staticMode) {
+        // copy the portion of the variances we want to
+        // propagate
+        for (unsigned i = 0; i <= 13; i++) {
+            P[i][i] = nextP[i][i];
+
+            // force symmetry for observable states
+            // force zero for non-observable states
+            for (unsigned i = 1; i < n_states; i++)
+            {
+                for (uint8_t j = 0; j < i; j++)
+                {
+                    if ((i > 13) || (j > 13)) {
+                        P[i][j] = 0.0f;
+                    } else {
+                        P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
+                    }
+                    P[j][i] = P[i][j];
+                }
+            }
+        }
+
+    } else {
+
+        // Copy covariance
+        for (unsigned i = 0; i < n_states; i++) {
+            P[i][i] = nextP[i][i];
+        }
+
+        // force symmetry for observable states
+        for (unsigned i = 1; i < n_states; i++)
+        {
+            for (uint8_t j = 0; j < i; j++)
+            {
+                P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
+                P[j][i] = P[i][j];
+            }
+        }
+
+    }
+
+    ConstrainVariances();
+}
+
+void AttPosEKF::FuseVelposNED()
+{
+
+// declare variables used by fault isolation logic
+    uint32_t gpsRetryTime = 30000; // time in msec before GPS fusion will be retried following innovation consistency failure
+    uint32_t gpsRetryTimeNoTAS = 5000; // retry time if no TAS measurement available
+    uint32_t hgtRetryTime = 5000; // height measurement retry time
+    uint32_t horizRetryTime;
+
+// declare variables used to check measurement errors
+    float velInnov[3] = {0.0f,0.0f,0.0f};
+    float posInnov[2] = {0.0f,0.0f};
+    float hgtInnov = 0.0f;
+
+// declare variables used to control access to arrays
+    bool fuseData[6] = {false,false,false,false,false,false};
+    uint8_t stateIndex;
+    uint8_t obsIndex;
+    uint8_t indexLimit;
+
+// declare variables used by state and covariance update calculations
+    float velErr;
+    float posErr;
+    float R_OBS[6];
+    float observation[6];
+    float SK;
+    float quatMag;
+
+// Perform sequential fusion of GPS measurements. This assumes that the
+// errors in the different velocity and position components are
+// uncorrelated which is not true, however in the absence of covariance
+// data from the GPS receiver it is the only assumption we can make
+// so we might as well take advantage of the computational efficiencies
+// associated with sequential fusion
+    if (fuseVelData || fusePosData || fuseHgtData)
+    {
+        // set the GPS data timeout depending on whether airspeed data is present
+        if (useAirspeed) horizRetryTime = gpsRetryTime;
+        else horizRetryTime = gpsRetryTimeNoTAS;
+
+        // Form the observation vector
+        for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i];
+        for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3];
+        observation[5] = -(hgtMea);
+
+        // Estimate the GPS Velocity, GPS horiz position and height measurement variances.
+        velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring
+        posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring
+        R_OBS[0] = sq(vneSigma) + sq(velErr);
+        R_OBS[1] = R_OBS[0];
+        R_OBS[2] = sq(vdSigma) + sq(velErr);
+        R_OBS[3] = sq(posNeSigma) + sq(posErr);
+        R_OBS[4] = R_OBS[3];
+        R_OBS[5] = sq(posDSigma) + sq(posErr);
+
+        // Set innovation variances to zero default
+        for (uint8_t i = 0; i<=5; i++)
+        {
+            varInnovVelPos[i] = 0.0f;
+        }
+        // calculate innovations and check GPS data validity using an innovation consistency check
+        if (fuseVelData)
+        {
+            // test velocity measurements
+            uint8_t imax = 2;
+            if (fusionModeGPS == 1) imax = 1;
+            for (uint8_t i = 0; i<=imax; i++)
+            {
+                velInnov[i] = statesAtVelTime[i+4] - velNED[i];
+                stateIndex = 4 + i;
+                varInnovVelPos[i] = P[stateIndex][stateIndex] + R_OBS[i];
+            }
+            // apply a 5-sigma threshold
+            current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]);
+            current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime;
+            if (current_ekf_state.velHealth || current_ekf_state.velTimeout)
+            {
+                current_ekf_state.velHealth = true;
+                current_ekf_state.velFailTime = millis();
+            }
+            else
+            {
+                current_ekf_state.velHealth = false;
+            }
+        }
+        if (fusePosData)
+        {
+            // test horizontal position measurements
+            posInnov[0] = statesAtPosTime[7] - posNE[0];
+            posInnov[1] = statesAtPosTime[8] - posNE[1];
+            varInnovVelPos[3] = P[7][7] + R_OBS[3];
+            varInnovVelPos[4] = P[8][8] + R_OBS[4];
+            // apply a 10-sigma threshold
+            current_ekf_state.posHealth = (sq(posInnov[0]) + sq(posInnov[1])) < 100.0f*(varInnovVelPos[3] + varInnovVelPos[4]);
+            current_ekf_state.posTimeout = (millis() - current_ekf_state.posFailTime) > horizRetryTime;
+            if (current_ekf_state.posHealth || current_ekf_state.posTimeout)
+            {
+                current_ekf_state.posHealth = true;
+                current_ekf_state.posFailTime = millis();
+            }
+            else
+            {
+                current_ekf_state.posHealth = false;
+            }
+        }
+        // test height measurements
+        if (fuseHgtData)
+        {
+            hgtInnov = statesAtHgtTime[9] + hgtMea;
+            varInnovVelPos[5] = P[9][9] + R_OBS[5];
+            // apply a 10-sigma threshold
+            current_ekf_state.hgtHealth = sq(hgtInnov) < 100.0f*varInnovVelPos[5];
+            current_ekf_state.hgtTimeout = (millis() - current_ekf_state.hgtFailTime) > hgtRetryTime;
+            if (current_ekf_state.hgtHealth || current_ekf_state.hgtTimeout)
+            {
+                current_ekf_state.hgtHealth = true;
+                current_ekf_state.hgtFailTime = millis();
+            }
+            else
+            {
+                current_ekf_state.hgtHealth = false;
+            }
+        }
+        // Set range for sequential fusion of velocity and position measurements depending
+        // on which data is available and its health
+        if (fuseVelData && fusionModeGPS == 0 && current_ekf_state.velHealth)
+        {
+            fuseData[0] = true;
+            fuseData[1] = true;
+            fuseData[2] = true;
+        }
+        if (fuseVelData && fusionModeGPS == 1 && current_ekf_state.velHealth)
+        {
+            fuseData[0] = true;
+            fuseData[1] = true;
+        }
+        if (fusePosData && fusionModeGPS <= 2 && current_ekf_state.posHealth)
+        {
+            fuseData[3] = true;
+            fuseData[4] = true;
+        }
+        if (fuseHgtData && current_ekf_state.hgtHealth)
+        {
+            fuseData[5] = true;
+        }
+        // Limit range of states modified when on ground
+        if(!onGround)
+        {
+            indexLimit = 22;
+        }
+        else
+        {
+            indexLimit = 13;
+        }
+        // Fuse measurements sequentially
+        for (obsIndex=0; obsIndex<=5; obsIndex++)
+        {
+            if (fuseData[obsIndex])
+            {
+                stateIndex = 4 + obsIndex;
+                // Calculate the measurement innovation, using states from a
+                // different time coordinate if fusing height data
+                if (obsIndex >= 0 && obsIndex <= 2)
+                {
+                    innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex];
+                }
+                else if (obsIndex == 3 || obsIndex == 4)
+                {
+                    innovVelPos[obsIndex] = statesAtPosTime[stateIndex] - observation[obsIndex];
+                }
+                else if (obsIndex == 5)
+                {
+                    innovVelPos[obsIndex] = statesAtHgtTime[stateIndex] - observation[obsIndex];
+                }
+                // Calculate the Kalman Gain
+                // Calculate innovation variances - also used for data logging
+                varInnovVelPos[obsIndex] = P[stateIndex][stateIndex] + R_OBS[obsIndex];
+                SK = 1.0/varInnovVelPos[obsIndex];
+                for (uint8_t i= 0; i<=indexLimit; i++)
+                {
+                    Kfusion[i] = P[i][stateIndex]*SK;
+                }
+
+                // Don't update Z accel bias state unless using a height observation (GPS velocities can be biased)
+                if (obsIndex != 5) {
+                    Kfusion[13] = 0;
+                }
+
+                // Calculate state corrections and re-normalise the quaternions
+                for (uint8_t i = 0; i<=indexLimit; i++)
+                {
+                    states[i] = states[i] - Kfusion[i] * innovVelPos[obsIndex];
+                }
+                quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+                if (quatMag > 1e-12f) // divide by  0 protection
+                {
+                    for (uint8_t i = 0; i<=3; i++)
+                    {
+                        states[i] = states[i] / quatMag;
+                    }
+                }
+                // Update the covariance - take advantage of direct observation of a
+                // single state at index = stateIndex to reduce computations
+                // Optimised implementation of standard equation P = (I - K*H)*P;
+                for (uint8_t i= 0; i<=indexLimit; i++)
+                {
+                    for (uint8_t j= 0; j<=indexLimit; j++)
+                    {
+                        KHP[i][j] = Kfusion[i] * P[stateIndex][j];
+                    }
+                }
+                for (uint8_t i= 0; i<=indexLimit; i++)
+                {
+                    for (uint8_t j= 0; j<=indexLimit; j++)
+                    {
+                        P[i][j] = P[i][j] - KHP[i][j];
+                    }
+                }
+            }
+        }
+    }
+
+    ForceSymmetry();
+    ConstrainVariances();
+
+}
+
+void AttPosEKF::FuseMagnetometer()
+{
+
+    float &q0 = magstate.q0;
+    float &q1 = magstate.q1;
+    float &q2 = magstate.q2;
+    float &q3 = magstate.q3;
+    float &magN = magstate.magN;
+    float &magE = magstate.magE;
+    float &magD = magstate.magD;
+    float &magXbias = magstate.magXbias;
+    float &magYbias = magstate.magYbias;
+    float &magZbias = magstate.magZbias;
+    unsigned &obsIndex = magstate.obsIndex;
+    Mat3f &DCM = magstate.DCM;
+    float *MagPred = &magstate.MagPred[0];
+    float &R_MAG = magstate.R_MAG;
+    float *SH_MAG = &magstate.SH_MAG[0];
+
+    float SK_MX[6];
+    float SK_MY[5];
+    float SK_MZ[6];
+    float H_MAG[n_states];
+    for (uint8_t i = 0; i < n_states; i++) {
+        H_MAG[i] = 0.0f;
+    }
+    unsigned indexLimit;
+
+// Perform sequential fusion of Magnetometer measurements.
+// This assumes that the errors in the different components are
+// uncorrelated which is not true, however in the absence of covariance
+// data fit is the only assumption we can make
+// so we might as well take advantage of the computational efficiencies
+// associated with sequential fusion
+    if (useCompass && (fuseMagData || obsIndex == 1 || obsIndex == 2))
+    {
+        // Limit range of states modified when on ground
+        if(!onGround)
+        {
+            indexLimit = n_states;
+        }
+        else
+        {
+            indexLimit = 13 + 1;
+        }
+
+        // Sequential fusion of XYZ components to spread processing load across
+        // three prediction time steps.
+
+        // Calculate observation jacobians and Kalman gains
+        if (fuseMagData)
+        {
+            // Copy required states to local variable names
+            q0       = statesAtMagMeasTime[0];
+            q1       = statesAtMagMeasTime[1];
+            q2       = statesAtMagMeasTime[2];
+            q3       = statesAtMagMeasTime[3];
+            magN     = statesAtMagMeasTime[16];
+            magE     = statesAtMagMeasTime[17];
+            magD     = statesAtMagMeasTime[18];
+            magXbias = statesAtMagMeasTime[19];
+            magYbias = statesAtMagMeasTime[20];
+            magZbias = statesAtMagMeasTime[21];
+
+            // rotate predicted earth components into body axes and calculate
+            // predicted measurments
+            DCM.x.x = q0*q0 + q1*q1 - q2*q2 - q3*q3;
+            DCM.x.y = 2*(q1*q2 + q0*q3);
+            DCM.x.z = 2*(q1*q3-q0*q2);
+            DCM.y.x = 2*(q1*q2 - q0*q3);
+            DCM.y.y = q0*q0 - q1*q1 + q2*q2 - q3*q3;
+            DCM.y.z = 2*(q2*q3 + q0*q1);
+            DCM.z.x = 2*(q1*q3 + q0*q2);
+            DCM.z.y = 2*(q2*q3 - q0*q1);
+            DCM.z.z = q0*q0 - q1*q1 - q2*q2 + q3*q3;
+            MagPred[0] = DCM.x.x*magN + DCM.x.y*magE  + DCM.x.z*magD + magXbias;
+            MagPred[1] = DCM.y.x*magN + DCM.y.y*magE  + DCM.y.z*magD + magYbias;
+            MagPred[2] = DCM.z.x*magN + DCM.z.y*magE  + DCM.z.z*magD + magZbias;
+
+            // scale magnetometer observation error with total angular rate
+            R_MAG = sq(magMeasurementSigma) + sq(0.05f*dAngIMU.length()/dtIMU);
+
+            // Calculate observation jacobians
+            SH_MAG[0] = 2*magD*q3 + 2*magE*q2 + 2*magN*q1;
+            SH_MAG[1] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2;
+            SH_MAG[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3;
+            SH_MAG[3] = sq(q3);
+            SH_MAG[4] = sq(q2);
+            SH_MAG[5] = sq(q1);
+            SH_MAG[6] = sq(q0);
+            SH_MAG[7] = 2*magN*q0;
+            SH_MAG[8] = 2*magE*q3;
+
+            for (uint8_t i = 0; i < n_states; i++) H_MAG[i] = 0;
+            H_MAG[0] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            H_MAG[1] = SH_MAG[0];
+            H_MAG[2] = 2*magE*q1 - 2*magD*q0 - 2*magN*q2;
+            H_MAG[3] = SH_MAG[2];
+            H_MAG[16] = SH_MAG[5] - SH_MAG[4] - SH_MAG[3] + SH_MAG[6];
+            H_MAG[17] = 2*q0*q3 + 2*q1*q2;
+            H_MAG[18] = 2*q1*q3 - 2*q0*q2;
+            H_MAG[19] = 1.0f;
+
+            // Calculate Kalman gain
+            float temp = (P[19][19] + R_MAG + P[1][19]*SH_MAG[0] + P[3][19]*SH_MAG[2] - P[16][19]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) - (2*magD*q0 - 2*magE*q1 + 2*magN*q2)*(P[19][2] + P[1][2]*SH_MAG[0] + P[3][2]*SH_MAG[2] - P[16][2]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][2]*(2*q0*q3 + 2*q1*q2) - P[18][2]*(2*q0*q2 - 2*q1*q3) - P[2][2]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[19][0] + P[1][0]*SH_MAG[0] + P[3][0]*SH_MAG[2] - P[16][0]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][0]*(2*q0*q3 + 2*q1*q2) - P[18][0]*(2*q0*q2 - 2*q1*q3) - P[2][0]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[19][1] + P[1][1]*SH_MAG[0] + P[3][1]*SH_MAG[2] - P[16][1]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][1]*(2*q0*q3 + 2*q1*q2) - P[18][1]*(2*q0*q2 - 2*q1*q3) - P[2][1]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[2]*(P[19][3] + P[1][3]*SH_MAG[0] + P[3][3]*SH_MAG[2] - P[16][3]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][3]*(2*q0*q3 + 2*q1*q2) - P[18][3]*(2*q0*q2 - 2*q1*q3) - P[2][3]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P[19][16] + P[1][16]*SH_MAG[0] + P[3][16]*SH_MAG[2] - P[16][16]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][16]*(2*q0*q3 + 2*q1*q2) - P[18][16]*(2*q0*q2 - 2*q1*q3) - P[2][16]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[17][19]*(2*q0*q3 + 2*q1*q2) - P[18][19]*(2*q0*q2 - 2*q1*q3) - P[2][19]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + (2*q0*q3 + 2*q1*q2)*(P[19][17] + P[1][17]*SH_MAG[0] + P[3][17]*SH_MAG[2] - P[16][17]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][17]*(2*q0*q3 + 2*q1*q2) - P[18][17]*(2*q0*q2 - 2*q1*q3) - P[2][17]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q2 - 2*q1*q3)*(P[19][18] + P[1][18]*SH_MAG[0] + P[3][18]*SH_MAG[2] - P[16][18]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][18]*(2*q0*q3 + 2*q1*q2) - P[18][18]*(2*q0*q2 - 2*q1*q3) - P[2][18]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[0][19]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
+            if (temp >= R_MAG) {
+                SK_MX[0] = 1.0f / temp;
+            } else {
+                // the calculation is badly conditioned, so we cannot perform fusion on this step
+                // we increase the state variances and try again next time
+                P[19][19] += 0.1f*R_MAG;
+                obsIndex = 1;
+                return;
+            }
+            SK_MX[1] = SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6];
+            SK_MX[2] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2;
+            SK_MX[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            SK_MX[4] = 2*q0*q2 - 2*q1*q3;
+            SK_MX[5] = 2*q0*q3 + 2*q1*q2;
+            Kfusion[0] = SK_MX[0]*(P[0][19] + P[0][1]*SH_MAG[0] + P[0][3]*SH_MAG[2] + P[0][0]*SK_MX[3] - P[0][2]*SK_MX[2] - P[0][16]*SK_MX[1] + P[0][17]*SK_MX[5] - P[0][18]*SK_MX[4]);
+            Kfusion[1] = SK_MX[0]*(P[1][19] + P[1][1]*SH_MAG[0] + P[1][3]*SH_MAG[2] + P[1][0]*SK_MX[3] - P[1][2]*SK_MX[2] - P[1][16]*SK_MX[1] + P[1][17]*SK_MX[5] - P[1][18]*SK_MX[4]);
+            Kfusion[2] = SK_MX[0]*(P[2][19] + P[2][1]*SH_MAG[0] + P[2][3]*SH_MAG[2] + P[2][0]*SK_MX[3] - P[2][2]*SK_MX[2] - P[2][16]*SK_MX[1] + P[2][17]*SK_MX[5] - P[2][18]*SK_MX[4]);
+            Kfusion[3] = SK_MX[0]*(P[3][19] + P[3][1]*SH_MAG[0] + P[3][3]*SH_MAG[2] + P[3][0]*SK_MX[3] - P[3][2]*SK_MX[2] - P[3][16]*SK_MX[1] + P[3][17]*SK_MX[5] - P[3][18]*SK_MX[4]);
+            Kfusion[4] = SK_MX[0]*(P[4][19] + P[4][1]*SH_MAG[0] + P[4][3]*SH_MAG[2] + P[4][0]*SK_MX[3] - P[4][2]*SK_MX[2] - P[4][16]*SK_MX[1] + P[4][17]*SK_MX[5] - P[4][18]*SK_MX[4]);
+            Kfusion[5] = SK_MX[0]*(P[5][19] + P[5][1]*SH_MAG[0] + P[5][3]*SH_MAG[2] + P[5][0]*SK_MX[3] - P[5][2]*SK_MX[2] - P[5][16]*SK_MX[1] + P[5][17]*SK_MX[5] - P[5][18]*SK_MX[4]);
+            Kfusion[6] = SK_MX[0]*(P[6][19] + P[6][1]*SH_MAG[0] + P[6][3]*SH_MAG[2] + P[6][0]*SK_MX[3] - P[6][2]*SK_MX[2] - P[6][16]*SK_MX[1] + P[6][17]*SK_MX[5] - P[6][18]*SK_MX[4]);
+            Kfusion[7] = SK_MX[0]*(P[7][19] + P[7][1]*SH_MAG[0] + P[7][3]*SH_MAG[2] + P[7][0]*SK_MX[3] - P[7][2]*SK_MX[2] - P[7][16]*SK_MX[1] + P[7][17]*SK_MX[5] - P[7][18]*SK_MX[4]);
+            Kfusion[8] = SK_MX[0]*(P[8][19] + P[8][1]*SH_MAG[0] + P[8][3]*SH_MAG[2] + P[8][0]*SK_MX[3] - P[8][2]*SK_MX[2] - P[8][16]*SK_MX[1] + P[8][17]*SK_MX[5] - P[8][18]*SK_MX[4]);
+            Kfusion[9] = SK_MX[0]*(P[9][19] + P[9][1]*SH_MAG[0] + P[9][3]*SH_MAG[2] + P[9][0]*SK_MX[3] - P[9][2]*SK_MX[2] - P[9][16]*SK_MX[1] + P[9][17]*SK_MX[5] - P[9][18]*SK_MX[4]);
+            Kfusion[10] = SK_MX[0]*(P[10][19] + P[10][1]*SH_MAG[0] + P[10][3]*SH_MAG[2] + P[10][0]*SK_MX[3] - P[10][2]*SK_MX[2] - P[10][16]*SK_MX[1] + P[10][17]*SK_MX[5] - P[10][18]*SK_MX[4]);
+            Kfusion[11] = SK_MX[0]*(P[11][19] + P[11][1]*SH_MAG[0] + P[11][3]*SH_MAG[2] + P[11][0]*SK_MX[3] - P[11][2]*SK_MX[2] - P[11][16]*SK_MX[1] + P[11][17]*SK_MX[5] - P[11][18]*SK_MX[4]);
+            Kfusion[12] = SK_MX[0]*(P[12][19] + P[12][1]*SH_MAG[0] + P[12][3]*SH_MAG[2] + P[12][0]*SK_MX[3] - P[12][2]*SK_MX[2] - P[12][16]*SK_MX[1] + P[12][17]*SK_MX[5] - P[12][18]*SK_MX[4]);
+            // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+            Kfusion[13] = 0.0f;//SK_MX[0]*(P[13][19] + P[13][1]*SH_MAG[0] + P[13][3]*SH_MAG[2] + P[13][0]*SK_MX[3] - P[13][2]*SK_MX[2] - P[13][16]*SK_MX[1] + P[13][17]*SK_MX[5] - P[13][18]*SK_MX[4]);
+            Kfusion[14] = SK_MX[0]*(P[14][19] + P[14][1]*SH_MAG[0] + P[14][3]*SH_MAG[2] + P[14][0]*SK_MX[3] - P[14][2]*SK_MX[2] - P[14][16]*SK_MX[1] + P[14][17]*SK_MX[5] - P[14][18]*SK_MX[4]);
+            Kfusion[15] = SK_MX[0]*(P[15][19] + P[15][1]*SH_MAG[0] + P[15][3]*SH_MAG[2] + P[15][0]*SK_MX[3] - P[15][2]*SK_MX[2] - P[15][16]*SK_MX[1] + P[15][17]*SK_MX[5] - P[15][18]*SK_MX[4]);
+            Kfusion[16] = SK_MX[0]*(P[16][19] + P[16][1]*SH_MAG[0] + P[16][3]*SH_MAG[2] + P[16][0]*SK_MX[3] - P[16][2]*SK_MX[2] - P[16][16]*SK_MX[1] + P[16][17]*SK_MX[5] - P[16][18]*SK_MX[4]);
+            Kfusion[17] = SK_MX[0]*(P[17][19] + P[17][1]*SH_MAG[0] + P[17][3]*SH_MAG[2] + P[17][0]*SK_MX[3] - P[17][2]*SK_MX[2] - P[17][16]*SK_MX[1] + P[17][17]*SK_MX[5] - P[17][18]*SK_MX[4]);
+            Kfusion[18] = SK_MX[0]*(P[18][19] + P[18][1]*SH_MAG[0] + P[18][3]*SH_MAG[2] + P[18][0]*SK_MX[3] - P[18][2]*SK_MX[2] - P[18][16]*SK_MX[1] + P[18][17]*SK_MX[5] - P[18][18]*SK_MX[4]);
+            Kfusion[19] = SK_MX[0]*(P[19][19] + P[19][1]*SH_MAG[0] + P[19][3]*SH_MAG[2] + P[19][0]*SK_MX[3] - P[19][2]*SK_MX[2] - P[19][16]*SK_MX[1] + P[19][17]*SK_MX[5] - P[19][18]*SK_MX[4]);
+            Kfusion[20] = SK_MX[0]*(P[20][19] + P[20][1]*SH_MAG[0] + P[20][3]*SH_MAG[2] + P[20][0]*SK_MX[3] - P[20][2]*SK_MX[2] - P[20][16]*SK_MX[1] + P[20][17]*SK_MX[5] - P[20][18]*SK_MX[4]);
+            Kfusion[21] = SK_MX[0]*(P[21][19] + P[21][1]*SH_MAG[0] + P[21][3]*SH_MAG[2] + P[21][0]*SK_MX[3] - P[21][2]*SK_MX[2] - P[21][16]*SK_MX[1] + P[21][17]*SK_MX[5] - P[21][18]*SK_MX[4]);
+            Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]);
+            varInnovMag[0] = 1.0f/SK_MX[0];
+            innovMag[0] = MagPred[0] - magData.x;
+
+            // reset the observation index to 0 (we start by fusing the X
+            // measurement)
+            obsIndex = 0;
+            fuseMagData = false;
+        }
+        else if (obsIndex == 1) // we are now fusing the Y measurement
+        {
+            // Calculate observation jacobians
+            for (unsigned int i = 0; i < n_states; i++) H_MAG[i] = 0;
+            H_MAG[0] = SH_MAG[2];
+            H_MAG[1] = SH_MAG[1];
+            H_MAG[2] = SH_MAG[0];
+            H_MAG[3] = 2*magD*q2 - SH_MAG[8] - SH_MAG[7];
+            H_MAG[16] = 2*q1*q2 - 2*q0*q3;
+            H_MAG[17] = SH_MAG[4] - SH_MAG[3] - SH_MAG[5] + SH_MAG[6];
+            H_MAG[18] = 2*q0*q1 + 2*q2*q3;
+            H_MAG[20] = 1;
+
+            // Calculate Kalman gain
+            float temp = (P[20][20] + R_MAG + P[0][20]*SH_MAG[2] + P[1][20]*SH_MAG[1] + P[2][20]*SH_MAG[0] - P[17][20]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2*q0*q3 - 2*q1*q2)*(P[20][16] + P[0][16]*SH_MAG[2] + P[1][16]*SH_MAG[1] + P[2][16]*SH_MAG[0] - P[17][16]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][16]*(2*q0*q3 - 2*q1*q2) + P[18][16]*(2*q0*q1 + 2*q2*q3) - P[3][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (2*q0*q1 + 2*q2*q3)*(P[20][18] + P[0][18]*SH_MAG[2] + P[1][18]*SH_MAG[1] + P[2][18]*SH_MAG[0] - P[17][18]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][18]*(2*q0*q3 - 2*q1*q2) + P[18][18]*(2*q0*q1 + 2*q2*q3) - P[3][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[20][3] + P[0][3]*SH_MAG[2] + P[1][3]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[17][3]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][3]*(2*q0*q3 - 2*q1*q2) + P[18][3]*(2*q0*q1 + 2*q2*q3) - P[3][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[16][20]*(2*q0*q3 - 2*q1*q2) + P[18][20]*(2*q0*q1 + 2*q2*q3) + SH_MAG[2]*(P[20][0] + P[0][0]*SH_MAG[2] + P[1][0]*SH_MAG[1] + P[2][0]*SH_MAG[0] - P[17][0]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][0]*(2*q0*q3 - 2*q1*q2) + P[18][0]*(2*q0*q1 + 2*q2*q3) - P[3][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[20][1] + P[0][1]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[2][1]*SH_MAG[0] - P[17][1]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][1]*(2*q0*q3 - 2*q1*q2) + P[18][1]*(2*q0*q1 + 2*q2*q3) - P[3][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[20][2] + P[0][2]*SH_MAG[2] + P[1][2]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[17][2]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][2]*(2*q0*q3 - 2*q1*q2) + P[18][2]*(2*q0*q1 + 2*q2*q3) - P[3][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P[20][17] + P[0][17]*SH_MAG[2] + P[1][17]*SH_MAG[1] + P[2][17]*SH_MAG[0] - P[17][17]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][17]*(2*q0*q3 - 2*q1*q2) + P[18][17]*(2*q0*q1 + 2*q2*q3) - P[3][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[3][20]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
+            if (temp >= R_MAG) {
+                SK_MY[0] = 1.0f / temp;
+            } else {
+                // the calculation is badly conditioned, so we cannot perform fusion on this step
+                // we increase the state variances and try again next time
+                P[20][20] += 0.1f*R_MAG;
+                obsIndex = 2;
+                return;
+            }
+            SK_MY[1] = SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6];
+            SK_MY[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            SK_MY[3] = 2*q0*q3 - 2*q1*q2;
+            SK_MY[4] = 2*q0*q1 + 2*q2*q3;
+            Kfusion[0] = SK_MY[0]*(P[0][20] + P[0][0]*SH_MAG[2] + P[0][1]*SH_MAG[1] + P[0][2]*SH_MAG[0] - P[0][3]*SK_MY[2] - P[0][17]*SK_MY[1] - P[0][16]*SK_MY[3] + P[0][18]*SK_MY[4]);
+            Kfusion[1] = SK_MY[0]*(P[1][20] + P[1][0]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[1][2]*SH_MAG[0] - P[1][3]*SK_MY[2] - P[1][17]*SK_MY[1] - P[1][16]*SK_MY[3] + P[1][18]*SK_MY[4]);
+            Kfusion[2] = SK_MY[0]*(P[2][20] + P[2][0]*SH_MAG[2] + P[2][1]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[2][3]*SK_MY[2] - P[2][17]*SK_MY[1] - P[2][16]*SK_MY[3] + P[2][18]*SK_MY[4]);
+            Kfusion[3] = SK_MY[0]*(P[3][20] + P[3][0]*SH_MAG[2] + P[3][1]*SH_MAG[1] + P[3][2]*SH_MAG[0] - P[3][3]*SK_MY[2] - P[3][17]*SK_MY[1] - P[3][16]*SK_MY[3] + P[3][18]*SK_MY[4]);
+            Kfusion[4] = SK_MY[0]*(P[4][20] + P[4][0]*SH_MAG[2] + P[4][1]*SH_MAG[1] + P[4][2]*SH_MAG[0] - P[4][3]*SK_MY[2] - P[4][17]*SK_MY[1] - P[4][16]*SK_MY[3] + P[4][18]*SK_MY[4]);
+            Kfusion[5] = SK_MY[0]*(P[5][20] + P[5][0]*SH_MAG[2] + P[5][1]*SH_MAG[1] + P[5][2]*SH_MAG[0] - P[5][3]*SK_MY[2] - P[5][17]*SK_MY[1] - P[5][16]*SK_MY[3] + P[5][18]*SK_MY[4]);
+            Kfusion[6] = SK_MY[0]*(P[6][20] + P[6][0]*SH_MAG[2] + P[6][1]*SH_MAG[1] + P[6][2]*SH_MAG[0] - P[6][3]*SK_MY[2] - P[6][17]*SK_MY[1] - P[6][16]*SK_MY[3] + P[6][18]*SK_MY[4]);
+            Kfusion[7] = SK_MY[0]*(P[7][20] + P[7][0]*SH_MAG[2] + P[7][1]*SH_MAG[1] + P[7][2]*SH_MAG[0] - P[7][3]*SK_MY[2] - P[7][17]*SK_MY[1] - P[7][16]*SK_MY[3] + P[7][18]*SK_MY[4]);
+            Kfusion[8] = SK_MY[0]*(P[8][20] + P[8][0]*SH_MAG[2] + P[8][1]*SH_MAG[1] + P[8][2]*SH_MAG[0] - P[8][3]*SK_MY[2] - P[8][17]*SK_MY[1] - P[8][16]*SK_MY[3] + P[8][18]*SK_MY[4]);
+            Kfusion[9] = SK_MY[0]*(P[9][20] + P[9][0]*SH_MAG[2] + P[9][1]*SH_MAG[1] + P[9][2]*SH_MAG[0] - P[9][3]*SK_MY[2] - P[9][17]*SK_MY[1] - P[9][16]*SK_MY[3] + P[9][18]*SK_MY[4]);
+            Kfusion[10] = SK_MY[0]*(P[10][20] + P[10][0]*SH_MAG[2] + P[10][1]*SH_MAG[1] + P[10][2]*SH_MAG[0] - P[10][3]*SK_MY[2] - P[10][17]*SK_MY[1] - P[10][16]*SK_MY[3] + P[10][18]*SK_MY[4]);
+            Kfusion[11] = SK_MY[0]*(P[11][20] + P[11][0]*SH_MAG[2] + P[11][1]*SH_MAG[1] + P[11][2]*SH_MAG[0] - P[11][3]*SK_MY[2] - P[11][17]*SK_MY[1] - P[11][16]*SK_MY[3] + P[11][18]*SK_MY[4]);
+            Kfusion[12] = SK_MY[0]*(P[12][20] + P[12][0]*SH_MAG[2] + P[12][1]*SH_MAG[1] + P[12][2]*SH_MAG[0] - P[12][3]*SK_MY[2] - P[12][17]*SK_MY[1] - P[12][16]*SK_MY[3] + P[12][18]*SK_MY[4]);
+            // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+            Kfusion[13] = 0.0f;//SK_MY[0]*(P[13][20] + P[13][0]*SH_MAG[2] + P[13][1]*SH_MAG[1] + P[13][2]*SH_MAG[0] - P[13][3]*SK_MY[2] - P[13][17]*SK_MY[1] - P[13][16]*SK_MY[3] + P[13][18]*SK_MY[4]);
+            Kfusion[14] = SK_MY[0]*(P[14][20] + P[14][0]*SH_MAG[2] + P[14][1]*SH_MAG[1] + P[14][2]*SH_MAG[0] - P[14][3]*SK_MY[2] - P[14][17]*SK_MY[1] - P[14][16]*SK_MY[3] + P[14][18]*SK_MY[4]);
+            Kfusion[15] = SK_MY[0]*(P[15][20] + P[15][0]*SH_MAG[2] + P[15][1]*SH_MAG[1] + P[15][2]*SH_MAG[0] - P[15][3]*SK_MY[2] - P[15][17]*SK_MY[1] - P[15][16]*SK_MY[3] + P[15][18]*SK_MY[4]);
+            Kfusion[16] = SK_MY[0]*(P[16][20] + P[16][0]*SH_MAG[2] + P[16][1]*SH_MAG[1] + P[16][2]*SH_MAG[0] - P[16][3]*SK_MY[2] - P[16][17]*SK_MY[1] - P[16][16]*SK_MY[3] + P[16][18]*SK_MY[4]);
+            Kfusion[17] = SK_MY[0]*(P[17][20] + P[17][0]*SH_MAG[2] + P[17][1]*SH_MAG[1] + P[17][2]*SH_MAG[0] - P[17][3]*SK_MY[2] - P[17][17]*SK_MY[1] - P[17][16]*SK_MY[3] + P[17][18]*SK_MY[4]);
+            Kfusion[18] = SK_MY[0]*(P[18][20] + P[18][0]*SH_MAG[2] + P[18][1]*SH_MAG[1] + P[18][2]*SH_MAG[0] - P[18][3]*SK_MY[2] - P[18][17]*SK_MY[1] - P[18][16]*SK_MY[3] + P[18][18]*SK_MY[4]);
+            Kfusion[19] = SK_MY[0]*(P[19][20] + P[19][0]*SH_MAG[2] + P[19][1]*SH_MAG[1] + P[19][2]*SH_MAG[0] - P[19][3]*SK_MY[2] - P[19][17]*SK_MY[1] - P[19][16]*SK_MY[3] + P[19][18]*SK_MY[4]);
+            Kfusion[20] = SK_MY[0]*(P[20][20] + P[20][0]*SH_MAG[2] + P[20][1]*SH_MAG[1] + P[20][2]*SH_MAG[0] - P[20][3]*SK_MY[2] - P[20][17]*SK_MY[1] - P[20][16]*SK_MY[3] + P[20][18]*SK_MY[4]);
+            Kfusion[21] = SK_MY[0]*(P[21][20] + P[21][0]*SH_MAG[2] + P[21][1]*SH_MAG[1] + P[21][2]*SH_MAG[0] - P[21][3]*SK_MY[2] - P[21][17]*SK_MY[1] - P[21][16]*SK_MY[3] + P[21][18]*SK_MY[4]);
+            Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]);
+            varInnovMag[1] = 1.0f/SK_MY[0];
+            innovMag[1] = MagPred[1] - magData.y;
+        }
+        else if (obsIndex == 2) // we are now fusing the Z measurement
+        {
+            // Calculate observation jacobians
+            for (uint8_t i = 0; i < n_states; i++) H_MAG[i] = 0;
+            H_MAG[0] = SH_MAG[1];
+            H_MAG[1] = 2*magN*q3 - 2*magE*q0 - 2*magD*q1;
+            H_MAG[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            H_MAG[3] = SH_MAG[0];
+            H_MAG[16] = 2*q0*q2 + 2*q1*q3;
+            H_MAG[17] = 2*q2*q3 - 2*q0*q1;
+            H_MAG[18] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6];
+            H_MAG[21] = 1;
+
+            // Calculate Kalman gain
+            float temp = (P[21][21] + R_MAG + P[0][21]*SH_MAG[1] + P[3][21]*SH_MAG[0] + P[18][21]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) - (2*magD*q1 + 2*magE*q0 - 2*magN*q3)*(P[21][1] + P[0][1]*SH_MAG[1] + P[3][1]*SH_MAG[0] + P[18][1]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][1]*(2*q0*q2 + 2*q1*q3) - P[17][1]*(2*q0*q1 - 2*q2*q3) - P[1][1]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[21][2] + P[0][2]*SH_MAG[1] + P[3][2]*SH_MAG[0] + P[18][2]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][2]*(2*q0*q2 + 2*q1*q3) - P[17][2]*(2*q0*q1 - 2*q2*q3) - P[1][2]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[21][0] + P[0][0]*SH_MAG[1] + P[3][0]*SH_MAG[0] + P[18][0]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][0]*(2*q0*q2 + 2*q1*q3) - P[17][0]*(2*q0*q1 - 2*q2*q3) - P[1][0]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[21][3] + P[0][3]*SH_MAG[1] + P[3][3]*SH_MAG[0] + P[18][3]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][3]*(2*q0*q2 + 2*q1*q3) - P[17][3]*(2*q0*q1 - 2*q2*q3) - P[1][3]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P[21][18] + P[0][18]*SH_MAG[1] + P[3][18]*SH_MAG[0] + P[18][18]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][18]*(2*q0*q2 + 2*q1*q3) - P[17][18]*(2*q0*q1 - 2*q2*q3) - P[1][18]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[16][21]*(2*q0*q2 + 2*q1*q3) - P[17][21]*(2*q0*q1 - 2*q2*q3) - P[1][21]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + (2*q0*q2 + 2*q1*q3)*(P[21][16] + P[0][16]*SH_MAG[1] + P[3][16]*SH_MAG[0] + P[18][16]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][16]*(2*q0*q2 + 2*q1*q3) - P[17][16]*(2*q0*q1 - 2*q2*q3) - P[1][16]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q1 - 2*q2*q3)*(P[21][17] + P[0][17]*SH_MAG[1] + P[3][17]*SH_MAG[0] + P[18][17]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][17]*(2*q0*q2 + 2*q1*q3) - P[17][17]*(2*q0*q1 - 2*q2*q3) - P[1][17]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[2][21]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
+            if (temp >= R_MAG) {
+                SK_MZ[0] = 1.0f / temp;
+            } else {
+                // the calculation is badly conditioned, so we cannot perform fusion on this step
+                // we increase the state variances and try again next time
+                P[21][21] += 0.1f*R_MAG;
+                obsIndex = 3;
+                return;
+            }
+            SK_MZ[1] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6];
+            SK_MZ[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3;
+            SK_MZ[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            SK_MZ[4] = 2*q0*q1 - 2*q2*q3;
+            SK_MZ[5] = 2*q0*q2 + 2*q1*q3;
+            Kfusion[0] = SK_MZ[0]*(P[0][21] + P[0][0]*SH_MAG[1] + P[0][3]*SH_MAG[0] - P[0][1]*SK_MZ[2] + P[0][2]*SK_MZ[3] + P[0][18]*SK_MZ[1] + P[0][16]*SK_MZ[5] - P[0][17]*SK_MZ[4]);
+            Kfusion[1] = SK_MZ[0]*(P[1][21] + P[1][0]*SH_MAG[1] + P[1][3]*SH_MAG[0] - P[1][1]*SK_MZ[2] + P[1][2]*SK_MZ[3] + P[1][18]*SK_MZ[1] + P[1][16]*SK_MZ[5] - P[1][17]*SK_MZ[4]);
+            Kfusion[2] = SK_MZ[0]*(P[2][21] + P[2][0]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[2][1]*SK_MZ[2] + P[2][2]*SK_MZ[3] + P[2][18]*SK_MZ[1] + P[2][16]*SK_MZ[5] - P[2][17]*SK_MZ[4]);
+            Kfusion[3] = SK_MZ[0]*(P[3][21] + P[3][0]*SH_MAG[1] + P[3][3]*SH_MAG[0] - P[3][1]*SK_MZ[2] + P[3][2]*SK_MZ[3] + P[3][18]*SK_MZ[1] + P[3][16]*SK_MZ[5] - P[3][17]*SK_MZ[4]);
+            Kfusion[4] = SK_MZ[0]*(P[4][21] + P[4][0]*SH_MAG[1] + P[4][3]*SH_MAG[0] - P[4][1]*SK_MZ[2] + P[4][2]*SK_MZ[3] + P[4][18]*SK_MZ[1] + P[4][16]*SK_MZ[5] - P[4][17]*SK_MZ[4]);
+            Kfusion[5] = SK_MZ[0]*(P[5][21] + P[5][0]*SH_MAG[1] + P[5][3]*SH_MAG[0] - P[5][1]*SK_MZ[2] + P[5][2]*SK_MZ[3] + P[5][18]*SK_MZ[1] + P[5][16]*SK_MZ[5] - P[5][17]*SK_MZ[4]);
+            Kfusion[6] = SK_MZ[0]*(P[6][21] + P[6][0]*SH_MAG[1] + P[6][3]*SH_MAG[0] - P[6][1]*SK_MZ[2] + P[6][2]*SK_MZ[3] + P[6][18]*SK_MZ[1] + P[6][16]*SK_MZ[5] - P[6][17]*SK_MZ[4]);
+            Kfusion[7] = SK_MZ[0]*(P[7][21] + P[7][0]*SH_MAG[1] + P[7][3]*SH_MAG[0] - P[7][1]*SK_MZ[2] + P[7][2]*SK_MZ[3] + P[7][18]*SK_MZ[1] + P[7][16]*SK_MZ[5] - P[7][17]*SK_MZ[4]);
+            Kfusion[8] = SK_MZ[0]*(P[8][21] + P[8][0]*SH_MAG[1] + P[8][3]*SH_MAG[0] - P[8][1]*SK_MZ[2] + P[8][2]*SK_MZ[3] + P[8][18]*SK_MZ[1] + P[8][16]*SK_MZ[5] - P[8][17]*SK_MZ[4]);
+            Kfusion[9] = SK_MZ[0]*(P[9][21] + P[9][0]*SH_MAG[1] + P[9][3]*SH_MAG[0] - P[9][1]*SK_MZ[2] + P[9][2]*SK_MZ[3] + P[9][18]*SK_MZ[1] + P[9][16]*SK_MZ[5] - P[9][17]*SK_MZ[4]);
+            Kfusion[10] = SK_MZ[0]*(P[10][21] + P[10][0]*SH_MAG[1] + P[10][3]*SH_MAG[0] - P[10][1]*SK_MZ[2] + P[10][2]*SK_MZ[3] + P[10][18]*SK_MZ[1] + P[10][16]*SK_MZ[5] - P[10][17]*SK_MZ[4]);
+            Kfusion[11] = SK_MZ[0]*(P[11][21] + P[11][0]*SH_MAG[1] + P[11][3]*SH_MAG[0] - P[11][1]*SK_MZ[2] + P[11][2]*SK_MZ[3] + P[11][18]*SK_MZ[1] + P[11][16]*SK_MZ[5] - P[11][17]*SK_MZ[4]);
+            Kfusion[12] = SK_MZ[0]*(P[12][21] + P[12][0]*SH_MAG[1] + P[12][3]*SH_MAG[0] - P[12][1]*SK_MZ[2] + P[12][2]*SK_MZ[3] + P[12][18]*SK_MZ[1] + P[12][16]*SK_MZ[5] - P[12][17]*SK_MZ[4]);
+            // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+            Kfusion[13] = 0.0f;//SK_MZ[0]*(P[13][21] + P[13][0]*SH_MAG[1] + P[13][3]*SH_MAG[0] - P[13][1]*SK_MZ[2] + P[13][2]*SK_MZ[3] + P[13][18]*SK_MZ[1] + P[13][16]*SK_MZ[5] - P[13][17]*SK_MZ[4]);
+            Kfusion[14] = SK_MZ[0]*(P[14][21] + P[14][0]*SH_MAG[1] + P[14][3]*SH_MAG[0] - P[14][1]*SK_MZ[2] + P[14][2]*SK_MZ[3] + P[14][18]*SK_MZ[1] + P[14][16]*SK_MZ[5] - P[14][17]*SK_MZ[4]);
+            Kfusion[15] = SK_MZ[0]*(P[15][21] + P[15][0]*SH_MAG[1] + P[15][3]*SH_MAG[0] - P[15][1]*SK_MZ[2] + P[15][2]*SK_MZ[3] + P[15][18]*SK_MZ[1] + P[15][16]*SK_MZ[5] - P[15][17]*SK_MZ[4]);
+            Kfusion[16] = SK_MZ[0]*(P[16][21] + P[16][0]*SH_MAG[1] + P[16][3]*SH_MAG[0] - P[16][1]*SK_MZ[2] + P[16][2]*SK_MZ[3] + P[16][18]*SK_MZ[1] + P[16][16]*SK_MZ[5] - P[16][17]*SK_MZ[4]);
+            Kfusion[17] = SK_MZ[0]*(P[17][21] + P[17][0]*SH_MAG[1] + P[17][3]*SH_MAG[0] - P[17][1]*SK_MZ[2] + P[17][2]*SK_MZ[3] + P[17][18]*SK_MZ[1] + P[17][16]*SK_MZ[5] - P[17][17]*SK_MZ[4]);
+            Kfusion[18] = SK_MZ[0]*(P[18][21] + P[18][0]*SH_MAG[1] + P[18][3]*SH_MAG[0] - P[18][1]*SK_MZ[2] + P[18][2]*SK_MZ[3] + P[18][18]*SK_MZ[1] + P[18][16]*SK_MZ[5] - P[18][17]*SK_MZ[4]);
+            Kfusion[19] = SK_MZ[0]*(P[19][21] + P[19][0]*SH_MAG[1] + P[19][3]*SH_MAG[0] - P[19][1]*SK_MZ[2] + P[19][2]*SK_MZ[3] + P[19][18]*SK_MZ[1] + P[19][16]*SK_MZ[5] - P[19][17]*SK_MZ[4]);
+            Kfusion[20] = SK_MZ[0]*(P[20][21] + P[20][0]*SH_MAG[1] + P[20][3]*SH_MAG[0] - P[20][1]*SK_MZ[2] + P[20][2]*SK_MZ[3] + P[20][18]*SK_MZ[1] + P[20][16]*SK_MZ[5] - P[20][17]*SK_MZ[4]);
+            Kfusion[21] = SK_MZ[0]*(P[21][21] + P[21][0]*SH_MAG[1] + P[21][3]*SH_MAG[0] - P[21][1]*SK_MZ[2] + P[21][2]*SK_MZ[3] + P[21][18]*SK_MZ[1] + P[21][16]*SK_MZ[5] - P[21][17]*SK_MZ[4]);
+            Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] + P[22][3]*SH_MAG[0] - P[22][1]*SK_MZ[2] + P[22][2]*SK_MZ[3] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[5] - P[22][17]*SK_MZ[4]);
+            varInnovMag[2] = 1.0f/SK_MZ[0];
+            innovMag[2] = MagPred[2] - magData.z;
+
+        }
+
+        // Check the innovation for consistency and don't fuse if > 5Sigma
+        if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0)
+        {
+            // correct the state vector
+            for (uint8_t j= 0; j < indexLimit; j++)
+            {
+                states[j] = states[j] - Kfusion[j] * innovMag[obsIndex];
+            }
+            // normalise the quaternion states
+            float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+            if (quatMag > 1e-12)
+            {
+                for (uint8_t j= 0; j<=3; j++)
+                {
+                    float quatMagInv = 1.0f/quatMag;
+                    states[j] = states[j] * quatMagInv;
+                }
+            }
+            // correct the covariance P = (I - K*H)*P
+            // take advantage of the empty columns in KH to reduce the
+            // number of operations
+            for (uint8_t i = 0; i < indexLimit; i++)
+            {
+                for (uint8_t j = 0; j <= 3; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_MAG[j];
+                }
+                for (uint8_t j = 4; j <= 15; j++) KH[i][j] = 0.0f;
+                if (!onGround)
+                {
+                    for (uint8_t j = 16; j <= 21; j++)
+                    {
+                        KH[i][j] = Kfusion[i] * H_MAG[j];
+                    }
+                }
+                else
+                {
+                    for (uint8_t j = 16; j <= 21; j++)
+                    {
+                        KH[i][j] = 0.0f;
+                    }
+                }
+            }
+            for (uint8_t i = 0; i < indexLimit; i++)
+            {
+                for (uint8_t j = 0; j < indexLimit; j++)
+                {
+                    KHP[i][j] = 0.0f;
+                    for (uint8_t k = 0; k <= 3; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                    if (!onGround)
+                    {
+                        for (uint8_t k = 16; k<=21; k++)
+                        {
+                            KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                        }
+                    }
+                }
+            }
+        }
+        for (uint8_t i = 0; i < indexLimit; i++)
+        {
+            for (uint8_t j = 0; j < indexLimit; j++)
+            {
+                P[i][j] = P[i][j] - KHP[i][j];
+            }
+        }
+    }
+    obsIndex = obsIndex + 1;
+
+    ForceSymmetry();
+    ConstrainVariances();
+}
+
+void AttPosEKF::FuseAirspeed()
+{
+    float vn;
+    float ve;
+    float vd;
+    float vwn;
+    float vwe;
+    float R_TAS = sq(airspeedMeasurementSigma);
+    float SH_TAS[3];
+    float SK_TAS;
+    float VtasPred;
+
+    // Copy required states to local variable names
+    vn = statesAtVtasMeasTime[4];
+    ve = statesAtVtasMeasTime[5];
+    vd = statesAtVtasMeasTime[6];
+    vwn = statesAtVtasMeasTime[14];
+    vwe = statesAtVtasMeasTime[15];
+
+    // Need to check that it is flying before fusing airspeed data
+    // Calculate the predicted airspeed
+    VtasPred = sqrtf((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd);
+    // Perform fusion of True Airspeed measurement
+    if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f))
+    {
+        // Calculate observation jacobians
+        SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
+        SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f;
+        SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2*vwn))/2.0f;
+        
+        float H_TAS[n_states];
+        for (uint8_t i = 0; i < n_states; i++) H_TAS[i] = 0.0f;
+        H_TAS[4] = SH_TAS[2];
+        H_TAS[5] = SH_TAS[1];
+        H_TAS[6] = vd*SH_TAS[0];
+        H_TAS[14] = -SH_TAS[2];
+        H_TAS[15] = -SH_TAS[1];
+
+        // Calculate Kalman gains
+        float temp = (R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[14][4]*SH_TAS[2] - P[15][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[14][5]*SH_TAS[2] - P[15][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][14]*SH_TAS[2] + P[5][14]*SH_TAS[1] - P[14][14]*SH_TAS[2] - P[15][14]*SH_TAS[1] + P[6][14]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][15]*SH_TAS[2] + P[5][15]*SH_TAS[1] - P[14][15]*SH_TAS[2] - P[15][15]*SH_TAS[1] + P[6][15]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[14][6]*SH_TAS[2] - P[15][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]));
+        if (temp >= R_TAS) {
+            SK_TAS = 1.0f / temp;
+        } else {
+            // the calculation is badly conditioned, so we cannot perform fusion on this step
+            // we increase the wind state variances and try again next time
+            P[14][14] += 0.05f*R_TAS;
+            P[15][15] += 0.05f*R_TAS;
+            return;
+        }
+        Kfusion[0] = SK_TAS*(P[0][4]*SH_TAS[2] - P[0][14]*SH_TAS[2] + P[0][5]*SH_TAS[1] - P[0][15]*SH_TAS[1] + P[0][6]*vd*SH_TAS[0]);
+        Kfusion[1] = SK_TAS*(P[1][4]*SH_TAS[2] - P[1][14]*SH_TAS[2] + P[1][5]*SH_TAS[1] - P[1][15]*SH_TAS[1] + P[1][6]*vd*SH_TAS[0]);
+        Kfusion[2] = SK_TAS*(P[2][4]*SH_TAS[2] - P[2][14]*SH_TAS[2] + P[2][5]*SH_TAS[1] - P[2][15]*SH_TAS[1] + P[2][6]*vd*SH_TAS[0]);
+        Kfusion[3] = SK_TAS*(P[3][4]*SH_TAS[2] - P[3][14]*SH_TAS[2] + P[3][5]*SH_TAS[1] - P[3][15]*SH_TAS[1] + P[3][6]*vd*SH_TAS[0]);
+        Kfusion[4] = SK_TAS*(P[4][4]*SH_TAS[2] - P[4][14]*SH_TAS[2] + P[4][5]*SH_TAS[1] - P[4][15]*SH_TAS[1] + P[4][6]*vd*SH_TAS[0]);
+        Kfusion[5] = SK_TAS*(P[5][4]*SH_TAS[2] - P[5][14]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[5][15]*SH_TAS[1] + P[5][6]*vd*SH_TAS[0]);
+        Kfusion[6] = SK_TAS*(P[6][4]*SH_TAS[2] - P[6][14]*SH_TAS[2] + P[6][5]*SH_TAS[1] - P[6][15]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]);
+        Kfusion[7] = SK_TAS*(P[7][4]*SH_TAS[2] - P[7][14]*SH_TAS[2] + P[7][5]*SH_TAS[1] - P[7][15]*SH_TAS[1] + P[7][6]*vd*SH_TAS[0]);
+        Kfusion[8] = SK_TAS*(P[8][4]*SH_TAS[2] - P[8][14]*SH_TAS[2] + P[8][5]*SH_TAS[1] - P[8][15]*SH_TAS[1] + P[8][6]*vd*SH_TAS[0]);
+        Kfusion[9] = SK_TAS*(P[9][4]*SH_TAS[2] - P[9][14]*SH_TAS[2] + P[9][5]*SH_TAS[1] - P[9][15]*SH_TAS[1] + P[9][6]*vd*SH_TAS[0]);
+        Kfusion[10] = SK_TAS*(P[10][4]*SH_TAS[2] - P[10][14]*SH_TAS[2] + P[10][5]*SH_TAS[1] - P[10][15]*SH_TAS[1] + P[10][6]*vd*SH_TAS[0]);
+        Kfusion[11] = SK_TAS*(P[11][4]*SH_TAS[2] - P[11][14]*SH_TAS[2] + P[11][5]*SH_TAS[1] - P[11][15]*SH_TAS[1] + P[11][6]*vd*SH_TAS[0]);
+        Kfusion[12] = SK_TAS*(P[12][4]*SH_TAS[2] - P[12][14]*SH_TAS[2] + P[12][5]*SH_TAS[1] - P[12][15]*SH_TAS[1] + P[12][6]*vd*SH_TAS[0]);
+        // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+        Kfusion[13] = 0.0f;//SK_TAS*(P[13][4]*SH_TAS[2] - P[13][14]*SH_TAS[2] + P[13][5]*SH_TAS[1] - P[13][15]*SH_TAS[1] + P[13][6]*vd*SH_TAS[0]);
+        Kfusion[14] = SK_TAS*(P[14][4]*SH_TAS[2] - P[14][14]*SH_TAS[2] + P[14][5]*SH_TAS[1] - P[14][15]*SH_TAS[1] + P[14][6]*vd*SH_TAS[0]);
+        Kfusion[15] = SK_TAS*(P[15][4]*SH_TAS[2] - P[15][14]*SH_TAS[2] + P[15][5]*SH_TAS[1] - P[15][15]*SH_TAS[1] + P[15][6]*vd*SH_TAS[0]);
+        Kfusion[16] = SK_TAS*(P[16][4]*SH_TAS[2] - P[16][14]*SH_TAS[2] + P[16][5]*SH_TAS[1] - P[16][15]*SH_TAS[1] + P[16][6]*vd*SH_TAS[0]);
+        Kfusion[17] = SK_TAS*(P[17][4]*SH_TAS[2] - P[17][14]*SH_TAS[2] + P[17][5]*SH_TAS[1] - P[17][15]*SH_TAS[1] + P[17][6]*vd*SH_TAS[0]);
+        Kfusion[18] = SK_TAS*(P[18][4]*SH_TAS[2] - P[18][14]*SH_TAS[2] + P[18][5]*SH_TAS[1] - P[18][15]*SH_TAS[1] + P[18][6]*vd*SH_TAS[0]);
+        Kfusion[19] = SK_TAS*(P[19][4]*SH_TAS[2] - P[19][14]*SH_TAS[2] + P[19][5]*SH_TAS[1] - P[19][15]*SH_TAS[1] + P[19][6]*vd*SH_TAS[0]);
+        Kfusion[20] = SK_TAS*(P[20][4]*SH_TAS[2] - P[20][14]*SH_TAS[2] + P[20][5]*SH_TAS[1] - P[20][15]*SH_TAS[1] + P[20][6]*vd*SH_TAS[0]);
+        Kfusion[21] = SK_TAS*(P[21][4]*SH_TAS[2] - P[21][14]*SH_TAS[2] + P[21][5]*SH_TAS[1] - P[21][15]*SH_TAS[1] + P[21][6]*vd*SH_TAS[0]);
+        Kfusion[22] = SK_TAS*(P[22][4]*SH_TAS[2] - P[22][14]*SH_TAS[2] + P[22][5]*SH_TAS[1] - P[22][15]*SH_TAS[1] + P[22][6]*vd*SH_TAS[0]);
+        varInnovVtas = 1.0f/SK_TAS;
+
+        // Calculate the measurement innovation
+        innovVtas = VtasPred - VtasMeas;
+        // Check the innovation for consistency and don't fuse if > 5Sigma
+        if ((innovVtas*innovVtas*SK_TAS) < 25.0)
+        {
+            // correct the state vector
+            for (uint8_t j=0; j <= 22; j++)
+            {
+                states[j] = states[j] - Kfusion[j] * innovVtas;
+            }
+            // normalise the quaternion states
+            float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+            if (quatMag > 1e-12f)
+            {
+                for (uint8_t j= 0; j <= 3; j++)
+                {
+                    float quatMagInv = 1.0f/quatMag;
+                    states[j] = states[j] * quatMagInv;
+                }
+            }
+            // correct the covariance P = (I - K*H)*P
+            // take advantage of the empty columns in H to reduce the
+            // number of operations
+            for (uint8_t i = 0; i <= 22; i++)
+            {
+                for (uint8_t j = 0; j <= 3; j++) KH[i][j] = 0.0;
+                for (uint8_t j = 4; j <= 6; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_TAS[j];
+                }
+                for (uint8_t j = 7; j <= 13; j++) KH[i][j] = 0.0;
+                for (uint8_t j = 14; j <= 15; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_TAS[j];
+                }
+                for (uint8_t j = 16; j <= 22; j++) KH[i][j] = 0.0;
+            }
+            for (uint8_t i = 0; i <= 22; i++)
+            {
+                for (uint8_t j = 0; j <= 22; j++)
+                {
+                    KHP[i][j] = 0.0;
+                    for (uint8_t k = 4; k <= 6; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                    for (uint8_t k = 14; k <= 15; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                }
+            }
+            for (uint8_t i = 0; i <= 22; i++)
+            {
+                for (uint8_t j = 0; j <= 22; j++)
+                {
+                    P[i][j] = P[i][j] - KHP[i][j];
+                }
+            }
+        }
+    }
+
+    ForceSymmetry();
+    ConstrainVariances();
+}
+
+void AttPosEKF::zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
+{
+    uint8_t row;
+    uint8_t col;
+    for (row=first; row<=last; row++)
+    {
+        for (col=0; col<n_states; col++)
+        {
+            covMat[row][col] = 0.0;
+        }
+    }
+}
+
+void AttPosEKF::FuseRangeFinder()
+{
+
+    // Local variables
+    float rngPred;
+    float SH_RNG[5];
+    float H_RNG[23];
+    float SK_RNG[6];
+    float cosRngTilt;
+    const float R_RNG = 0.25f; // 0.5 m2 rangefinder measurement variance
+
+    // Copy required states to local variable names
+    float q0 = statesAtRngTime[0];
+    float q1 = statesAtRngTime[1];
+    float q2 = statesAtRngTime[2];
+    float q3 = statesAtRngTime[3];
+    float pd = statesAtRngTime[9];
+    float ptd = statesAtRngTime[22];
+
+    // Need to check that our range finder tilt angle is less than 30 degrees and we are using range finder data
+    SH_RNG[4] = sin(rngFinderPitch);
+    cosRngTilt = - Tbn.z.x * SH_RNG[4] + Tbn.z.z * cos(rngFinderPitch);
+    if (useRangeFinder && cosRngTilt > 0.87f)
+    {
+        // Calculate observation jacobian and Kalman gain ignoring all states other than the terrain offset
+        // This prevents the range finder measurement modifying any of the other filter states and significantly reduces computations
+        SH_RNG[0] = SH_RNG[4]*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3);
+        SH_RNG[1] = pd - ptd;
+        SH_RNG[2] = 1/sq(SH_RNG[0]);
+        SH_RNG[3] = 1/SH_RNG[0];
+        for (uint8_t i = 0; i < n_states; i++) {
+            H_RNG[i] = 0.0f;
+            Kfusion[i] = 0.0f;
+        }
+        H_RNG[22] = -SH_RNG[3];
+        SK_RNG[0] = 1/(R_RNG + SH_RNG[3]*(P[9][9]*SH_RNG[3] - P[22][9]*SH_RNG[3] + P[0][9]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][9]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][9]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][9]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[3]*(P[9][22]*SH_RNG[3] - P[22][22]*SH_RNG[3] + P[0][22]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][22]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][22]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][22]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) + SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4])*(P[9][0]*SH_RNG[3] - P[22][0]*SH_RNG[3] + P[0][0]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][0]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][0]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][0]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4])*(P[9][1]*SH_RNG[3] - P[22][1]*SH_RNG[3] + P[0][1]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][1]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][1]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][1]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4])*(P[9][2]*SH_RNG[3] - P[22][2]*SH_RNG[3] + P[0][2]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][2]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][2]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][2]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) + SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])*(P[9][3]*SH_RNG[3] - P[22][3]*SH_RNG[3] + P[0][3]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][3]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][3]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][3]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])));
+        SK_RNG[1] = 2*q1 - 2*q3*SH_RNG[4];
+        SK_RNG[2] = 2*q0 - 2*q2*SH_RNG[4];
+        SK_RNG[3] = 2*q3 + 2*q1*SH_RNG[4];
+        SK_RNG[4] = 2*q2 + 2*q0*SH_RNG[4];
+        SK_RNG[5] = SH_RNG[2];
+        Kfusion[22] = SK_RNG[0]*(P[22][9]*SH_RNG[3] - P[22][22]*SH_RNG[3] + P[22][0]*SH_RNG[1]*SK_RNG[2]*SK_RNG[5] - P[22][1]*SH_RNG[1]*SK_RNG[1]*SK_RNG[5] - P[22][2]*SH_RNG[1]*SK_RNG[4]*SK_RNG[5] + P[22][3]*SH_RNG[1]*SK_RNG[3]*SK_RNG[5]);
+
+        // Calculate the measurement innovation
+        rngPred = (ptd - pd)/cosRngTilt;
+        innovRng = rngPred - rngMea;
+        //printf("mea=%5.1f, pred=%5.1f, pd=%5.1f, ptd=%5.2f\n", rngMea, rngPred, pd, ptd);
+
+        // Check the innovation for consistency and don't fuse if > 5Sigma
+        if ((innovRng*innovRng*SK_RNG[0]) < 25)
+        {
+            // correct the state vector
+            states[22] = states[22] - Kfusion[22] * innovRng;
+
+            // correct the covariance P = (I - K*H)*P
+            P[22][22] = P[22][22] - Kfusion[22] * H_RNG[22] * P[22][22];
+            P[22][22] = ConstrainFloat(P[22][22], 0.0f, 10000.0f);
+        }
+    }
+
+}
+
+void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
+{
+    uint8_t row;
+    uint8_t col;
+    for (col=first; col<=last; col++)
+    {
+        for (row=0; row < n_states; row++)
+        {
+            covMat[row][col] = 0.0;
+        }
+    }
+}
+
+float AttPosEKF::sq(float valIn)
+{
+    return valIn*valIn;
+}
+
+// Store states in a history array along with time stamp
+void AttPosEKF::StoreStates(uint64_t timestamp_ms)
+{
+    for (unsigned i=0; i<n_states; i++)
+        storedStates[i][storeIndex] = states[i];
+    statetimeStamp[storeIndex] = timestamp_ms;
+    storeIndex++;
+    if (storeIndex == data_buffer_size)
+        storeIndex = 0;
+}
+
+void AttPosEKF::ResetStoredStates()
+{
+    // reset all stored states
+    memset(&storedStates[0][0], 0, sizeof(storedStates));
+    memset(&statetimeStamp[0], 0, sizeof(statetimeStamp));
+
+    // reset store index to first
+    storeIndex = 0;
+
+    // overwrite all existing states
+    for (unsigned i = 0; i < n_states; i++) {
+        storedStates[i][storeIndex] = states[i];
+    }
+
+    statetimeStamp[storeIndex] = millis();
+
+    // increment to next storage index
+    storeIndex++;
+}
+
+// Output the state vector stored at the time that best matches that specified by msec
+int AttPosEKF::RecallStates(float* statesForFusion, uint64_t msec)
+{
+    int ret = 0;
+
+    int64_t bestTimeDelta = 200;
+    unsigned bestStoreIndex = 0;
+    for (unsigned storeIndex = 0; storeIndex < data_buffer_size; storeIndex++)
+    {
+        // Work around a GCC compiler bug - we know 64bit support on ARM is
+        // sketchy in GCC.
+        uint64_t timeDelta;
+
+        if (msec > statetimeStamp[storeIndex]) {
+            timeDelta = msec - statetimeStamp[storeIndex];
+        } else {
+            timeDelta = statetimeStamp[storeIndex] - msec;
+        }
+
+        if (timeDelta < bestTimeDelta)
+        {
+            bestStoreIndex = storeIndex;
+            bestTimeDelta = timeDelta;
+        }
+    }
+    if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error
+    {
+        for (unsigned i=0; i < n_states; i++) {
+            if (isfinite(storedStates[i][bestStoreIndex])) {
+                statesForFusion[i] = storedStates[i][bestStoreIndex];
+            } else if (isfinite(states[i])) {
+                statesForFusion[i] = states[i];
+            } else {
+                // There is not much we can do here, except reporting the error we just
+                // found.
+                ret++;
+            }
+        }
+    }
+    else // otherwise output current state
+    {
+        for (unsigned i = 0; i < n_states; i++) {
+            if (isfinite(states[i])) {
+                statesForFusion[i] = states[i];
+            } else {
+                ret++;
+            }
+        }
+    }
+
+    return ret;
+}
+
+void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
+{
+    // Calculate the nav to body cosine matrix
+    float q00 = sq(quat[0]);
+    float q11 = sq(quat[1]);
+    float q22 = sq(quat[2]);
+    float q33 = sq(quat[3]);
+    float q01 =  quat[0]*quat[1];
+    float q02 =  quat[0]*quat[2];
+    float q03 =  quat[0]*quat[3];
+    float q12 =  quat[1]*quat[2];
+    float q13 =  quat[1]*quat[3];
+    float q23 =  quat[2]*quat[3];
+
+    Tnb.x.x = q00 + q11 - q22 - q33;
+    Tnb.y.y = q00 - q11 + q22 - q33;
+    Tnb.z.z = q00 - q11 - q22 + q33;
+    Tnb.y.x = 2*(q12 - q03);
+    Tnb.z.x = 2*(q13 + q02);
+    Tnb.x.y = 2*(q12 + q03);
+    Tnb.z.y = 2*(q23 - q01);
+    Tnb.x.z = 2*(q13 - q02);
+    Tnb.y.z = 2*(q23 + q01);
+}
+
+void AttPosEKF::quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
+{
+    // Calculate the body to nav cosine matrix
+    float q00 = sq(quat[0]);
+    float q11 = sq(quat[1]);
+    float q22 = sq(quat[2]);
+    float q33 = sq(quat[3]);
+    float q01 =  quat[0]*quat[1];
+    float q02 =  quat[0]*quat[2];
+    float q03 =  quat[0]*quat[3];
+    float q12 =  quat[1]*quat[2];
+    float q13 =  quat[1]*quat[3];
+    float q23 =  quat[2]*quat[3];
+
+    Tbn.x.x = q00 + q11 - q22 - q33;
+    Tbn.y.y = q00 - q11 + q22 - q33;
+    Tbn.z.z = q00 - q11 - q22 + q33;
+    Tbn.x.y = 2*(q12 - q03);
+    Tbn.x.z = 2*(q13 + q02);
+    Tbn.y.x = 2*(q12 + q03);
+    Tbn.y.z = 2*(q23 - q01);
+    Tbn.z.x = 2*(q13 - q02);
+    Tbn.z.y = 2*(q23 + q01);
+}
+
+void AttPosEKF::eul2quat(float (&quat)[4], const float (&eul)[3])
+{
+    float u1 = cos(0.5f*eul[0]);
+    float u2 = cos(0.5f*eul[1]);
+    float u3 = cos(0.5f*eul[2]);
+    float u4 = sin(0.5f*eul[0]);
+    float u5 = sin(0.5f*eul[1]);
+    float u6 = sin(0.5f*eul[2]);
+    quat[0] = u1*u2*u3+u4*u5*u6;
+    quat[1] = u4*u2*u3-u1*u5*u6;
+    quat[2] = u1*u5*u3+u4*u2*u6;
+    quat[3] = u1*u2*u6-u4*u5*u3;
+}
+
+void AttPosEKF::quat2eul(float (&y)[3], const float (&u)[4])
+{
+    y[0] = atan2f((2.0f*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3]));
+    y[1] = -asinf(2.0f*(u[1]*u[3]-u[0]*u[2]));
+    y[2] = atan2f((2.0f*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3]));
+}
+
+void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD)
+{
+    velNED[0] = gpsGndSpd*cosf(gpsCourse);
+    velNED[1] = gpsGndSpd*sinf(gpsCourse);
+    velNED[2] = gpsVelD;
+}
+
+void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef)
+{
+    posNED[0] = earthRadius * (lat - latRef);
+    posNED[1] = earthRadius * cos(latRef) * (lon - lonRef);
+    posNED[2] = -(hgt - hgtRef);
+}
+
+void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
+{
+    lat = latRef + posNED[0] * earthRadiusInv;
+    lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef);
+    hgt = hgtRef - posNED[2];
+}
+
+void AttPosEKF::OnGroundCheck()
+{
+    onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
+    if (staticMode) {
+        staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
+    }
+}
+
+void AttPosEKF::calcEarthRateNED(Vector3f &omega, float latitude)
+{
+    //Define Earth rotation vector in the NED navigation frame
+    omega.x  = earthRate*cosf(latitude);
+    omega.y  = 0.0f;
+    omega.z  = -earthRate*sinf(latitude);
+}
+
+void AttPosEKF::CovarianceInit()
+{
+    // Calculate the initial covariance matrix P
+    P[0][0]   = 0.25f * sq(1.0f*deg2rad);
+    P[1][1]   = 0.25f * sq(1.0f*deg2rad);
+    P[2][2]   = 0.25f * sq(1.0f*deg2rad);
+    P[3][3]   = 0.25f * sq(10.0f*deg2rad);
+    P[4][4]   = sq(0.7f);
+    P[5][5]   = P[4][4];
+    P[6][6]   = sq(0.7f);
+    P[7][7]   = sq(15.0f);
+    P[8][8]   = P[7][7];
+    P[9][9]   = sq(5.0f);
+    P[10][10] = sq(0.1f*deg2rad*dtIMU);
+    P[11][11] = P[10][10];
+    P[12][12] = P[10][10];
+    P[13][13] = sq(0.2f*dtIMU);
+    P[14][14] = sq(8.0f);
+    P[15][14]  = P[14][14];
+    P[16][16] = sq(0.02f);
+    P[17][17] = P[16][16];
+    P[18][18] = P[16][16];
+    P[19][19] = sq(0.02f);
+    P[20][20] = P[19][19];
+    P[21][21] = P[19][19];
+    P[22][22] = sq(0.5f);
+}
+
+float AttPosEKF::ConstrainFloat(float val, float min, float max)
+{
+    float ret;
+    if (val > max) {
+        ret = max;
+        ekf_debug("> max: %8.4f, val: %8.4f", max, val);
+    } else if (val < min) {
+        ret = min;
+        ekf_debug("< min: %8.4f, val: %8.4f", min, val);
+    } else {
+        ret = val;
+    }
+
+    if (!isfinite(val)) {
+        ekf_debug("constrain: non-finite!");
+    }
+
+    return ret;
+}
+
+void AttPosEKF::ConstrainVariances()
+{
+    if (!numericalProtection) {
+        return;
+    }
+
+    // State vector:
+    // 0-3: quaternions (q0, q1, q2, q3)
+    // 4-6: Velocity - m/sec (North, East, Down)
+    // 7-9: Position - m (North, East, Down)
+    // 10-12: Delta Angle bias - rad (X,Y,Z)
+    // 13: Delta Velocity bias - m/s (Z)
+    // 14-15: Wind Vector  - m/sec (North,East)
+    // 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
+    // 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
+    // 22: Terrain  offset - m
+
+    // Constrain quaternion variances
+    for (unsigned i = 0; i <= 3; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f);
+    }
+
+    // Constrain velocity variances
+    for (unsigned i = 4; i <= 6; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f);
+    }
+
+    // Constrain position variances
+    for (unsigned i = 7; i <= 9; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e6f);
+    }
+
+    // Constrain delta angle bias variances
+    for (unsigned i = 10; i <= 12; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, sq(0.12f * dtIMU));
+    }
+
+    // Constrain delta velocity bias variance
+    P[13][13] = ConstrainFloat(P[13][13], 0.0f, sq(1.0f * dtIMU));
+
+    // Wind velocity variances
+    for (unsigned i = 14; i <= 15; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f);
+    }
+
+    // Earth magnetic field variances
+    for (unsigned i = 16; i <= 18; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f);
+    }
+
+    // Body magnetic field variances
+    for (unsigned i = 19; i <= 21; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f);
+    }
+
+    // Constrain terrain offset variance
+    P[22][22] = ConstrainFloat(P[22][22], 0.0f, 10000.0f);
+}
+
+void AttPosEKF::ConstrainStates()
+{
+    if (!numericalProtection) {
+        return;
+    }
+
+    // State vector:
+    // 0-3: quaternions (q0, q1, q2, q3)
+    // 4-6: Velocity - m/sec (North, East, Down)
+    // 7-9: Position - m (North, East, Down)
+    // 10-12: Delta Angle bias - rad (X,Y,Z)
+    // 13: Delta Velocity bias - m/s (Z)
+    // 14-15: Wind Vector  - m/sec (North,East)
+    // 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
+    // 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
+    // 22: Terrain  offset - m
+
+    // Constrain quaternion
+    for (unsigned i = 0; i <= 3; i++) {
+        states[i] = ConstrainFloat(states[i], -1.0f, 1.0f);
+    }
+
+    // Constrain velocities to what GPS can do for us
+    for (unsigned i = 4; i <= 6; i++) {
+        states[i] = ConstrainFloat(states[i], -5.0e2f, 5.0e2f);
+    }
+
+    // Constrain position to a reasonable vehicle range (in meters)
+    for (unsigned i = 7; i <= 8; i++) {
+        states[i] = ConstrainFloat(states[i], -1.0e6f, 1.0e6f);
+    }
+
+    // Constrain altitude
+    states[9] = ConstrainFloat(states[9], -4.0e4f, 1.0e4f);
+
+    // Angle bias limit - set to 8 degrees / sec
+    for (unsigned i = 10; i <= 12; i++) {
+        states[i] = ConstrainFloat(states[i], -0.12f * dtIMU, 0.12f * dtIMU);
+    }
+
+    // Constrain delta velocity bias
+    states[13] = ConstrainFloat(states[13], -1.0f * dtIMU, 1.0f * dtIMU);
+
+    // Wind velocity limits - assume 120 m/s max velocity
+    for (unsigned i = 14; i <= 15; i++) {
+        states[i] = ConstrainFloat(states[i], -120.0f, 120.0f);
+    }
+
+    // Earth magnetic field limits (in Gauss)
+    for (unsigned i = 16; i <= 18; i++) {
+        states[i] = ConstrainFloat(states[i], -1.0f, 1.0f);
+    }
+
+    // Body magnetic field variances (in Gauss).
+    // the max offset should be in this range.
+    for (unsigned i = 19; i <= 21; i++) {
+        states[i] = ConstrainFloat(states[i], -0.5f, 0.5f);
+    }
+
+    // Constrain terrain offset
+    states[22] = ConstrainFloat(states[22], -1000.0f, 1000.0f);
+
+}
+
+void AttPosEKF::ForceSymmetry()
+{
+    if (!numericalProtection) {
+        return;
+    }
+
+    // Force symmetry on the covariance matrix to prevent ill-conditioning
+    // of the matrix which would cause the filter to blow-up
+    for (unsigned i = 1; i < n_states; i++)
+    {
+        for (uint8_t j = 0; j < i; j++)
+        {
+            P[i][j] = 0.5f * (P[i][j] + P[j][i]);
+            P[j][i] = P[i][j];
+        }
+    }
+}
+
+bool AttPosEKF::FilterHealthy()
+{
+    if (!statesInitialised) {
+        return false;
+    }
+
+    // XXX Check state vector for NaNs and ill-conditioning
+
+    // Check if any of the major inputs timed out
+    if (current_ekf_state.posTimeout || current_ekf_state.velTimeout || current_ekf_state.hgtTimeout) {
+        return false;
+    }
+
+    // Nothing fired, return ok.
+    return true;
+}
+
+/**
+ * Reset the filter position states
+ *
+ * This resets the position to the last GPS measurement
+ * or to zero in case of static position.
+ */
+void AttPosEKF::ResetPosition(void)
+{
+    if (staticMode) {
+        states[7] = 0;
+        states[8] = 0;
+    } else if (GPSstatus >= GPS_FIX_3D) {
+
+        // reset the states from the GPS measurements
+        states[7] = posNE[0];
+        states[8] = posNE[1];
+    }
+}
+
+/**
+ * Reset the height state.
+ *
+ * This resets the height state with the last altitude measurements
+ */
+void AttPosEKF::ResetHeight(void)
+{
+    // write to the state vector
+    states[9]   = -hgtMea;
+}
+
+/**
+ * Reset the velocity state.
+ */
+void AttPosEKF::ResetVelocity(void)
+{
+    if (staticMode) {
+        states[4] = 0.0f;
+        states[5] = 0.0f;
+        states[6] = 0.0f;
+    } else if (GPSstatus >= GPS_FIX_3D) {
+
+        states[4]  = velNED[0]; // north velocity from last reading
+        states[5]  = velNED[1]; // east velocity from last reading
+        states[6]  = velNED[2]; // down velocity from last reading
+    }
+}
+
+
+void AttPosEKF::FillErrorReport(struct ekf_status_report *err)
+{
+    for (unsigned i = 0; i < n_states; i++)
+    {
+        err->states[i] = states[i];
+    }
+
+    err->velHealth = current_ekf_state.velHealth;
+    err->posHealth = current_ekf_state.posHealth;
+    err->hgtHealth = current_ekf_state.hgtHealth;
+    err->velTimeout = current_ekf_state.velTimeout;
+    err->posTimeout = current_ekf_state.posTimeout;
+    err->hgtTimeout = current_ekf_state.hgtTimeout;
+}
+
+bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
+    bool err = false;
+
+    // check all integrators
+    if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) {
+        err_report->statesNaN = true;
+        ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z);
+        err = true;
+        goto out;
+    } // delta angles
+
+    if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) {
+        err_report->statesNaN = true;
+        ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z);
+        err = true;
+        goto out;
+    } // delta angles
+
+    if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) {
+        err_report->statesNaN = true;
+        ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z);
+        err = true;
+        goto out;
+    } // delta velocities
+
+    // check all states and covariance matrices
+    for (unsigned i = 0; i < n_states; i++) {
+        for (unsigned j = 0; j < n_states; j++) {
+            if (!isfinite(KH[i][j])) {
+
+                err_report->covarianceNaN = true;
+                err = true;
+                ekf_debug("KH NaN");
+                goto out;
+            } //  intermediate result used for covariance updates
+
+            if (!isfinite(KHP[i][j])) {
+
+                err_report->covarianceNaN = true;
+                err = true;
+                ekf_debug("KHP NaN");
+                goto out;
+            } // intermediate result used for covariance updates
+
+            if (!isfinite(P[i][j])) {
+
+                err_report->covarianceNaN = true;
+                err = true;
+                ekf_debug("P NaN");
+            } // covariance matrix
+        }
+
+        if (!isfinite(Kfusion[i])) {
+
+            err_report->kalmanGainsNaN = true;
+            ekf_debug("Kfusion NaN");
+            err = true;
+            goto out;
+        } // Kalman gains
+
+        if (!isfinite(states[i])) {
+
+            err_report->statesNaN = true;
+            ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]);
+            err = true;
+            goto out;
+        } // state matrix
+    }
+
+out:
+    if (err) {
+        FillErrorReport(err_report);
+    }
+
+    return err;
+
+}
+
+/**
+ * Check the filter inputs and bound its operational state
+ *
+ * This check will reset the filter states if required
+ * due to a failure of consistency or timeout checks.
+ * it should be run after the measurement data has been
+ * updated, but before any of the fusion steps are
+ * executed.
+ */
+int AttPosEKF::CheckAndBound()
+{
+
+    // Store the old filter state
+    bool currStaticMode = staticMode;
+
+    // Reset the filter if the states went NaN
+    if (StatesNaN(&last_ekf_error)) {
+        ekf_debug("re-initializing dynamic");
+
+        InitializeDynamic(velNED, magDeclination);
+
+        return 1;
+    }
+
+    // Reset the filter if the IMU data is too old
+    if (dtIMU > 0.3f) {
+
+        ResetVelocity();
+        ResetPosition();
+        ResetHeight();
+        ResetStoredStates();
+
+        // that's all we can do here, return
+        return 2;
+    }
+
+    // Check if we're on ground - this also sets static mode.
+    OnGroundCheck();
+
+    // Check if we switched between states
+    if (currStaticMode != staticMode) {
+        ResetVelocity();
+        ResetPosition();
+        ResetHeight();
+        ResetStoredStates();
+
+        return 3;
+    }
+
+    return 0;
+}
+
+void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat)
+{
+    float initialRoll, initialPitch;
+    float cosRoll, sinRoll, cosPitch, sinPitch;
+    float magX, magY;
+    float initialHdg, cosHeading, sinHeading;
+
+    initialRoll = atan2f(-ay, -az);
+    initialPitch = atan2f(ax, -az);
+
+    cosRoll = cosf(initialRoll);
+    sinRoll = sinf(initialRoll);
+    cosPitch = cosf(initialPitch);
+    sinPitch = sinf(initialPitch);
+
+    magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch;
+
+    magY = my * cosRoll - mz * sinRoll;
+
+    initialHdg = atan2f(-magY, magX);
+    /* true heading is the mag heading minus declination */
+    initialHdg += declination;
+
+    cosRoll = cosf(initialRoll * 0.5f);
+    sinRoll = sinf(initialRoll * 0.5f);
+
+    cosPitch = cosf(initialPitch * 0.5f);
+    sinPitch = sinf(initialPitch * 0.5f);
+
+    cosHeading = cosf(initialHdg * 0.5f);
+    sinHeading = sinf(initialHdg * 0.5f);
+
+    initQuat[0] = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading;
+    initQuat[1] = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading;
+    initQuat[2] = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading;
+    initQuat[3] = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
+
+    /* normalize */
+    float norm = sqrtf(initQuat[0]*initQuat[0] + initQuat[1]*initQuat[1] + initQuat[2]*initQuat[2] + initQuat[3]*initQuat[3]);
+
+    initQuat[0] /= norm;
+    initQuat[1] /= norm;
+    initQuat[2] /= norm;
+    initQuat[3] /= norm;
+}
+
+void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
+{
+
+    // Fill variables with valid data
+    velNED[0] = initvelNED[0];
+    velNED[1] = initvelNED[1];
+    velNED[2] = initvelNED[2];
+    magDeclination = declination;
+
+    // Calculate initial filter quaternion states from raw measurements
+    float initQuat[4];
+    Vector3f initMagXYZ;
+    initMagXYZ   = magData - magBias;
+    AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, declination, initQuat);
+
+    // Calculate initial Tbn matrix and rotate Mag measurements into NED
+    // to set initial NED magnetic field states
+    Mat3f DCM;
+    quat2Tbn(DCM, initQuat);
+    Vector3f initMagNED;
+    initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z;
+    initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z;
+    initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z;
+
+    magstate.q0 = initQuat[0];
+    magstate.q1 = initQuat[1];
+    magstate.q2 = initQuat[2];
+    magstate.q3 = initQuat[3];
+    magstate.magN = initMagNED.x;
+    magstate.magE = initMagNED.y;
+    magstate.magD = initMagNED.z;
+    magstate.magXbias = magBias.x;
+    magstate.magYbias = magBias.y;
+    magstate.magZbias = magBias.z;
+    magstate.R_MAG = sq(magMeasurementSigma);
+    magstate.DCM = DCM;
+
+    // write to state vector
+    for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions
+    for (uint8_t j=4; j<=6; j++) states[j] = initvelNED[j-4]; // velocities
+    for (uint8_t j=7; j<=15; j++) states[j] = 0.0f; // positions, dAngBias, dVelBias, windVel
+    states[16] = initMagNED.x; // Magnetic Field North
+    states[17] = initMagNED.y; // Magnetic Field East
+    states[18] = initMagNED.z; // Magnetic Field Down
+    states[19] = magBias.x; // Magnetic Field Bias X
+    states[20] = magBias.y; // Magnetic Field Bias Y
+    states[21] = magBias.z; // Magnetic Field Bias Z
+    states[22] = 0.0f; // terrain height
+
+    ResetVelocity();
+    ResetPosition();
+    ResetHeight();
+
+    statesInitialised = true;
+
+    // initialise the covariance matrix
+    CovarianceInit();
+
+    //Define Earth rotation vector in the NED navigation frame
+    calcEarthRateNED(earthRateNED, latRef);
+
+}
+
+void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination)
+{
+    // store initial lat,long and height
+    latRef = referenceLat;
+    lonRef = referenceLon;
+    hgtRef = referenceHgt;
+    refSet = true;
+
+    // we are at reference altitude, so measurement must be zero
+    hgtMea = 0.0f;
+
+    // the baro offset must be this difference now
+    baroHgtOffset = baroHgt - referenceHgt;
+
+    memset(&last_ekf_error, 0, sizeof(last_ekf_error));
+
+    InitializeDynamic(initvelNED, declination);
+}
+
+void AttPosEKF::ZeroVariables()
+{
+
+    // Initialize on-init initialized variables
+    fusionModeGPS = 0;
+    covSkipCount = 0;
+    statesInitialised = false;
+    fuseVelData = false;
+    fusePosData = false;
+    fuseHgtData = false;
+    fuseMagData = false;
+    fuseVtasData = false;
+    onGround = true;
+    staticMode = true;
+    useAirspeed = true;
+    useCompass = true;
+    useRangeFinder = true;
+    numericalProtection = true;
+    refSet = false;
+    storeIndex = 0;
+    gpsHgt = 0.0f;
+    baroHgt = 0.0f;
+    GPSstatus = 0;
+    VtasMeas = 0.0f;
+    magDeclination = 0.0f;
+
+    // Do the data structure init
+    for (unsigned i = 0; i < n_states; i++) {
+        for (unsigned j = 0; j < n_states; j++) {
+            KH[i][j] = 0.0f; //  intermediate result used for covariance updates
+            KHP[i][j] = 0.0f; // intermediate result used for covariance updates
+            P[i][j] = 0.0f; // covariance matrix
+        }
+
+        Kfusion[i] = 0.0f; // Kalman gains
+        states[i] = 0.0f; // state matrix
+    }
+
+    correctedDelAng.zero();
+    summedDelAng.zero();
+    summedDelVel.zero();
+
+    dAngIMU.zero();
+    dVelIMU.zero();
+
+    for (unsigned i = 0; i < data_buffer_size; i++) {
+
+        for (unsigned j = 0; j < n_states; j++) {
+            storedStates[j][i] = 0.0f;
+        }
+
+        statetimeStamp[i] = 0;
+    }
+
+    memset(&magstate, 0, sizeof(magstate));
+    magstate.q0 = 1.0f;
+    magstate.DCM.identity();
+
+    memset(&current_ekf_state, 0, sizeof(current_ekf_state));
+
+}
+
+void AttPosEKF::GetFilterState(struct ekf_status_report *state)
+{
+    memcpy(state, &current_ekf_state, sizeof(*state));
+}
+
+void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error)
+{
+    memcpy(last_error, &last_ekf_error, sizeof(*last_error));
+}
diff --git a/src/modules/ekf_att_pos_estimator/estimator.h b/src/modules/ekf_att_pos_estimator/estimator.h
new file mode 100644
index 000000000..e821089f2
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator.h
@@ -0,0 +1,352 @@
+#include <math.h>
+#include <stdint.h>
+
+#pragma once
+
+#define GRAVITY_MSS 9.80665f
+#define deg2rad 0.017453292f
+#define rad2deg 57.295780f
+#define pi 3.141592657f
+#define earthRate 0.000072921f
+#define earthRadius 6378145.0f
+#define earthRadiusInv  1.5678540e-7f
+
+class Vector3f
+{
+private:
+public:
+    float x;
+    float y;
+    float z;
+
+    float length(void) const;
+    void zero(void);
+};
+
+class Mat3f
+{
+private:
+public:
+    Vector3f x;
+    Vector3f y;
+    Vector3f z;
+
+    Mat3f();
+
+    void identity();
+    Mat3f transpose(void) const;
+};
+
+Vector3f operator*(float sclIn1, Vector3f vecIn1);
+Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator*( Mat3f matIn, Vector3f vecIn);
+Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator*(Vector3f vecIn1, float sclIn1);
+
+void swap_var(float &d1, float &d2);
+
+const unsigned int n_states = 23;
+const unsigned int data_buffer_size = 50;
+
+enum GPS_FIX {
+    GPS_FIX_NOFIX = 0,
+    GPS_FIX_2D = 2,
+    GPS_FIX_3D = 3
+};
+
+struct ekf_status_report {
+    bool velHealth;
+    bool posHealth;
+    bool hgtHealth;
+    bool velTimeout;
+    bool posTimeout;
+    bool hgtTimeout;
+    uint32_t velFailTime;
+    uint32_t posFailTime;
+    uint32_t hgtFailTime;
+    float states[n_states];
+    bool statesNaN;
+    bool covarianceNaN;
+    bool kalmanGainsNaN;
+};
+
+class AttPosEKF {
+
+public:
+
+    AttPosEKF();
+    ~AttPosEKF();
+
+
+
+    /* ##############################################
+     *
+     *   M A I N    F I L T E R    P A R A M E T E R S
+     *
+     * ########################################### */
+
+    /*
+     * parameters are defined here and initialised in
+     * the InitialiseParameters() (which is just 20 lines down)
+     */
+
+    float covTimeStepMax; // maximum time allowed between covariance predictions
+    float covDelAngMax; // maximum delta angle between covariance predictions
+    float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
+
+    float yawVarScale;
+    float windVelSigma;
+    float dAngBiasSigma;
+    float dVelBiasSigma;
+    float magEarthSigma;
+    float magBodySigma;
+    float gndHgtSigma;
+
+    float vneSigma;
+    float vdSigma;
+    float posNeSigma;
+    float posDSigma;
+    float magMeasurementSigma;
+    float airspeedMeasurementSigma;
+
+    float gyroProcessNoise;
+    float accelProcessNoise;
+
+    float EAS2TAS; // ratio f true to equivalent airspeed
+
+    void InitialiseParameters()
+    {
+        covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
+        covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
+        rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
+        EAS2TAS = 1.0f;
+
+        yawVarScale = 1.0f;
+        windVelSigma = 0.1f;
+        dAngBiasSigma = 5.0e-7f;
+        dVelBiasSigma = 1e-4f;
+        magEarthSigma = 3.0e-4f;
+        magBodySigma  = 3.0e-4f;
+        gndHgtSigma  = 0.02f; // assume 2% terrain gradient 1-sigma
+
+        vneSigma = 0.2f;
+        vdSigma = 0.3f;
+        posNeSigma = 2.0f;
+        posDSigma = 2.0f;
+
+        magMeasurementSigma = 0.05;
+        airspeedMeasurementSigma = 1.4f;
+        gyroProcessNoise = 1.4544411e-2f;
+        accelProcessNoise = 0.5f;
+    }
+
+    struct {
+        unsigned obsIndex;
+        float MagPred[3];
+        float SH_MAG[9];
+        float q0;
+        float q1;
+        float q2;
+        float q3;
+        float magN;
+        float magE;
+        float magD;
+        float magXbias;
+        float magYbias;
+        float magZbias;
+        float R_MAG;
+        Mat3f DCM;
+    } magstate;
+
+
+    // Global variables
+    float KH[n_states][n_states]; //  intermediate result used for covariance updates
+    float KHP[n_states][n_states]; // intermediate result used for covariance updates
+    float P[n_states][n_states]; // covariance matrix
+    float Kfusion[n_states]; // Kalman gains
+    float states[n_states]; // state matrix
+    float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
+    uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
+
+    float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+    float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+    float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
+    float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
+    float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
+    float statesAtRngTime[n_states]; // filter states at the effective measurement time
+
+    Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
+    Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
+    Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
+    Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
+    float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
+    Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
+    Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
+
+    Mat3f Tbn; // transformation matrix from body to NED coordinates
+    Mat3f Tnb; // transformation amtrix from NED to body coordinates
+
+    Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
+    Vector3f dVelIMU;
+    Vector3f dAngIMU;
+    float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
+    uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
+    float innovVelPos[6]; // innovation output
+    float varInnovVelPos[6]; // innovation variance output
+
+    float velNED[3]; // North, East, Down velocity obs (m/s)
+    float posNE[2]; // North, East position obs (m)
+    float hgtMea; //  measured height (m)
+    float baroHgtOffset;        ///< the baro (weather) offset from normalized altitude
+    float rngMea; // Ground distance
+    float posNED[3]; // North, East Down position (m)
+
+    float innovMag[3]; // innovation output
+    float varInnovMag[3]; // innovation variance output
+    Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
+    float innovVtas; // innovation output
+    float innovRng; ///< Range finder innovation
+    float varInnovVtas; // innovation variance output
+    float VtasMeas; // true airspeed measurement (m/s)
+    float magDeclination;       ///< magnetic declination
+    double latRef; // WGS-84 latitude of reference point (rad)
+    double lonRef; // WGS-84 longitude of reference point (rad)
+    float hgtRef; // WGS-84 height of reference point (m)
+    bool refSet;                ///< flag to indicate if the reference position has been set
+    Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
+    unsigned covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
+
+    // GPS input data variables
+    float gpsCourse;
+    float gpsVelD;
+    double gpsLat;
+    double gpsLon;
+    float gpsHgt;
+    uint8_t GPSstatus;
+
+    // Baro input
+    float baroHgt;
+
+    bool statesInitialised;
+
+    bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
+    bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
+    bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
+    bool fuseMagData; // boolean true when magnetometer data is to be fused
+    bool fuseVtasData; // boolean true when airspeed data is to be fused
+    bool fuseRngData;   ///< true when range data is fused
+
+    bool onGround;    ///< boolean true when the flight vehicle is on the ground (not flying)
+    bool staticMode;    ///< boolean true if no position feedback is fused
+    bool useAirspeed;    ///< boolean true if airspeed data is being used
+    bool useCompass;    ///< boolean true if magnetometer data is being used
+    bool useRangeFinder;     ///< true when rangefinder is being used
+
+    struct ekf_status_report current_ekf_state;
+    struct ekf_status_report last_ekf_error;
+
+    bool numericalProtection;
+
+    unsigned storeIndex;
+
+
+void  UpdateStrapdownEquationsNED();
+
+void CovariancePrediction(float dt);
+
+void FuseVelposNED();
+
+void FuseMagnetometer();
+
+void FuseAirspeed();
+
+void FuseRangeFinder();
+
+void FuseOpticalFlow();
+
+void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+void quatNorm(float (&quatOut)[4], const float quatIn[4]);
+
+// store staes along with system time stamp in msces
+void StoreStates(uint64_t timestamp_ms);
+
+/**
+ * Recall the state vector.
+ *
+ * Recalls the vector stored at closest time to the one specified by msec
+ *
+ * @return zero on success, integer indicating the number of invalid states on failure.
+ *         Does only copy valid states, if the statesForFusion vector was initialized
+ *         correctly by the caller, the result can be safely used, but is a mixture
+ *         time-wise where valid states were updated and invalid remained at the old
+ *         value.
+ */
+int RecallStates(float *statesForFusion, uint64_t msec);
+
+void ResetStoredStates();
+
+void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
+
+void calcEarthRateNED(Vector3f &omega, float latitude);
+
+static void eul2quat(float (&quat)[4], const float (&eul)[3]);
+
+static void quat2eul(float (&eul)[3], const float (&quat)[4]);
+
+static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
+
+static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
+
+static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
+
+static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
+
+static float sq(float valIn);
+
+void OnGroundCheck();
+
+void CovarianceInit();
+
+void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination);
+
+float ConstrainFloat(float val, float min, float max);
+
+void ConstrainVariances();
+
+void ConstrainStates();
+
+void ForceSymmetry();
+
+int CheckAndBound();
+
+void ResetPosition();
+
+void ResetVelocity();
+
+void ZeroVariables();
+
+void GetFilterState(struct ekf_status_report *state);
+
+void GetLastErrorState(struct ekf_status_report *last_error);
+
+bool StatesNaN(struct ekf_status_report *err_report);
+void FillErrorReport(struct ekf_status_report *err);
+
+void InitializeDynamic(float (&initvelNED)[3], float declination);
+
+protected:
+
+bool FilterHealthy();
+
+void ResetHeight(void);
+
+void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
+
+};
+
+uint32_t millis();
+
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
new file mode 100644
index 000000000..907f4c2e1
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -0,0 +1,1523 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 fw_att_pos_estimator_main.cpp
+ * Implementation of the attitude and position estimator.
+ *
+ * @author Paul Riseborough <p_riseborough@live.com.au>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <drivers/drv_hrt.h>
+
+#define SENSOR_COMBINED_SUB
+
+
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_baro.h>
+#ifdef SENSOR_COMBINED_SUB
+#include <uORB/topics/sensor_combined.h>
+#endif
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/estimator_status.h>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/home_position.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <mathlib/mathlib.h>
+#include <mavlink/mavlink_log.h>
+
+#include "estimator.h"
+
+
+
+/**
+ * estimator app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]);
+
+__EXPORT uint32_t millis();
+
+static uint64_t last_run = 0;
+static uint64_t IMUmsec = 0;
+static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;
+
+uint32_t millis()
+{
+	return IMUmsec;
+}
+
+class FixedwingEstimator
+{
+public:
+	/**
+	 * Constructor
+	 */
+	FixedwingEstimator();
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~FixedwingEstimator();
+
+	/**
+	 * Start the sensors task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+	/**
+	 * Print the current status.
+	 */
+	void		print_status();
+
+	/**
+	 * Trip the filter by feeding it NaN values.
+	 */
+	int		trip_nan();
+
+private:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	int		_estimator_task;			/**< task handle for sensor task */
+#ifndef SENSOR_COMBINED_SUB
+	int		_gyro_sub;			/**< gyro sensor subscription */
+	int		_accel_sub;			/**< accel sensor subscription */
+	int		_mag_sub;			/**< mag sensor subscription */
+#else
+	int		_sensor_combined_sub;
+#endif
+	int		_airspeed_sub;			/**< airspeed subscription */
+	int		_baro_sub;			/**< barometer subscription */
+	int		_gps_sub;			/**< GPS subscription */
+	int		_vstatus_sub;			/**< vehicle status subscription */
+	int 		_params_sub;			/**< notification of parameter updates */
+	int 		_manual_control_sub;		/**< notification of manual control updates */
+	int		_mission_sub;
+	int		_home_sub;			/**< home position as defined by commander / user */
+
+	orb_advert_t	_att_pub;			/**< vehicle attitude */
+	orb_advert_t	_global_pos_pub;		/**< global position */
+	orb_advert_t	_local_pos_pub;			/**< position in local frame */
+	orb_advert_t	_estimator_status_pub;		/**< status of the estimator */
+
+	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
+	struct gyro_report				_gyro;
+	struct accel_report				_accel;
+	struct mag_report				_mag;
+	struct airspeed_s				_airspeed;		/**< airspeed */
+	struct baro_report				_baro;			/**< baro readings */
+	struct vehicle_status_s				_vstatus;		/**< vehicle status */
+	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
+	struct vehicle_local_position_s			_local_pos;		/**< local vehicle position */
+	struct vehicle_gps_position_s			_gps;			/**< GPS position */
+
+	struct gyro_scale				_gyro_offsets;
+	struct accel_scale				_accel_offsets;
+	struct mag_scale				_mag_offsets;
+
+#ifdef SENSOR_COMBINED_SUB
+	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 */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+	perf_counter_t	_perf_gyro;			///<local performance counter for gyro updates
+	perf_counter_t	_perf_accel;			///<local performance counter for accel updates
+	perf_counter_t	_perf_mag;			///<local performance counter for mag updates
+	perf_counter_t	_perf_gps;			///<local performance counter for gps updates
+	perf_counter_t	_perf_baro;			///<local performance counter for baro updates
+	perf_counter_t	_perf_airspeed;			///<local performance counter for airspeed updates
+
+	bool						_initialized;
+	bool						_baro_init;
+	bool						_gps_initialized;
+	uint64_t					_gps_start_time;
+	uint64_t					_filter_start_time;
+	bool						_gyro_valid;
+	bool						_accel_valid;
+	bool						_mag_valid;
+
+	int						_mavlink_fd;
+
+	struct {
+		int32_t	vel_delay_ms;
+		int32_t	pos_delay_ms;
+		int32_t	height_delay_ms;
+		int32_t	mag_delay_ms;
+		int32_t	tas_delay_ms;
+		float velne_noise;
+		float veld_noise;
+		float posne_noise;
+		float posd_noise;
+		float mag_noise;
+		float gyro_pnoise;
+		float acc_pnoise;
+		float gbias_pnoise;
+		float abias_pnoise;
+		float mage_pnoise;
+		float magb_pnoise;
+		float eas_noise;
+		float pos_stddev_threshold;
+	}		_parameters;			/**< local copies of interesting parameters */
+
+	struct {
+		param_t vel_delay_ms;
+		param_t	pos_delay_ms;
+		param_t	height_delay_ms;
+		param_t	mag_delay_ms;
+		param_t	tas_delay_ms;
+		param_t velne_noise;
+		param_t veld_noise;
+		param_t posne_noise;
+		param_t posd_noise;
+		param_t mag_noise;
+		param_t gyro_pnoise;
+		param_t acc_pnoise;
+		param_t gbias_pnoise;
+		param_t abias_pnoise;
+		param_t mage_pnoise;
+		param_t magb_pnoise;
+		param_t eas_noise;
+		param_t pos_stddev_threshold;
+	}		_parameter_handles;		/**< handles for interesting parameters */
+
+	AttPosEKF					*_ekf;
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+	/**
+	 * Update control outputs
+	 *
+	 */
+	void		control_update();
+
+	/**
+	 * Check for changes in vehicle status.
+	 */
+	void		vehicle_status_poll();
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static void	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main sensor collection task.
+	 */
+	void		task_main();
+};
+
+namespace estimator
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+FixedwingEstimator	*g_estimator;
+}
+
+FixedwingEstimator::FixedwingEstimator() :
+
+	_task_should_exit(false),
+	_estimator_task(-1),
+
+/* subscriptions */
+#ifndef SENSOR_COMBINED_SUB
+	_gyro_sub(-1),
+	_accel_sub(-1),
+	_mag_sub(-1),
+#else
+	_sensor_combined_sub(-1),
+#endif
+	_airspeed_sub(-1),
+	_baro_sub(-1),
+	_gps_sub(-1),
+	_vstatus_sub(-1),
+	_params_sub(-1),
+	_manual_control_sub(-1),
+	_mission_sub(-1),
+	_home_sub(-1),
+
+/* publications */
+	_att_pub(-1),
+	_global_pos_pub(-1),
+	_local_pos_pub(-1),
+	_estimator_status_pub(-1),
+
+	_att({}),
+	_gyro({}),
+	_accel({}),
+	_mag({}),
+	_airspeed({}),
+	_baro({}),
+	_vstatus({}),
+	_global_pos({}),
+	_local_pos({}),
+	_gps({}),
+
+	_gyro_offsets({}),
+	_accel_offsets({}),
+	_mag_offsets({}),
+
+	#ifdef SENSOR_COMBINED_SUB
+	_sensor_combined({}),
+	#endif
+
+	_baro_ref(0.0f),
+	_baro_gps_offset(0.0f),
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_COUNT, "fw_att_pos_estimator")),
+	_perf_gyro(perf_alloc(PC_COUNT, "fw_ekf_gyro_upd")),
+	_perf_accel(perf_alloc(PC_COUNT, "fw_ekf_accel_upd")),
+	_perf_mag(perf_alloc(PC_COUNT, "fw_ekf_mag_upd")),
+	_perf_gps(perf_alloc(PC_COUNT, "fw_ekf_gps_upd")),
+	_perf_baro(perf_alloc(PC_COUNT, "fw_ekf_baro_upd")),
+	_perf_airspeed(perf_alloc(PC_COUNT, "fw_ekf_aspd_upd")),
+
+/* states */
+	_initialized(false),
+	_baro_init(false),
+	_gps_initialized(false),
+	_gyro_valid(false),
+	_accel_valid(false),
+	_mag_valid(false),
+	_mavlink_fd(-1),
+	_ekf(nullptr)
+{
+
+	last_run = hrt_absolute_time();
+
+	_parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS");
+	_parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS");
+	_parameter_handles.height_delay_ms = param_find("PE_HGT_DELAY_MS");
+	_parameter_handles.mag_delay_ms = param_find("PE_MAG_DELAY_MS");
+	_parameter_handles.tas_delay_ms = param_find("PE_TAS_DELAY_MS");
+	_parameter_handles.velne_noise = param_find("PE_VELNE_NOISE");
+	_parameter_handles.veld_noise = param_find("PE_VELD_NOISE");
+	_parameter_handles.posne_noise = param_find("PE_POSNE_NOISE");
+	_parameter_handles.posd_noise = param_find("PE_POSD_NOISE");
+	_parameter_handles.mag_noise = param_find("PE_MAG_NOISE");
+	_parameter_handles.gyro_pnoise = param_find("PE_GYRO_PNOISE");
+	_parameter_handles.acc_pnoise = param_find("PE_ACC_PNOISE");
+	_parameter_handles.gbias_pnoise = param_find("PE_GBIAS_PNOISE");
+	_parameter_handles.abias_pnoise = param_find("PE_ABIAS_PNOISE");
+	_parameter_handles.mage_pnoise = param_find("PE_MAGE_PNOISE");
+	_parameter_handles.magb_pnoise = param_find("PE_MAGB_PNOISE");
+	_parameter_handles.eas_noise = param_find("PE_EAS_NOISE");
+	_parameter_handles.pos_stddev_threshold = param_find("PE_POSDEV_INIT");
+
+	/* fetch initial parameter values */
+	parameters_update();
+
+	/* get offsets */
+
+	int fd, res;
+
+	fd = open(GYRO_DEVICE_PATH, O_RDONLY);
+
+	if (fd > 0) {
+		res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets);
+		close(fd);
+
+		if (res) {
+			warnx("G SCALE FAIL");
+		}
+	}
+
+	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd > 0) {
+		res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets);
+		close(fd);
+
+		if (res) {
+			warnx("A SCALE FAIL");
+		}
+	}
+
+	fd = open(MAG_DEVICE_PATH, O_RDONLY);
+
+	if (fd > 0) {
+		res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets);
+		close(fd);
+
+		if (res) {
+			warnx("M SCALE FAIL");
+		}
+	}
+}
+
+FixedwingEstimator::~FixedwingEstimator()
+{
+	if (_estimator_task != -1) {
+
+		/* task wakes up every 100ms or so at the longest */
+		_task_should_exit = true;
+
+		/* wait for a second for the task to quit at our request */
+		unsigned i = 0;
+
+		do {
+			/* wait 20ms */
+			usleep(20000);
+
+			/* if we have given up, kill it */
+			if (++i > 50) {
+				task_delete(_estimator_task);
+				break;
+			}
+		} while (_estimator_task != -1);
+	}
+
+	estimator::g_estimator = nullptr;
+}
+
+int
+FixedwingEstimator::parameters_update()
+{
+
+	param_get(_parameter_handles.vel_delay_ms, &(_parameters.vel_delay_ms));
+	param_get(_parameter_handles.pos_delay_ms, &(_parameters.pos_delay_ms));
+	param_get(_parameter_handles.height_delay_ms, &(_parameters.height_delay_ms));
+	param_get(_parameter_handles.mag_delay_ms, &(_parameters.mag_delay_ms));
+	param_get(_parameter_handles.tas_delay_ms, &(_parameters.tas_delay_ms));
+	param_get(_parameter_handles.velne_noise, &(_parameters.velne_noise));
+	param_get(_parameter_handles.veld_noise, &(_parameters.veld_noise));
+	param_get(_parameter_handles.posne_noise, &(_parameters.posne_noise));
+	param_get(_parameter_handles.posd_noise, &(_parameters.posd_noise));
+	param_get(_parameter_handles.mag_noise, &(_parameters.mag_noise));
+	param_get(_parameter_handles.gyro_pnoise, &(_parameters.gyro_pnoise));
+	param_get(_parameter_handles.acc_pnoise, &(_parameters.acc_pnoise));
+	param_get(_parameter_handles.gbias_pnoise, &(_parameters.gbias_pnoise));
+	param_get(_parameter_handles.abias_pnoise, &(_parameters.abias_pnoise));
+	param_get(_parameter_handles.mage_pnoise, &(_parameters.mage_pnoise));
+	param_get(_parameter_handles.magb_pnoise, &(_parameters.magb_pnoise));
+	param_get(_parameter_handles.eas_noise, &(_parameters.eas_noise));
+	param_get(_parameter_handles.pos_stddev_threshold, &(_parameters.pos_stddev_threshold));
+
+	if (_ekf) {
+		// _ekf->yawVarScale = 1.0f;
+		// _ekf->windVelSigma = 0.1f;
+		_ekf->dAngBiasSigma = _parameters.gbias_pnoise;
+		_ekf->dVelBiasSigma = _parameters.abias_pnoise;
+		_ekf->magEarthSigma = _parameters.mage_pnoise;
+		_ekf->magBodySigma  = _parameters.magb_pnoise;
+		// _ekf->gndHgtSigma  = 0.02f;
+		_ekf->vneSigma = _parameters.velne_noise;
+		_ekf->vdSigma = _parameters.veld_noise;
+		_ekf->posNeSigma = _parameters.posne_noise;
+		_ekf->posDSigma = _parameters.posd_noise;
+		_ekf->magMeasurementSigma = _parameters.mag_noise;
+		_ekf->gyroProcessNoise = _parameters.gyro_pnoise;
+        	_ekf->accelProcessNoise = _parameters.acc_pnoise;
+		_ekf->airspeedMeasurementSigma = _parameters.eas_noise;
+	}
+
+	return OK;
+}
+
+void
+FixedwingEstimator::vehicle_status_poll()
+{
+	bool vstatus_updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_vstatus_sub, &vstatus_updated);
+
+	if (vstatus_updated) {
+
+		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
+	}
+}
+
+void
+FixedwingEstimator::task_main_trampoline(int argc, char *argv[])
+{
+	estimator::g_estimator->task_main();
+}
+
+void
+FixedwingEstimator::task_main()
+{
+	_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+
+	_ekf = new AttPosEKF();
+	float dt = 0.0f; // time lapsed since last covariance prediction
+	_filter_start_time = hrt_absolute_time();
+
+	if (!_ekf) {
+		errx(1, "failed allocating EKF filter - out of RAM!");
+	}
+
+	/*
+	 * do subscriptions
+	 */
+	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
+	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_home_sub = orb_subscribe(ORB_ID(home_position));
+
+	/* rate limit vehicle status updates to 5Hz */
+	orb_set_interval(_vstatus_sub, 200);
+
+#ifndef SENSOR_COMBINED_SUB
+
+	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
+
+	/* rate limit gyro updates to 50 Hz */
+	/* XXX remove this!, BUT increase the data buffer size! */
+	orb_set_interval(_gyro_sub, 4);
+#else
+	_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
+	/* XXX remove this!, BUT increase the data buffer size! */
+	orb_set_interval(_sensor_combined_sub, 4);
+#endif
+
+	/* sets also parameters in the EKF object */
+	parameters_update();
+
+	Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
+	Vector3f lastAccel = {0.0f, 0.0f, 0.0f};
+
+	/* wakeup source(s) */
+	struct pollfd fds[2];
+
+	/* Setup of loop */
+	fds[0].fd = _params_sub;
+	fds[0].events = POLLIN;
+#ifndef SENSOR_COMBINED_SUB
+	fds[1].fd = _gyro_sub;
+	fds[1].events = POLLIN;
+#else
+	fds[1].fd = _sensor_combined_sub;
+	fds[1].events = POLLIN;
+#endif
+
+	bool newDataGps = false;
+	bool newHgtData = false;
+	bool newAdsData = false;
+	bool newDataMag = false;
+
+	while (!_task_should_exit) {
+
+		/* wait for up to 500ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		/* timed out - periodic check for _task_should_exit, etc. */
+		if (pret == 0)
+			continue;
+
+		/* this is undesirable but not much we can do - might want to flag unhappy status */
+		if (pret < 0) {
+			warn("poll error %d, %d", pret, errno);
+			continue;
+		}
+
+		perf_begin(_loop_perf);
+
+		/* only update parameters if they changed */
+		if (fds[0].revents & POLLIN) {
+			/* read from param to clear updated flag */
+			struct parameter_update_s update;
+			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
+
+			/* update parameters from storage */
+			parameters_update();
+		}
+
+		/* only run estimator if gyro updated */
+		if (fds[1].revents & POLLIN) {
+
+			/* check vehicle status for changes to publication state */
+			bool prev_hil = (_vstatus.hil_state == HIL_STATE_ON);
+			vehicle_status_poll();
+
+			bool accel_updated;
+			bool mag_updated;
+
+			hrt_abstime last_sensor_timestamp;
+
+			perf_count(_perf_gyro);
+
+			/* Reset baro reference if switching to HIL, reset sensor states */
+			if (!prev_hil && (_vstatus.hil_state == HIL_STATE_ON)) {
+				/* system is in HIL now, wait for measurements to come in one last round */
+				usleep(60000);
+
+#ifndef SENSOR_COMBINED_SUB
+				orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
+				orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+				orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
+#else
+				/* now read all sensor publications to ensure all real sensor data is purged */
+				orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
+#endif
+
+				/* set sensors to de-initialized state */
+				_gyro_valid = false;
+				_accel_valid = false;
+				_mag_valid = false;
+
+				_baro_init = false;
+				_gps_initialized = false;
+				last_sensor_timestamp = hrt_absolute_time();
+				last_run = last_sensor_timestamp;
+
+				_ekf->ZeroVariables();
+				_ekf->dtIMU = 0.01f;
+				_filter_start_time = last_sensor_timestamp;
+
+				/* now skip this loop and get data on the next one, which will also re-init the filter */
+				continue;
+			}
+
+			/**
+			 *    PART ONE: COLLECT ALL DATA
+			 **/
+
+			/* load local copies */
+#ifndef SENSOR_COMBINED_SUB
+			orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
+
+
+			orb_check(_accel_sub, &accel_updated);
+
+			if (accel_updated) {
+				perf_count(_perf_accel);
+				orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+			}
+
+			last_sensor_timestamp = _gyro.timestamp;
+			IMUmsec = _gyro.timestamp / 1e3f;
+
+			float deltaT = (_gyro.timestamp - last_run) / 1e6f;
+			last_run = _gyro.timestamp;
+
+			/* guard against too large deltaT's */
+			if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) {
+				deltaT = 0.01f;
+			}
+
+
+			// Always store data, independent of init status
+			/* fill in last data set */
+			_ekf->dtIMU = deltaT;
+
+			if (isfinite(_gyro.x) &&
+				isfinite(_gyro.y) &&
+				isfinite(_gyro.z)) {
+				_ekf->angRate.x = _gyro.x;
+				_ekf->angRate.y = _gyro.y;
+				_ekf->angRate.z = _gyro.z;
+
+				if (!_gyro_valid) {
+					lastAngRate = _ekf->angRate;
+				}
+
+				_gyro_valid = true;
+			}
+
+			if (accel_updated) {
+				_ekf->accel.x = _accel.x;
+				_ekf->accel.y = _accel.y;
+				_ekf->accel.z = _accel.z;
+
+				if (!_accel_valid) {
+					lastAccel = _ekf->accel;
+				}
+
+				_accel_valid = true;
+			}
+
+			_ekf->dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
+			_ekf->lastAngRate = angRate;
+			_ekf->dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
+			_ekf->lastAccel = accel;
+
+
+#else
+			orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
+
+			static hrt_abstime last_accel = 0;
+			static hrt_abstime last_mag = 0;
+
+			if (last_accel != _sensor_combined.accelerometer_timestamp) {
+				accel_updated = true;
+			} else {
+				accel_updated = false;
+			}
+
+			last_accel = _sensor_combined.accelerometer_timestamp;
+
+
+			// Copy gyro and accel
+			last_sensor_timestamp = _sensor_combined.timestamp;
+			IMUmsec = _sensor_combined.timestamp / 1e3f;
+
+			float deltaT = (_sensor_combined.timestamp - last_run) / 1e6f;
+
+			/* guard against too large deltaT's */
+			if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) {
+				deltaT = 0.01f;
+			}
+
+			last_run = _sensor_combined.timestamp;
+
+			// Always store data, independent of init status
+			/* fill in last data set */
+			_ekf->dtIMU = deltaT;
+
+			if (isfinite(_sensor_combined.gyro_rad_s[0]) &&
+				isfinite(_sensor_combined.gyro_rad_s[1]) &&
+				isfinite(_sensor_combined.gyro_rad_s[2])) {
+				_ekf->angRate.x = _sensor_combined.gyro_rad_s[0];
+				_ekf->angRate.y = _sensor_combined.gyro_rad_s[1];
+				_ekf->angRate.z = _sensor_combined.gyro_rad_s[2];
+
+				if (!_gyro_valid) {
+					lastAngRate = _ekf->angRate;
+				}
+
+				_gyro_valid = true;
+			}
+
+			if (accel_updated) {
+				_ekf->accel.x = _sensor_combined.accelerometer_m_s2[0];
+				_ekf->accel.y = _sensor_combined.accelerometer_m_s2[1];
+				_ekf->accel.z = _sensor_combined.accelerometer_m_s2[2];
+
+				if (!_accel_valid) {
+					lastAccel = _ekf->accel;
+				}
+
+				_accel_valid = true;
+			}
+
+			_ekf->dAngIMU = 0.5f * (_ekf->angRate + lastAngRate) * _ekf->dtIMU;
+			lastAngRate = _ekf->angRate;
+			_ekf->dVelIMU = 0.5f * (_ekf->accel + lastAccel) * _ekf->dtIMU;
+			lastAccel = _ekf->accel;
+
+			if (last_mag != _sensor_combined.magnetometer_timestamp) {
+				mag_updated = true;
+				newDataMag = true;
+
+			} else {
+				newDataMag = false;
+			}
+
+			last_mag = _sensor_combined.magnetometer_timestamp;
+
+#endif
+
+			bool airspeed_updated;
+			orb_check(_airspeed_sub, &airspeed_updated);
+
+			if (airspeed_updated) {
+				orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
+				perf_count(_perf_airspeed);
+
+				_ekf->VtasMeas = _airspeed.true_airspeed_m_s;
+				newAdsData = true;
+
+			} else {
+				newAdsData = false;
+			}
+
+			bool gps_updated;
+			orb_check(_gps_sub, &gps_updated);
+
+			if (gps_updated) {
+
+				uint64_t last_gps = _gps.timestamp_position;
+
+				orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
+				perf_count(_perf_gps);
+
+				if (_gps.fix_type < 3) {
+					newDataGps = false;
+
+				} else {
+
+					/* store time of valid GPS measurement */
+					_gps_start_time = hrt_absolute_time();
+
+					/* check if we had a GPS outage for a long time */
+					if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
+						_ekf->ResetPosition();
+						_ekf->ResetVelocity();
+						_ekf->ResetStoredStates();
+					}
+
+					/* fuse GPS updates */
+
+					//_gps.timestamp / 1e3;
+					_ekf->GPSstatus = _gps.fix_type;
+					_ekf->velNED[0] = _gps.vel_n_m_s;
+					_ekf->velNED[1] = _gps.vel_e_m_s;
+					_ekf->velNED[2] = _gps.vel_d_m_s;
+
+					// warnx("GPS updated: status: %d, vel: %8.4f %8.4f %8.4f", (int)GPSstatus, velNED[0], velNED[1], velNED[2]);
+
+					_ekf->gpsLat = math::radians(_gps.lat / (double)1e7);
+					_ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
+					_ekf->gpsHgt = _gps.alt / 1e3f;
+
+					// if (_gps.s_variance_m_s > 0.25f && _gps.s_variance_m_s < 100.0f * 100.0f) {
+					// 	_ekf->vneSigma = sqrtf(_gps.s_variance_m_s);
+					// } else {
+					// 	_ekf->vneSigma = _parameters.velne_noise;
+					// }
+
+					// if (_gps.p_variance_m > 0.25f && _gps.p_variance_m < 100.0f * 100.0f) {
+					// 	_ekf->posNeSigma = sqrtf(_gps.p_variance_m);
+					// } else {
+					// 	_ekf->posNeSigma = _parameters.posne_noise;
+					// }
+
+					// warnx("vel: %8.4f pos: %8.4f", _gps.s_variance_m_s, _gps.p_variance_m);
+
+					newDataGps = true;
+
+				}
+
+			}
+
+			bool baro_updated;
+			orb_check(_baro_sub, &baro_updated);
+
+			if (baro_updated) {
+				orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
+
+				_ekf->baroHgt = _baro.altitude;
+
+				if (!_baro_init) {
+					_baro_ref = _baro.altitude;
+					_baro_init = true;
+					warnx("ALT REF INIT");
+				}
+
+				newHgtData = true;
+			} else {
+				newHgtData = false;
+			}
+
+#ifndef SENSOR_COMBINED_SUB
+			orb_check(_mag_sub, &mag_updated);
+#endif
+
+			if (mag_updated) {
+
+				_mag_valid = true;
+
+				perf_count(_perf_mag);
+
+#ifndef SENSOR_COMBINED_SUB
+				orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
+
+				// XXX we compensate the offsets upfront - should be close to zero.
+				// 0.001f
+				_ekf->magData.x = _mag.x;
+				_ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset
+
+				_ekf->magData.y = _mag.y;
+				_ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset
+
+				_ekf->magData.z = _mag.z;
+				_ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset
+
+#else
+
+				// XXX we compensate the offsets upfront - should be close to zero.
+				// 0.001f
+				_ekf->magData.x = _sensor_combined.magnetometer_ga[0];
+				_ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset
+
+				_ekf->magData.y = _sensor_combined.magnetometer_ga[1];
+				_ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset
+
+				_ekf->magData.z = _sensor_combined.magnetometer_ga[2];
+				_ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset
+
+#endif
+
+				newDataMag = true;
+
+			} else {
+				newDataMag = false;
+			}
+
+
+			/**
+			 *    CHECK IF THE INPUT DATA IS SANE
+			 */
+			int check = _ekf->CheckAndBound();
+
+			const char* ekfname = "[ekf] ";
+
+			switch (check) {
+				case 0:
+					/* all ok */
+					break;
+				case 1:
+				{
+					const char* str = "NaN in states, resetting";
+					warnx("%s", str);
+					mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
+					break;
+				}
+				case 2:
+				{
+					const char* str = "stale IMU data, resetting";
+					warnx("%s", str);
+					mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
+					break;
+				}
+				case 3:
+				{
+					const char* str = "switching to dynamic state";
+					warnx("%s", str);
+					mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
+					break;
+				}
+
+				default:
+				{
+					const char* str = "unknown reset condition";
+					warnx("%s", str);
+					mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
+				}
+			}
+
+			// warn on fatal resets
+			if (check == 1) {
+				warnx("NUMERIC ERROR IN FILTER");
+			}
+
+			// If non-zero, we got a filter reset
+			if (check) {
+
+				struct ekf_status_report ekf_report;
+
+				_ekf->GetLastErrorState(&ekf_report);
+
+				struct estimator_status_report rep;
+				memset(&rep, 0, sizeof(rep));
+				rep.timestamp = hrt_absolute_time();
+
+				rep.states_nan = ekf_report.statesNaN;
+				rep.covariance_nan = ekf_report.covarianceNaN;
+				rep.kalman_gain_nan = ekf_report.kalmanGainsNaN;
+
+				// Copy all states or at least all that we can fit
+				unsigned i = 0;
+				unsigned ekf_n_states = (sizeof(ekf_report.states) / sizeof(ekf_report.states[0]));
+				unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0]));
+				rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states;
+
+				while ((i < ekf_n_states) && (i < max_states)) {
+
+					rep.states[i] = ekf_report.states[i];
+					i++;
+				}
+
+				if (_estimator_status_pub > 0) {
+					orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
+				} else {
+					_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep);
+				}
+
+				/* set sensors to de-initialized state */
+				_gyro_valid = false;
+				_accel_valid = false;
+				_mag_valid = false;
+
+				_baro_init = false;
+				_gps_initialized = false;
+				last_sensor_timestamp = hrt_absolute_time();
+				last_run = last_sensor_timestamp;
+
+				_ekf->ZeroVariables();
+				_ekf->dtIMU = 0.01f;
+
+				// Let the system re-initialize itself
+				continue;
+
+			}
+
+
+			/**
+			 *    PART TWO: EXECUTE THE FILTER
+			 **/
+
+			if ((hrt_elapsed_time(&_filter_start_time) > FILTER_INIT_DELAY) && _baro_init && _gyro_valid && _accel_valid && _mag_valid) {
+
+				float initVelNED[3];
+
+				if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph_m < _parameters.pos_stddev_threshold && _gps.epv_m < _parameters.pos_stddev_threshold) {
+
+					initVelNED[0] = _gps.vel_n_m_s;
+					initVelNED[1] = _gps.vel_e_m_s;
+					initVelNED[2] = _gps.vel_d_m_s;
+
+					// GPS is in scaled integers, convert
+					double lat = _gps.lat / 1.0e7;
+					double lon = _gps.lon / 1.0e7;
+					float gps_alt = _gps.alt / 1e3f;
+
+					// Set up height correctly
+					orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
+					_baro_gps_offset = _baro_ref - _baro.altitude;
+					_ekf->baroHgt = _baro.altitude;
+					_ekf->hgtMea = 1.0f * (_ekf->baroHgt - (_baro_ref));
+
+					// Set up position variables correctly
+					_ekf->GPSstatus = _gps.fix_type;
+
+					_ekf->gpsLat = math::radians(lat);
+					_ekf->gpsLon = math::radians(lon) - M_PI;
+					_ekf->gpsHgt = gps_alt;
+
+					// Look up mag declination based on current position
+					float declination = math::radians(get_mag_declination(lat, lon));
+
+					_ekf->InitialiseFilter(initVelNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination);
+
+					// Initialize projection
+					_local_pos.ref_lat = lat;
+					_local_pos.ref_lon = lon;
+					_local_pos.ref_alt = gps_alt;
+					_local_pos.ref_timestamp = _gps.timestamp_position;
+
+					map_projection_init(&_pos_ref, lat, lon);
+					mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
+					warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
+						(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
+					warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", _ekf->baroHgt, _baro_ref, _baro_gps_offset);
+					warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m, (double)math::degrees(declination));
+
+					_gps_initialized = true;
+
+				} else if (!_ekf->statesInitialised) {
+
+					initVelNED[0] = 0.0f;
+					initVelNED[1] = 0.0f;
+					initVelNED[2] = 0.0f;
+					_ekf->posNED[0] = 0.0f;
+					_ekf->posNED[1] = 0.0f;
+					_ekf->posNED[2] = 0.0f;
+
+					_ekf->posNE[0] = _ekf->posNED[0];
+					_ekf->posNE[1] = _ekf->posNED[1];
+
+					_local_pos.ref_alt = _baro_ref;
+					_baro_gps_offset = 0.0f;
+
+					_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
+				}
+			}
+
+			// If valid IMU data and states initialised, predict states and covariances
+			if (_ekf->statesInitialised) {
+				// Run the strapdown INS equations every IMU update
+				_ekf->UpdateStrapdownEquationsNED();
+#if 0
+				// debug code - could be tunred into a filter mnitoring/watchdog function
+				float tempQuat[4];
+
+				for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
+
+				quat2eul(eulerEst, tempQuat);
+
+				for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
+
+				if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
+
+				if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
+
+#endif
+				// store the predicted states for subsequent use by measurement fusion
+				_ekf->StoreStates(IMUmsec);
+				// Check if on ground - status is used by covariance prediction
+				_ekf->OnGroundCheck();
+				// sum delta angles and time used by covariance prediction
+				_ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng;
+				_ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU;
+				dt += _ekf->dtIMU;
+
+				// perform a covariance prediction if the total delta angle has exceeded the limit
+				// or the time limit will be exceeded at the next IMU update
+				if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) {
+					_ekf->CovariancePrediction(dt);
+					_ekf->summedDelAng.zero();
+					_ekf->summedDelVel.zero();
+					dt = 0.0f;
+				}
+
+				_initialized = true;
+			}
+
+			// Fuse GPS Measurements
+			if (newDataGps && _gps_initialized) {
+				// Convert GPS measurements to Pos NE, hgt and Vel NED
+				_ekf->velNED[0] = _gps.vel_n_m_s;
+				_ekf->velNED[1] = _gps.vel_e_m_s;
+				_ekf->velNED[2] = _gps.vel_d_m_s;
+				_ekf->calcposNED(_ekf->posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef);
+
+				_ekf->posNE[0] = _ekf->posNED[0];
+				_ekf->posNE[1] = _ekf->posNED[1];
+				// set fusion flags
+				_ekf->fuseVelData = true;
+				_ekf->fusePosData = true;
+				// recall states stored at time of measurement after adjusting for delays
+				_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
+				_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
+				// run the fusion step
+				_ekf->FuseVelposNED();
+
+			} else if (_ekf->statesInitialised) {
+				// Convert GPS measurements to Pos NE, hgt and Vel NED
+				_ekf->velNED[0] = 0.0f;
+				_ekf->velNED[1] = 0.0f;
+				_ekf->velNED[2] = 0.0f;
+				_ekf->posNED[0] = 0.0f;
+				_ekf->posNED[1] = 0.0f;
+				_ekf->posNED[2] = 0.0f;
+
+				_ekf->posNE[0] = _ekf->posNED[0];
+				_ekf->posNE[1] = _ekf->posNED[1];
+				// set fusion flags
+				_ekf->fuseVelData = true;
+				_ekf->fusePosData = true;
+				// recall states stored at time of measurement after adjusting for delays
+				_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
+				_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
+				// run the fusion step
+				_ekf->FuseVelposNED();
+
+			} else {
+				_ekf->fuseVelData = false;
+				_ekf->fusePosData = false;
+			}
+
+			if (newHgtData && _ekf->statesInitialised) {
+				// Could use a blend of GPS and baro alt data if desired
+				_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
+				_ekf->fuseHgtData = true;
+				// recall states stored at time of measurement after adjusting for delays
+				_ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
+				// run the fusion step
+				_ekf->FuseVelposNED();
+
+			} else {
+				_ekf->fuseHgtData = false;
+			}
+
+			// Fuse Magnetometer Measurements
+			if (newDataMag && _ekf->statesInitialised) {
+				_ekf->fuseMagData = true;
+				_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
+
+			} else {
+				_ekf->fuseMagData = false;
+			}
+
+			if (_ekf->statesInitialised) _ekf->FuseMagnetometer();
+
+			// Fuse Airspeed Measurements
+			if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
+				_ekf->fuseVtasData = true;
+				_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
+				_ekf->FuseAirspeed();
+
+			} else {
+				_ekf->fuseVtasData = false;
+			}
+
+			// Publish results
+			if (_initialized && (check == OK)) {
+
+
+
+				// State vector:
+				// 0-3: quaternions (q0, q1, q2, q3)
+				// 4-6: Velocity - m/sec (North, East, Down)
+				// 7-9: Position - m (North, East, Down)
+				// 10-12: Delta Angle bias - rad (X,Y,Z)
+				// 13-14: Wind Vector  - m/sec (North,East)
+				// 15-17: Earth Magnetic Field Vector - milligauss (North, East, Down)
+				// 18-20: Body Magnetic Field Vector - milligauss (X,Y,Z)
+
+				math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
+				math::Matrix<3, 3> R = q.to_dcm();
+				math::Vector<3> euler = R.to_euler();
+
+				for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
+						_att.R[i][j] = R(i, j);
+
+				_att.timestamp = last_sensor_timestamp;
+				_att.q[0] = _ekf->states[0];
+				_att.q[1] = _ekf->states[1];
+				_att.q[2] = _ekf->states[2];
+				_att.q[3] = _ekf->states[3];
+				_att.q_valid = true;
+				_att.R_valid = true;
+
+				_att.timestamp = last_sensor_timestamp;
+				_att.roll = euler(0);
+				_att.pitch = euler(1);
+				_att.yaw = euler(2);
+
+				_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
+				_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
+				_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
+				// gyro offsets
+				_att.rate_offsets[0] = _ekf->states[10];
+				_att.rate_offsets[1] = _ekf->states[11];
+				_att.rate_offsets[2] = _ekf->states[12];
+
+				/* lazily publish the attitude only once available */
+				if (_att_pub > 0) {
+					/* publish the attitude setpoint */
+					orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
+
+				} else {
+					/* advertise and publish */
+					_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
+				}
+			}
+
+			if (_gps_initialized) {
+				_local_pos.timestamp = last_sensor_timestamp;
+				_local_pos.x = _ekf->states[7];
+				_local_pos.y = _ekf->states[8];
+				// XXX need to announce change of Z reference somehow elegantly
+				_local_pos.z = _ekf->states[9] - _baro_gps_offset;
+
+				_local_pos.vx = _ekf->states[4];
+				_local_pos.vy = _ekf->states[5];
+				_local_pos.vz = _ekf->states[6];
+
+				_local_pos.xy_valid = _gps_initialized;
+				_local_pos.z_valid = true;
+				_local_pos.v_xy_valid = _gps_initialized;
+				_local_pos.v_z_valid = true;
+				_local_pos.xy_global = true;
+
+				_local_pos.z_global = false;
+				_local_pos.yaw = _att.yaw;
+
+				/* lazily publish the local position only once available */
+				if (_local_pos_pub > 0) {
+					/* publish the attitude setpoint */
+					orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
+
+				} else {
+					/* advertise and publish */
+					_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
+				}
+
+				_global_pos.timestamp = _local_pos.timestamp;
+
+				if (_local_pos.xy_global) {
+					double 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;
+					_global_pos.eph = _gps.eph_m;
+					_global_pos.epv = _gps.epv_m;
+				}
+
+				if (_local_pos.v_xy_valid) {
+					_global_pos.vel_n = _local_pos.vx;
+					_global_pos.vel_e = _local_pos.vy;
+				} else {
+					_global_pos.vel_n = 0.0f;
+					_global_pos.vel_e = 0.0f;
+				}
+
+				/* local pos alt is negative, change sign and add alt offsets */
+				_global_pos.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 */
+				if (_global_pos_pub > 0) {
+					/* publish the attitude setpoint */
+					orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
+
+				} else {
+					/* advertise and publish */
+					_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
+				}
+			}
+
+		}
+
+		perf_end(_loop_perf);
+	}
+
+	warnx("exiting.\n");
+
+	_estimator_task = -1;
+	_exit(0);
+}
+
+int
+FixedwingEstimator::start()
+{
+	ASSERT(_estimator_task == -1);
+
+	/* start the task */
+	_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 40,
+					 6000,
+					 (main_t)&FixedwingEstimator::task_main_trampoline,
+					 nullptr);
+
+	if (_estimator_task < 0) {
+		warn("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+FixedwingEstimator::print_status()
+{
+	math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
+	math::Matrix<3, 3> R = q.to_dcm();
+	math::Vector<3> euler = R.to_euler();
+
+	printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees\n",
+	       (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));
+
+	// State vector:
+	// 0-3: quaternions (q0, q1, q2, q3)
+	// 4-6: Velocity - m/sec (North, East, Down)
+	// 7-9: Position - m (North, East, Down)
+	// 10-12: Delta Angle bias - rad (X,Y,Z)
+	// 13-14: Wind Vector  - m/sec (North,East)
+	// 15-17: Earth Magnetic Field Vector - gauss (North, East, Down)
+	// 18-20: Body Magnetic Field Vector - gauss (X,Y,Z)
+
+	printf("dtIMU: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (int)IMUmsec);
+	printf("ref alt: %8.6f\n", (double)_local_pos.ref_alt);
+	printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z);
+	printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z);
+	printf("states (quat)        [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]);
+	printf("states (vel m/s)     [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]);
+	printf("states (pos m)      [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]);
+	printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]);
+	printf("states (wind)      [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[13], (double)_ekf->states[14]);
+	printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[15], (double)_ekf->states[16], (double)_ekf->states[17]);
+	printf("states (body mag)  [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[18], (double)_ekf->states[19], (double)_ekf->states[20]);
+	printf("states: %s %s %s %s %s %s %s %s %s %s\n",
+	       (_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT",
+	       (_ekf->onGround) ? "ON_GROUND" : "AIRBORNE",
+	       (_ekf->fuseVelData) ? "FUSE_VEL" : "INH_VEL",
+	       (_ekf->fusePosData) ? "FUSE_POS" : "INH_POS",
+	       (_ekf->fuseHgtData) ? "FUSE_HGT" : "INH_HGT",
+	       (_ekf->fuseMagData) ? "FUSE_MAG" : "INH_MAG",
+	       (_ekf->fuseVtasData) ? "FUSE_VTAS" : "INH_VTAS",
+	       (_ekf->useAirspeed) ? "USE_AIRSPD" : "IGN_AIRSPD",
+	       (_ekf->useCompass) ? "USE_COMPASS" : "IGN_COMPASS",
+	       (_ekf->staticMode) ? "STATIC_MODE" : "DYNAMIC_MODE");
+}
+
+int FixedwingEstimator::trip_nan() {
+
+	int ret = 0;
+
+	// If system is not armed, inject a NaN value into the filter
+	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+
+	struct actuator_armed_s armed;
+	orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
+
+	if (armed.armed) {
+		warnx("ACTUATORS ARMED! NOT TRIPPING SYSTEM");
+		ret = 1;
+	} else {
+
+		float nan_val = 0.0f / 0.0f;
+
+		warnx("system not armed, tripping state vector with NaN values");
+		_ekf->states[5] = nan_val;
+		usleep(100000);
+
+		warnx("tripping covariance #1 with NaN values");
+		_ekf->KH[2][2] = nan_val; //  intermediate result used for covariance updates
+		usleep(100000);
+
+		warnx("tripping covariance #2 with NaN values");
+		_ekf->KHP[5][5] = nan_val; // intermediate result used for covariance updates
+		usleep(100000);
+
+		warnx("tripping covariance #3 with NaN values");
+		_ekf->P[3][3] = nan_val; // covariance matrix
+		usleep(100000);
+
+		warnx("tripping Kalman gains with NaN values");
+		_ekf->Kfusion[0] = nan_val; // Kalman gains
+		usleep(100000);
+
+		warnx("tripping stored states[0] with NaN values");
+		_ekf->storedStates[0][0] = nan_val;
+		usleep(100000);
+
+		warnx("\nDONE - FILTER STATE:");
+		print_status();
+	}
+
+	close(armed_sub);
+	return ret;
+}
+
+int ekf_att_pos_estimator_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		errx(1, "usage: ekf_att_pos_estimator {start|stop|status}");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (estimator::g_estimator != nullptr)
+			errx(1, "already running");
+
+		estimator::g_estimator = new FixedwingEstimator;
+
+		if (estimator::g_estimator == nullptr)
+			errx(1, "alloc failed");
+
+		if (OK != estimator::g_estimator->start()) {
+			delete estimator::g_estimator;
+			estimator::g_estimator = nullptr;
+			err(1, "start failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		if (estimator::g_estimator == nullptr)
+			errx(1, "not running");
+
+		delete estimator::g_estimator;
+		estimator::g_estimator = nullptr;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (estimator::g_estimator) {
+			warnx("running");
+
+			estimator::g_estimator->print_status();
+
+			exit(0);
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	if (!strcmp(argv[1], "trip")) {
+		if (estimator::g_estimator) {
+			int ret = estimator::g_estimator->trip_nan();
+
+			exit(ret);
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
new file mode 100644
index 000000000..d2c6e1f15
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
@@ -0,0 +1,271 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 fw_att_pos_estimator_params.c
+ *
+ * Parameters defined by the attitude and position estimator task
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Estimator parameters, accessible via MAVLink
+ *
+ */
+
+/**
+ * Velocity estimate delay
+ *
+ * The delay in milliseconds of the velocity estimate from GPS.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230);
+
+/**
+ * Position estimate delay
+ *
+ * The delay in milliseconds of the position estimate from GPS.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210);
+
+/**
+ * Height estimate delay
+ *
+ * The delay in milliseconds of the height estimate from the barometer.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350);
+
+/**
+ * Mag estimate delay
+ *
+ * The delay in milliseconds of the magnetic field estimate from
+ * the magnetometer.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30);
+
+/**
+ * True airspeeed estimate delay
+ *
+ * The delay in milliseconds of the airspeed estimate.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
+
+/**
+ * GPS vs. barometric altitude update weight
+ *
+ * RE-CHECK this.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f);
+
+/**
+ * Airspeed measurement noise.
+ *
+ * Increasing this value will make the filter trust this sensor
+ * less and trust other sensors more.
+ *
+ * @min 0.5
+ * @max 5.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f);
+
+/**
+ * Velocity measurement noise in north-east (horizontal) direction.
+ *
+ * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5
+ *
+ * @min 0.05
+ * @max 5.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
+
+/**
+ * Velocity noise in down (vertical) direction
+ *
+ * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7
+ *
+ * @min 0.05
+ * @max 5.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f);
+
+/**
+ * Position noise in north-east (horizontal) direction
+ *
+ * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5
+ *
+ * @min 0.1
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
+
+/**
+ * Position noise in down (vertical) direction
+ *
+ * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0
+ *
+ * @min 0.1
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f);
+
+/**
+ * Magnetometer measurement noise
+ *
+ * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
+ *
+ * @min 0.1
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f);
+
+/**
+ * Gyro process noise
+ *
+ * Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015.
+ * This noise controls how much the filter trusts the gyro measurements.
+ * Increasing it makes the filter trust the gyro less and other sensors more.
+ *
+ * @min 0.001
+ * @max 0.05
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
+
+/**
+ * Accelerometer process noise
+ *
+ * Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25.
+ * Increasing this value makes the filter trust the accelerometer less
+ * and other sensors more.
+ *
+ * @min 0.05
+ * @max 1.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
+
+/**
+ * Gyro bias estimate process noise
+ *
+ * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
+ * Increasing this value will make the gyro bias converge faster but noisier.
+ *
+ * @min 0.0000001
+ * @max 0.00001
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
+
+/**
+ * Accelerometer bias estimate process noise
+ *
+ * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
+ * Increasing this value makes the bias estimation faster and noisier.
+ *
+ * @min 0.0001
+ * @max 0.001
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0001f);
+
+/**
+ * Magnetometer earth frame offsets process noise
+ *
+ * Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001.
+ * Increasing this value makes the magnetometer earth bias estimate converge
+ * faster but also noisier.
+ *
+ * @min 0.0001
+ * @max 0.01
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
+
+/**
+ * Magnetometer body frame offsets process noise
+ *
+ * Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003.
+ * Increasing this value makes the magnetometer body bias estimate converge faster
+ * but also noisier.
+ *
+ * @min 0.0001
+ * @max 0.01
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
+
+/**
+ * Threshold for filter initialization.
+ *
+ * If the standard deviation of the GPS position estimate is below this threshold
+ * in meters, the filter will initialize.
+ *
+ * @min 0.3
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f);
diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/ekf_att_pos_estimator/module.mk
index fd1a8724a..30955d0dd 100644
--- a/src/modules/fixedwing_att_control/module.mk
+++ b/src/modules/ekf_att_pos_estimator/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,11 @@
 ############################################################################
 
 #
-# Fixedwing Attitude Control application
+# Main Attitude and Position Estimator for Fixed Wing Aircraft
 #
 
-MODULE_COMMAND	= fixedwing_att_control
+MODULE_COMMAND	= ekf_att_pos_estimator
 
-SRCS		= fixedwing_att_control_main.c \
-		  fixedwing_att_control_att.c \
-		  fixedwing_att_control_rate.c
+SRCS		= fw_att_pos_estimator_main.cpp \
+		  fw_att_pos_estimator_params.c \
+		  estimator.cpp
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
deleted file mode 100644
index 2aeca3a98..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
+++ /dev/null
@@ -1,169 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 fixedwing_att_control_rate.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_att.h"
-
-
-struct fw_att_control_params {
-	float roll_p;
-	float rollrate_lim;
-	float pitch_p;
-	float pitchrate_lim;
-	float yawrate_lim;
-	float pitch_roll_compensation_p;
-};
-
-struct fw_pos_control_param_handles {
-	param_t roll_p;
-	param_t rollrate_lim;
-	param_t pitch_p;
-	param_t pitchrate_lim;
-	param_t yawrate_lim;
-	param_t pitch_roll_compensation_p;
-};
-
-
-
-/* Internal Prototypes */
-static int parameters_init(struct fw_pos_control_param_handles *h);
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p);
-
-static int parameters_init(struct fw_pos_control_param_handles *h)
-{
-	/* PID parameters */
-	h->roll_p 		=	param_find("FW_ROLL_P");
-	h->rollrate_lim =	param_find("FW_ROLLR_LIM");
-	h->pitch_p 		=	param_find("FW_PITCH_P");
-	h->pitchrate_lim =	param_find("FW_PITCHR_LIM");
-	h->yawrate_lim =	param_find("FW_YAWR_LIM");
-	h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p)
-{
-	param_get(h->roll_p, &(p->roll_p));
-	param_get(h->rollrate_lim, &(p->rollrate_lim));
-	param_get(h->pitch_p, &(p->pitch_p));
-	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
-	param_get(h->yawrate_lim, &(p->yawrate_lim));
-	param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p));
-
-	return OK;
-}
-
-int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				   const struct vehicle_attitude_s *att,
-				   const float speed_body[],
-				   struct vehicle_rates_setpoint_s *rates_sp)
-{
-	static int counter = 0;
-	static bool initialized = false;
-
-	static struct fw_att_control_params p;
-	static struct fw_pos_control_param_handles h;
-
-	static PID_t roll_controller;
-	static PID_t pitch_controller;
-
-
-	if (!initialized) {
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller
-		pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller
-		initialized = true;
-	}
-
-	/* load new parameters with lower rate */
-	if (counter % 100 == 0) {
-		/* update parameters from storage */
-		parameters_update(&h, &p);
-		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim);
-		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
-	}
-
-	/* Roll (P) */
-	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
-
-
-	/* Pitch (P) */
-
-	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
-	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
-	/* set pitch plus feedforward roll compensation */
-	rates_sp->pitch = pid_calculate(&pitch_controller,
-					att_sp->pitch_body + pitch_sp_rollcompensation,
-					att->pitch, 0, 0);
-
-	/* Yaw (from coordinated turn constraint or lateral force) */
-	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
-			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
-
-//	printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
-
-	counter++;
-
-	return 0;
-}
-
-
-
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
deleted file mode 100644
index b6b4546c2..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
+++ /dev/null
@@ -1,367 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
- *   			@author Doug Weibel <douglas.weibel@colorado.edu>
- *
- * 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 fixedwing_att_control.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/debug_key_value.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_rate.h"
-#include "fixedwing_att_control_att.h"
-
-/* Prototypes */
-/**
- * Deamon management function.
- */
-__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int fixedwing_att_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/* Variables */
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-/* Main Thread */
-int fixedwing_att_control_thread_main(int argc, char *argv[])
-{
-	/* read arguments */
-	bool verbose = false;
-
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			verbose = true;
-		}
-	}
-
-	/* welcome user */
-	printf("[fixedwing att control] started\n");
-
-	/* declare and safely initialize all structs */
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(att_sp));
-	struct vehicle_rates_setpoint_s rates_sp;
-	memset(&rates_sp, 0, sizeof(rates_sp));
-	struct vehicle_global_position_s global_pos;
-	memset(&global_pos, 0, sizeof(global_pos));
-	struct manual_control_setpoint_s manual_sp;
-	memset(&manual_sp, 0, sizeof(manual_sp));
-	struct vehicle_control_mode_s control_mode;
-	memset(&control_mode, 0, sizeof(control_mode));
-	struct vehicle_status_s vstatus;
-	memset(&vstatus, 0, sizeof(vstatus));
-
-	/* output structs */
-	struct actuator_controls_s actuators;
-	memset(&actuators, 0, sizeof(actuators));
-
-
-	/* publish actuator controls */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
-		actuators.control[i] = 0.0f;
-	}
-
-	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-	orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-
-	/* subscribe */
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* Setup of loop */
-	float gyro[3] = {0.0f, 0.0f, 0.0f};
-	float speed_body[3] = {0.0f, 0.0f, 0.0f};
-	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
-
-	while (!thread_should_exit) {
-		/* wait for a sensor update, check for exit condition every 500 ms */
-		poll(&fds, 1, 500);
-
-		/* Check if there is a new position measurement or  attitude setpoint */
-		bool pos_updated;
-		orb_check(global_pos_sub, &pos_updated);
-		bool att_sp_updated;
-		orb_check(att_sp_sub, &att_sp_updated);
-
-		/* get a local copy of attitude */
-		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-
-		if (att_sp_updated)
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
-
-		if (pos_updated) {
-			orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-
-			if (att.R_valid) {
-				speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
-				speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
-				speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
-
-			} else {
-				speed_body[0] = 0;
-				speed_body[1] = 0;
-				speed_body[2] = 0;
-
-				printf("FW ATT CONTROL: Did not get a valid R\n");
-			}
-		}
-
-		orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
-		orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-		orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
-
-		gyro[0] = att.rollspeed;
-		gyro[1] = att.pitchspeed;
-		gyro[2] = att.yawspeed;
-
-		/* set manual setpoints if required */
-		if (control_mode.flag_control_manual_enabled) {
-			if (control_mode.flag_control_attitude_enabled) {
-
-				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-				if (vstatus.rc_signal_lost) {
-
-					/* put plane into loiter */
-					att_sp.roll_body = 0.3f;
-					att_sp.pitch_body = 0.0f;
-
-					/* limit throttle to 60 % of last value if sane */
-					if (isfinite(manual_sp.throttle) &&
-					    (manual_sp.throttle >= 0.0f) &&
-					    (manual_sp.throttle <= 1.0f)) {
-						att_sp.thrust = 0.6f * manual_sp.throttle;
-
-					} else {
-						att_sp.thrust = 0.0f;
-					}
-
-					att_sp.yaw_body = 0;
-
-					// XXX disable yaw control, loiter
-
-				} else {
-
-					att_sp.roll_body = manual_sp.roll;
-					att_sp.pitch_body = manual_sp.pitch;
-					att_sp.yaw_body = 0;
-					att_sp.thrust = manual_sp.throttle;
-				}
-
-				att_sp.timestamp = hrt_absolute_time();
-
-				/* pass through flaps */
-				if (isfinite(manual_sp.flaps)) {
-					actuators.control[4] = manual_sp.flaps;
-
-				} else {
-					actuators.control[4] = 0.0f;
-				}
-
-			} else {
-				/* directly pass through values */
-				actuators.control[0] = manual_sp.roll;
-				/* positive pitch means negative actuator -> pull up */
-				actuators.control[1] = manual_sp.pitch;
-				actuators.control[2] = manual_sp.yaw;
-				actuators.control[3] = manual_sp.throttle;
-
-				if (isfinite(manual_sp.flaps)) {
-					actuators.control[4] = manual_sp.flaps;
-
-				} else {
-					actuators.control[4] = 0.0f;
-				}
-			}
-		}
-		
-		/* execute attitude control if requested */
-		if (control_mode.flag_control_attitude_enabled) {
-			/* attitude control */
-			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
-
-			/* angular rate control */
-			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
-
-			/* pass through throttle */
-			actuators.control[3] = att_sp.thrust;
-
-			/* set flaps to zero */
-			actuators.control[4] = 0.0f;
-
-		}
-
-		/* publish rates */
-		orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
-
-		/* sanity check and publish actuator outputs */
-		if (isfinite(actuators.control[0]) &&
-		    isfinite(actuators.control[1]) &&
-		    isfinite(actuators.control[2]) &&
-		    isfinite(actuators.control[3])) {
-			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-		}
-	}
-
-	printf("[fixedwing_att_control] exiting, stopping all motors.\n");
-	thread_running = false;
-
-	/* kill all outputs */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
-		actuators.control[i] = 0.0f;
-
-	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-
-
-
-	close(att_sub);
-	close(actuator_pub);
-	close(rates_pub);
-
-	fflush(stdout);
-	exit(0);
-
-	return 0;
-
-}
-
-/* Startup Functions */
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int fixedwing_att_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("fixedwing_att_control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("fixedwing_att_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 2048,
-					 fixedwing_att_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tfixedwing_att_control is running\n");
-
-		} else {
-			printf("\tfixedwing_att_control not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-
-
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
deleted file mode 100644
index cdab39edc..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
+++ /dev/null
@@ -1,211 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 fixedwing_att_control_rate.c
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Implementation of a fixed wing attitude controller.
- *
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_rate.h"
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-// Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
-PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
-
-//Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
-PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
-
-//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
-PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
-
-/* feedforward compensation */
-PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f);	/**< throttle to pitch coupling feedforward */
-
-struct fw_rate_control_params {
-	float rollrate_p;
-	float rollrate_i;
-	float rollrate_awu;
-	float pitchrate_p;
-	float pitchrate_i;
-	float pitchrate_awu;
-	float yawrate_p;
-	float yawrate_i;
-	float yawrate_awu;
-	float pitch_thr_ff;
-};
-
-struct fw_rate_control_param_handles {
-	param_t rollrate_p;
-	param_t rollrate_i;
-	param_t rollrate_awu;
-	param_t pitchrate_p;
-	param_t pitchrate_i;
-	param_t pitchrate_awu;
-	param_t yawrate_p;
-	param_t yawrate_i;
-	param_t yawrate_awu;
-	param_t pitch_thr_ff;
-};
-
-
-
-/* Internal Prototypes */
-static int parameters_init(struct fw_rate_control_param_handles *h);
-static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
-
-static int parameters_init(struct fw_rate_control_param_handles *h)
-{
-	/* PID parameters */
-	h->rollrate_p 	 =	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
-	h->rollrate_i 	 =	param_find("FW_ROLLR_I");
-	h->rollrate_awu  =	param_find("FW_ROLLR_AWU");
-
-	h->pitchrate_p 	 =	param_find("FW_PITCHR_P");
-	h->pitchrate_i 	 =	param_find("FW_PITCHR_I");
-	h->pitchrate_awu =	param_find("FW_PITCHR_AWU");
-
-	h->yawrate_p 	 =	param_find("FW_YAWR_P");
-	h->yawrate_i 	 =	param_find("FW_YAWR_I");
-	h->yawrate_awu   =	param_find("FW_YAWR_AWU");
-	h->pitch_thr_ff  =	param_find("FW_PITCH_THR_P");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
-{
-	param_get(h->rollrate_p, &(p->rollrate_p));
-	param_get(h->rollrate_i, &(p->rollrate_i));
-	param_get(h->rollrate_awu, &(p->rollrate_awu));
-	param_get(h->pitchrate_p, &(p->pitchrate_p));
-	param_get(h->pitchrate_i, &(p->pitchrate_i));
-	param_get(h->pitchrate_awu, &(p->pitchrate_awu));
-	param_get(h->yawrate_p, &(p->yawrate_p));
-	param_get(h->yawrate_i, &(p->yawrate_i));
-	param_get(h->yawrate_awu, &(p->yawrate_awu));
-	param_get(h->pitch_thr_ff, &(p->pitch_thr_ff));
-
-	return OK;
-}
-
-int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-				const float rates[],
-				struct actuator_controls_s *actuators)
-{
-	static int counter = 0;
-	static bool initialized = false;
-
-	static struct fw_rate_control_params p;
-	static struct fw_rate_control_param_handles h;
-
-	static PID_t roll_rate_controller;
-	static PID_t pitch_rate_controller;
-	static PID_t yaw_rate_controller;
-
-	static uint64_t last_run = 0;
-	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-	last_run = hrt_absolute_time();
-
-	if (!initialized) {
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the controller layout is with a PI rate controller
-		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		initialized = true;
-	}
-
-	/* load new parameters with lower rate */
-	if (counter % 100 == 0) {
-		/* update parameters from storage */
-		parameters_update(&h, &p);
-		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
-		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
-		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
-	}
-
-
-	/* roll rate (PI) */
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
-	/* pitch rate (PI) */
-	actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
-	/* yaw rate (PI) */
-	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
-
-	counter++;
-
-	return 0;
-}
-
-
-
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index cfae07275..bbb39f20f 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[CH_RDR] = _manual.yaw;
 		_actuators.control[CH_THR] = _manual.throttle;
 
-	} else if (_status.main_state == MAIN_STATE_SEATBELT ||
-		_status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) {
+	} else if (_status.main_state == MAIN_STATE_ALTCTL ||
+		_status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) {
 
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between
diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
deleted file mode 100644
index 888dd0942..000000000
--- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ /dev/null
@@ -1,479 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
- *   			@author Doug Weibel <douglas.weibel@colorado.edu>
- *
- * 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 fixedwing_pos_control.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/parameter_update.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
-PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
-PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f);		// Radians per meter off track
-PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
-PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	/**< Pitch angle limit in radians per second */
-
-struct fw_pos_control_params {
-	float heading_p;
-	float headingr_p;
-	float headingr_i;
-	float headingr_lim;
-	float xtrack_p;
-	float altitude_p;
-	float roll_lim;
-	float pitch_lim;
-};
-
-struct fw_pos_control_param_handles {
-	param_t heading_p;
-	param_t headingr_p;
-	param_t headingr_i;
-	param_t headingr_lim;
-	param_t xtrack_p;
-	param_t altitude_p;
-	param_t roll_lim;
-	param_t pitch_lim;
-};
-
-
-struct planned_path_segments_s {
-	bool segment_type;
-	double start_lat;			// Start of line or center of arc
-	double start_lon;
-	double end_lat;
-	double end_lon;
-	float radius;				// Radius of arc
-	float arc_start_bearing;		// Bearing from center to start of arc
-	float arc_sweep;				// Angle (radians) swept out by arc around center.
-	// Positive for clockwise, negative for counter-clockwise
-};
-
-
-/* Prototypes */
-/* Internal Prototypes */
-static int parameters_init(struct fw_pos_control_param_handles *h);
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
-
-/**
- * Deamon management function.
- */
-__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int fixedwing_pos_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/* Variables */
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-
-/**
- * Parameter management
- */
-static int parameters_init(struct fw_pos_control_param_handles *h)
-{
-	/* PID parameters */
-	h->heading_p 		=	param_find("FW_HEAD_P");
-	h->headingr_p 		=	param_find("FW_HEADR_P");
-	h->headingr_i 		=	param_find("FW_HEADR_I");
-	h->headingr_lim 	=	param_find("FW_HEADR_LIM");
-	h->xtrack_p 		=	param_find("FW_XTRACK_P");
-	h->altitude_p 		=	param_find("FW_ALT_P");
-	h->roll_lim 		=	param_find("FW_ROLL_LIM");
-	h->pitch_lim 		=	param_find("FW_PITCH_LIM");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
-{
-	param_get(h->heading_p, &(p->heading_p));
-	param_get(h->headingr_p, &(p->headingr_p));
-	param_get(h->headingr_i, &(p->headingr_i));
-	param_get(h->headingr_lim, &(p->headingr_lim));
-	param_get(h->xtrack_p, &(p->xtrack_p));
-	param_get(h->altitude_p, &(p->altitude_p));
-	param_get(h->roll_lim, &(p->roll_lim));
-	param_get(h->pitch_lim, &(p->pitch_lim));
-
-	return OK;
-}
-
-
-/* Main Thread */
-int fixedwing_pos_control_thread_main(int argc, char *argv[])
-{
-	/* read arguments */
-	bool verbose = false;
-
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			verbose = true;
-		}
-	}
-
-	/* welcome user */
-	printf("[fixedwing pos control] started\n");
-
-	/* declare and safely initialize all structs */
-	struct vehicle_global_position_s global_pos;
-	memset(&global_pos, 0, sizeof(global_pos));
-	struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
-	memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
-	struct vehicle_global_position_setpoint_s global_setpoint;
-	memset(&global_setpoint, 0, sizeof(global_setpoint));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct crosstrack_error_s xtrack_err;
-	memset(&xtrack_err, 0, sizeof(xtrack_err));
-	struct parameter_update_s param_update;
-	memset(&param_update, 0, sizeof(param_update));
-
-	/* output structs */
-	struct vehicle_attitude_setpoint_s attitude_setpoint;
-	memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
-
-	/* publish attitude setpoint */
-	attitude_setpoint.roll_body = 0.0f;
-	attitude_setpoint.pitch_body = 0.0f;
-	attitude_setpoint.yaw_body = 0.0f;
-	attitude_setpoint.thrust = 0.0f;
-	orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
-
-	/* subscribe */
-	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int param_sub = orb_subscribe(ORB_ID(parameter_update));
-
-	/* Setup of loop */
-	struct pollfd fds[2] = {
-		{ .fd = param_sub, .events = POLLIN },
-		{ .fd = att_sub, .events = POLLIN }
-	};
-	bool global_sp_updated_set_once = false;
-
-	float psi_track = 0.0f;
-
-	int counter = 0;
-
-	struct fw_pos_control_params p;
-	struct fw_pos_control_param_handles h;
-
-	PID_t heading_controller;
-	PID_t heading_rate_controller;
-	PID_t offtrack_controller;
-	PID_t altitude_controller;
-
-	parameters_init(&h);
-	parameters_update(&h, &p);
-	pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE, 0.0f); //arbitrary high limit
-	pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE, 0.0f);
-	pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE, 0.0f);
-	pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE, 0.0f); //TODO: remove hardcoded value
-
-	/* error and performance monitoring */
-	perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
-	perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
-
-	while (!thread_should_exit) {
-		/* wait for a sensor update, check for exit condition every 500 ms */
-		int ret = poll(fds, 2, 500);
-
-		if (ret < 0) {
-			/* poll error, count it in perf */
-			perf_count(fw_err_perf);
-
-		} else if (ret == 0) {
-			/* no return value, ignore */
-		} else {
-
-			/* only update parameters if they changed */
-			if (fds[0].revents & POLLIN) {
-				/* read from param to clear updated flag */
-				struct parameter_update_s update;
-				orb_copy(ORB_ID(parameter_update), param_sub, &update);
-
-				/* update parameters from storage */
-				parameters_update(&h, &p);
-				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
-				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
-				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
-				pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
-			}
-
-			/* only run controller if attitude changed */
-			if (fds[1].revents & POLLIN) {
-
-
-				static uint64_t last_run = 0;
-				const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-				last_run = hrt_absolute_time();
-
-				/* check if there is a new position or setpoint */
-				bool pos_updated;
-				orb_check(global_pos_sub, &pos_updated);
-				bool global_sp_updated;
-				orb_check(global_setpoint_sub, &global_sp_updated);
-
-				/* load local copies */
-				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-
-				if (pos_updated) {
-					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-				}
-
-				if (global_sp_updated) {
-					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
-					start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
-					global_sp_updated_set_once = true;
-					psi_track = get_bearing_to_next_waypoint(global_pos.lat, global_pos.lon,
-							(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-					printf("next wp direction: %0.4f\n", (double)psi_track);
-				}
-
-				/* Simple Horizontal Control */
-				if (global_sp_updated_set_once) {
-					//				if (counter % 100 == 0)
-					//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-
-					/* calculate crosstrack error */
-					// Only the case of a straight line track following handled so far
-					int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-										(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
-										(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-					// XXX what is xtrack_err.past_end?
-					if (distance_res == OK /*&& !xtrack_err.past_end*/) {
-
-						float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
-
-						float psi_c = psi_track + delta_psi_c;
-						float psi_e = psi_c - att.yaw;
-
-						/* wrap difference back onto -pi..pi range */
-						psi_e = _wrap_pi(psi_e);
-
-						if (verbose) {
-							printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
-							printf("delta_psi_c %.4f ", (double)delta_psi_c);
-							printf("psi_c %.4f ", (double)psi_c);
-							printf("att.yaw %.4f ", (double)att.yaw);
-							printf("psi_e %.4f ", (double)psi_e);
-						}
-
-						/* calculate roll setpoint, do this artificially around zero */
-						float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
-						float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
-						float psi_rate_c = delta_psi_rate_c + psi_rate_track;
-
-						/* limit turn rate */
-						if (psi_rate_c > p.headingr_lim) {
-							psi_rate_c = p.headingr_lim;
-
-						} else if (psi_rate_c < -p.headingr_lim) {
-							psi_rate_c = -p.headingr_lim;
-						}
-
-						float psi_rate_e = psi_rate_c - att.yawspeed;
-
-						// XXX sanity check: Assume 10 m/s stall speed and no stall condition
-						float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
-
-						if (ground_speed < 10.0f) {
-							ground_speed = 10.0f;
-						}
-
-						float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
-
-						attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
-
-						if (verbose) {
-							printf("psi_rate_c %.4f ", (double)psi_rate_c);
-							printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
-							printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
-						}
-
-						if (verbose && counter % 100 == 0)
-							printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
-
-					} else {
-						if (verbose && counter % 100 == 0)
-							printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
-					}
-
-					/* Very simple Altitude Control */
-					if (pos_updated) {
-
-						//TODO: take care of relative vs. ab. altitude
-						attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
-
-					}
-
-					// XXX need speed control
-					attitude_setpoint.thrust = 0.7f;
-
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
-
-					/* measure in what intervals the controller runs */
-					perf_count(fw_interval_perf);
-
-					counter++;
-
-				} else {
-					// XXX no setpoint, decent default needed (loiter?)
-				}
-			}
-		}
-	}
-
-	printf("[fixedwing_pos_control] exiting.\n");
-	thread_running = false;
-
-
-	close(attitude_setpoint_pub);
-
-	fflush(stdout);
-	exit(0);
-
-	return 0;
-
-}
-
-/* Startup Functions */
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int fixedwing_pos_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("fixedwing_pos_control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("fixedwing_pos_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 2048,
-					 fixedwing_pos_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tfixedwing_pos_control is running\n");
-
-		} else {
-			printf("\tfixedwing_pos_control not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
diff --git a/src/modules/fixedwing_pos_control/module.mk b/src/modules/fixedwing_pos_control/module.mk
deleted file mode 100644
index b976377e9..000000000
--- a/src/modules/fixedwing_pos_control/module.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 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
-# 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.
-#
-############################################################################
-
-#
-# Fixedwing PositionControl application
-#
-
-MODULE_COMMAND	= fixedwing_pos_control
-
-SRCS		= fixedwing_pos_control_main.c
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index f139c25f4..1f3e9f098 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -173,6 +173,8 @@ private:
 		float pitchsp_offset_deg;			/**< Pitch Setpoint Offset in deg */
 		float rollsp_offset_rad;			/**< Roll Setpoint Offset in rad */
 		float pitchsp_offset_rad;			/**< Pitch Setpoint Offset in rad */
+		float man_roll_max;						/**< Max Roll in rad */
+		float man_pitch_max;					/**< Max Pitch in rad */
 
 	}		_parameters;			/**< local copies of interesting parameters */
 
@@ -211,6 +213,8 @@ private:
 		param_t trim_yaw;
 		param_t rollsp_offset_deg;
 		param_t pitchsp_offset_deg;
+		param_t man_roll_max;
+		param_t man_pitch_max;
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -269,7 +273,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 };
 
 namespace att_control
@@ -354,6 +358,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
 	_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
 
+	_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
+	_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
+
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -421,6 +428,10 @@ FixedwingAttitudeControl::parameters_update()
 	param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
 	_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
 	_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
+	param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
+	param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
+	_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
+	_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
 
 
 	/* pitch control parameters */
@@ -660,18 +671,24 @@ FixedwingAttitudeControl::task_main()
 
 				float airspeed;
 
-				/* if airspeed is smaller than min, the sensor is not giving good readings */
-				if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
-				    !isfinite(_airspeed.indicated_airspeed_m_s) ||
+				/* if airspeed is not updating, we assume the normal average speed */
+				if (!isfinite(_airspeed.true_airspeed_m_s) ||
 				    hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
 					airspeed = _parameters.airspeed_trim;
 
 				} else {
-					airspeed = _airspeed.indicated_airspeed_m_s;
+					airspeed = _airspeed.true_airspeed_m_s;
 				}
 
-				float airspeed_scaling = _parameters.airspeed_trim / airspeed;
-				//warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling);
+				/*
+				 * For scaling our actuators using anything less than the min (close to stall)
+				 * speed doesn't make any sense - its the strongest reasonable deflection we
+				 * want to do in flight and its the baseline a human pilot would choose.
+				 *
+				 * Forcing the scaling to this value allows reasonable handheld tests.
+				 */
+
+				float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);
 
 				float roll_sp = _parameters.rollsp_offset_rad;
 				float pitch_sp = _parameters.pitchsp_offset_rad;
@@ -689,20 +706,21 @@ FixedwingAttitudeControl::task_main()
 				} else {
 					/*
 					 * Scale down roll and pitch as the setpoints are radians
-					 * and a typical remote can only do 45 degrees, the mapping is
-					 * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
+					 * and a typical remote can only do around 45 degrees, the mapping is
+					 * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
 					 *
 					 * With this mapping the stick angle is a 1:1 representation of
-					 * the commanded attitude. If more than 45 degrees are desired,
-					 * a scaling parameter can be applied to the remote.
+					 * the commanded attitude.
 					 *
 					 * The trim gets subtracted here from the manual setpoint to get
 					 * the intended attitude setpoint. Later, after the rate control step the
 					 * trim is added again to the control signal.
 					 */
-					roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f + _parameters.rollsp_offset_rad;
-					pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f + _parameters.pitchsp_offset_rad;
-					throttle_sp = _manual.throttle;
+					roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+						+ _parameters.rollsp_offset_rad;
+					pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+						+ _parameters.pitchsp_offset_rad;
+					throttle_sp = _manual.z;
 					_actuators.control[4] = _manual.flaps;
 
 					/*
@@ -765,7 +783,7 @@ FixedwingAttitudeControl::task_main()
 					_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
 					if (!isfinite(pitch_u)) {
 						warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
-								pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body);
+								(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body);
 					}
 
 					float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -774,16 +792,16 @@ FixedwingAttitudeControl::task_main()
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
 					if (!isfinite(yaw_u)) {
-						warnx("yaw_u %.4f", yaw_u);
+						warnx("yaw_u %.4f", (double)yaw_u);
 					}
 
 					/* throttle passed through */
 					_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
 					if (!isfinite(throttle_sp)) {
-						warnx("throttle_sp %.4f", throttle_sp);
+						warnx("throttle_sp %.4f", (double)throttle_sp);
 					}
 				} else {
-					warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", roll_sp, pitch_sp);
+					warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
 				}
 
 				/*
@@ -808,10 +826,10 @@ FixedwingAttitudeControl::task_main()
 
 			} else {
 				/* manual/direct control */
-				_actuators.control[0] = _manual.roll;
-				_actuators.control[1] = _manual.pitch;
-				_actuators.control[2] = _manual.yaw;
-				_actuators.control[3] = _manual.throttle;
+				_actuators.control[0] = _manual.y;
+				_actuators.control[1] = -_manual.x;
+				_actuators.control[2] = _manual.r;
+				_actuators.control[3] = _manual.z;
 				_actuators.control[4] = _manual.flaps;
 			}
 
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index c80a44f2a..aa637e207 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -186,3 +186,13 @@ PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
 // @Description		An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe
 // @Range		-90.0 to 90.0
 PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
+
+// @DisplayName		Max Manual Roll
+// @Description		Max roll for manual control in attitude stabilized mode
+// @Range		0.0 to 90.0
+PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
+
+// @DisplayName		Max Manual Pitch
+// @Description		Max pitch for manual control in attitude stabilized mode
+// @Range		0.0 to 90.0
+PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 7f13df785..9cbc26efe 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -89,6 +89,7 @@
 #include <launchdetection/LaunchDetector.h>
 #include <ecl/l1/ecl_l1_pos_controller.h>
 #include <external_lgpl/tecs/tecs.h>
+#include <drivers/drv_range_finder.h>
 #include "landingslope.h"
 
 
@@ -134,6 +135,7 @@ private:
 	int 		_params_sub;			/**< notification of parameter updates */
 	int 		_manual_control_sub;		/**< notification of manual control updates */
 	int		_sensor_combined_sub;		/**< for body frame accelerations */
+	int		_range_finder_sub;		/**< range finder subscription */
 
 	orb_advert_t	_attitude_sp_pub;		/**< attitude setpoint */
 	orb_advert_t	_nav_capabilities_pub;		/**< navigation capabilities publication */
@@ -147,13 +149,14 @@ private:
 	struct vehicle_global_position_s		_global_pos;			/**< global vehicle position */
 	struct position_setpoint_triplet_s		_pos_sp_triplet;		/**< triplet of mission items */
 	struct sensor_combined_s			_sensor_combined;		/**< for body frame accelerations */
+	struct range_finder_report 			_range_finder;			/**< range finder report */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
 	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
 
 	/** manual control states */
-	float		_seatbelt_hold_heading;		/**< heading the system should hold in seatbelt mode */
+	float		_altctrl_hold_heading;		/**< heading the system should hold in altctrl mode */
 	double		_loiter_hold_lat;
 	double		_loiter_hold_lon;
 	float		_loiter_hold_alt;
@@ -181,7 +184,7 @@ private:
 	/* Landingslope object */
 	Landingslope landingslope;
 
-	float flare_curve_alt_last;
+	float flare_curve_alt_rel_last;
 	/* heading hold */
 	float target_bearing;
 
@@ -239,6 +242,7 @@ private:
 		float land_flare_alt_relative;
 		float land_thrust_lim_alt_relative;
 		float land_heading_hold_horizontal_distance;
+		float range_finder_rel_alt;
 
 	}		_parameters;			/**< local copies of interesting parameters */
 
@@ -283,6 +287,7 @@ private:
 		param_t land_flare_alt_relative;
 		param_t land_thrust_lim_alt_relative;
 		param_t land_heading_hold_horizontal_distance;
+		param_t range_finder_rel_alt;
 
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
@@ -309,6 +314,12 @@ private:
 	bool		vehicle_airspeed_poll();
 
 	/**
+	 * Check for range finder updates.
+	 */
+	bool		range_finder_poll();
+
+
+	/**
 	 * Check for position updates.
 	 */
 	void		vehicle_attitude_poll();
@@ -329,6 +340,11 @@ private:
 	void navigation_capabilities_publish();
 
 	/**
+	 * Get the relative alt either from the difference between estimate and waypoint or from the laser range finder
+	 */
+	float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt);
+
+	/**
 	 * Control position.
 	 */
 	bool		control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed,
@@ -345,7 +361,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 
 	/*
 	 * Reset takeoff state
@@ -384,6 +400,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_control_mode_sub(-1),
 	_params_sub(-1),
 	_manual_control_sub(-1),
+	_range_finder_sub(-1),
 
 /* publications */
 	_attitude_sp_pub(-1),
@@ -403,7 +420,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	launch_detected(false),
 	last_manual(false),
 	usePreTakeoffThrust(false),
-	flare_curve_alt_last(0.0f),
+	flare_curve_alt_rel_last(0.0f),
 	launchDetector(),
 	_airspeed_error(0.0f),
 	_airspeed_valid(false),
@@ -417,7 +434,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_control_mode(),
 	_global_pos(),
 	_pos_sp_triplet(),
-	_sensor_combined()
+	_sensor_combined(),
+	_range_finder()
 {
 	_nav_capabilities.turn_distance = 0.0f;
 
@@ -442,6 +460,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
 	_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
 	_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
+	_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
 
 	_parameter_handles.time_const = 			param_find("FW_T_TIME_CONST");
 	_parameter_handles.min_sink_rate = 			param_find("FW_T_SINK_MIN");
@@ -531,6 +550,8 @@ FixedwingPositionControl::parameters_update()
 	param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
 	param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
 
+	param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt));
+
 	_l1_control.set_l1_damping(_parameters.l1_damping);
 	_l1_control.set_l1_period(_parameters.l1_period);
 	_l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit));
@@ -626,6 +647,20 @@ FixedwingPositionControl::vehicle_airspeed_poll()
 	return airspeed_updated;
 }
 
+bool
+FixedwingPositionControl::range_finder_poll()
+{
+	/* check if there is a range finder measurement */
+	bool range_finder_updated;
+	orb_check(_range_finder_sub, &range_finder_updated);
+
+	if (range_finder_updated) {
+		orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder);
+	}
+
+	return range_finder_updated;
+}
+
 void
 FixedwingPositionControl::vehicle_attitude_poll()
 {
@@ -754,6 +789,23 @@ void FixedwingPositionControl::navigation_capabilities_publish()
 	}
 }
 
+float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt)
+{
+	float rel_alt_estimated = current_alt - land_setpoint_alt;
+
+	/* only use range finder if:
+	 * parameter (range_finder_use_relative_alt) > 0
+	 * the measurement is valid
+	 * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
+	 */
+	if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) {
+		return rel_alt_estimated;
+	}
+
+	return range_finder.distance;
+
+}
+
 bool
 FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed,
 		const struct position_setpoint_triplet_s &pos_sp_triplet)
@@ -896,12 +948,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 			/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
 			float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
-			float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);
+			float L_altitude_rel = landingslope.getLandingSlopeRelativeAltitude(L_wp_distance);
 
 			float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
-			float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
+			float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
+
+			float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt);
 
-			if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) {  //checking for land_noreturn to avoid unwanted climb out
+			if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) {  //checking for land_noreturn to avoid unwanted climb out
 
 				/* land with minimal speed */
 
@@ -911,7 +965,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				/* kill the throttle if param requests it */
 				throttle_max = _parameters.throttle_max;
 
-				 if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
+				 if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) {
 					throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
 					if (!land_motor_lim) {
 						land_motor_lim  = true;
@@ -920,16 +974,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 				 }
 
-				float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
+				float flare_curve_alt_rel = landingslope.getFlareCurveRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
 
 				/* avoid climbout */
-				if ((flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical) || land_stayonground)
+				if ((flare_curve_alt_rel_last < flare_curve_alt_rel && land_noreturn_vertical) || land_stayonground)
 				{
-					flare_curve_alt = pos_sp_triplet.current.alt;
+					flare_curve_alt_rel = 0.0f; // stay on ground
 					land_stayonground = true;
 				}
 
-				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land),
+				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land),
 												    _airspeed.indicated_airspeed_m_s, eas2tas,
 												    false, flare_pitch_angle_rad,
 												    0.0f, throttle_max, throttle_land,
@@ -941,7 +995,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				}
 				//warnx("Landing:  flare, _global_pos.alt  %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
 
-				flare_curve_alt_last = flare_curve_alt;
+				flare_curve_alt_rel_last = flare_curve_alt_rel;
 			} else {
 
 				 /* intersect glide slope:
@@ -949,20 +1003,20 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				  * if current position is higher or within 10m of slope follow the glide slope
 				  * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope
 				  * */
-				float altitude_desired = _global_pos.alt;
-				if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
+				float altitude_desired_rel = relative_alt;
+				if (relative_alt > landing_slope_alt_rel_desired - 10.0f) {
 					/* stay on slope */
-					altitude_desired = landing_slope_alt_desired;
+					altitude_desired_rel = landing_slope_alt_rel_desired;
 					if (!land_onslope) {
 						mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
 						land_onslope = true;
 					}
 				} else {
 					/* continue horizontally */
-					altitude_desired =  math::max(_global_pos.alt, L_altitude);
+					altitude_desired_rel =  math::max(relative_alt, L_altitude_rel);
 				}
 
-				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),
+				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach),
 							    _airspeed.indicated_airspeed_m_s, eas2tas,
 							    false, math::radians(_parameters.pitch_limit_min),
 							    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
@@ -1051,16 +1105,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (0/* easy mode enabled */) {
+	} else if (0/* posctrl mode enabled */) {
 
-		/** EASY FLIGHT **/
+		/** POSCTRL FLIGHT **/
 
-		if (0/* switched from another mode to easy */) {
-			_seatbelt_hold_heading = _att.yaw;
+		if (0/* switched from another mode to posctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* easy on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.yaw;
+		if (0/* posctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.r;
 		}
 
 		//XXX not used
@@ -1073,44 +1127,44 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 //			climb_out = true;
 //		}
 
-		/* if in seatbelt mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.throttle;
+					  _manual.z;
 
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body = _l1_control.nav_roll();
 		_att_sp.yaw_body = _l1_control.nav_bearing();
-		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    seatbelt_airspeed,
+		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    false, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
 					    _parameters.pitch_limit_min, _parameters.pitch_limit_max);
 
-	} else if (0/* seatbelt mode enabled */) {
+	} else if (0/* altctrl mode enabled */) {
 
-		/** SEATBELT FLIGHT **/
+		/** ALTCTRL FLIGHT **/
 
-		if (0/* switched from another mode to seatbelt */) {
-			_seatbelt_hold_heading = _att.yaw;
+		if (0/* switched from another mode to altctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* seatbelt on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.yaw;
+		if (0/* altctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.r;
 		}
 
-		/* if in seatbelt mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.throttle;
+					  _manual.z;
 
 		/* user switched off throttle */
-		if (_manual.throttle < 0.1f) {
+		if (_manual.z < 0.1f) {
 			throttle_max = 0.0f;
 			/* switch to pure pitch based altitude control, give up speed */
 			_tecs.set_speed_weight(0.0f);
@@ -1120,15 +1174,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		bool climb_out = false;
 
 		/* user wants to climb out */
-		if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
+		if (_manual.x > 0.3f && _manual.z > 0.8f) {
 			climb_out = true;
 		}
 
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
-		_att_sp.roll_body =	_manual.roll;
-		_att_sp.yaw_body =	_manual.yaw;
-		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    seatbelt_airspeed,
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
+		_att_sp.roll_body =	_manual.y;
+		_att_sp.yaw_body =	_manual.r;
+		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    climb_out, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
@@ -1185,6 +1239,7 @@ FixedwingPositionControl::task_main()
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	_range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_control_mode_sub, 200);
@@ -1264,6 +1319,7 @@ FixedwingPositionControl::task_main()
 			vehicle_setpoint_poll();
 			vehicle_sensor_combined_poll();
 			vehicle_airspeed_poll();
+			range_finder_poll();
 			// vehicle_baro_poll();
 
 			math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 37f06dbe5..f258f77da 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -375,3 +375,14 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
  * @group L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
+
+/**
+ * Relative altitude threshold for range finder measurements for use during landing
+ *
+ * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT
+ * set to < 0 to disable
+ * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location
+ *
+ * @group L1 Control
+ */
+PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp
index e5f7023ae..8ce465fe8 100644
--- a/src/modules/fw_pos_control_l1/landingslope.cpp
+++ b/src/modules/fw_pos_control_l1/landingslope.cpp
@@ -69,26 +69,46 @@ void Landingslope::calculateSlopeValues()
 	_horizontal_slope_displacement = (_flare_length - _d1);
 }
 
-float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude)
+float  Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
 {
-	return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
+	return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement, _landing_slope_angle_rad);
 }
 
-float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
+float Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)
 {
 	/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
 	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
-		return getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude);
+		return getLandingSlopeRelativeAltitude(wp_landing_distance);
+	else
+		return 0.0f;
+}
+
+float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude)
+{
+	return Landingslope::getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
+}
+
+float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
+{
+	/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
+	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
+		return getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude);
 	else
 		return wp_altitude;
 }
 
-float Landingslope::getFlareCurveAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
+float Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)
 {
 	/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
 	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
-		return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
+		return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
 	else
-		return wp_landing_altitude;
+		return 0.0f;
+}
+
+float Landingslope::getFlareCurveAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
+{
+
+	return wp_landing_altitude + getFlareCurveRelativeAltitudeSave(wp_landing_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
 }
 
diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h
index 76d65a55f..b54fd501c 100644
--- a/src/modules/fw_pos_control_l1/landingslope.h
+++ b/src/modules/fw_pos_control_l1/landingslope.h
@@ -63,11 +63,26 @@ public:
 	Landingslope() {}
 	~Landingslope() {}
 
+
+	/**
+	 *
+	 * @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+	 */
+	float getLandingSlopeRelativeAltitude(float wp_landing_distance);
+
+	/**
+	 *
+	 * @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+	 * Performs check if aircraft is in front of waypoint to avoid climbout
+	 */
+	float getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp);
+
+
 	/**
 	 *
 	 * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
 	 */
-	float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude);
+	float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude);
 
 	/**
 	 *
@@ -78,11 +93,20 @@ public:
 
 	/**
 	 *
+	 * @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+	 */
+	__EXPORT static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement, float landing_slope_angle_rad)
+	{
+		return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad); //flare_relative_alt is negative
+	}
+
+	/**
+	 *
 	 * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
 	 */
 	__EXPORT static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad)
 	{
-		return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad) + wp_landing_altitude; //flare_relative_alt is negative
+		return getLandingSlopeRelativeAltitude(wp_landing_distance, horizontal_slope_displacement, landing_slope_angle_rad) + wp_landing_altitude;
 	}
 
 	/**
@@ -95,8 +119,9 @@ public:
 
 	}
 
+	float getFlareCurveRelativeAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp);
 
-	float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
+	float getFlareCurveAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
 
 	void update(float landing_slope_angle_rad,
 			float flare_relative_alt,
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index ad435b251..e49288a74 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -62,6 +62,12 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
+/**
+ * Use/Accept HIL GPS message (even if not in HIL mode)
+ * If set to 1 incomming HIL GPS messages are parsed.
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
 
 mavlink_system_t mavlink_system = {
 	100,
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/mavlink/mavlink_commands.cpp
index 72e5bc73b..1c1e097a4 100755..100644
--- a/src/modules/position_estimator_mc/position_estimator_mc_params.c
+++ b/src/modules/mavlink/mavlink_commands.cpp
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
-* 				Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 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
@@ -34,35 +31,43 @@
  *
  ****************************************************************************/
 
-/*
- * @file position_estimator_mc_params.c
- * 
- * Parameters for position_estimator_mc
+/**
+ * @file mavlink_commands.cpp
+ * Mavlink commands stream implementation.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include "position_estimator_mc_params.h"
+#include "mavlink_commands.h"
 
-/* Kalman Filter covariances */
-/* gps measurement noise standard deviation */
-PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f);
-PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f);
-PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f);
-PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f);
+MavlinkCommandsStream::MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel) : _channel(channel)
+{
+	_cmd_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_command));
+	_cmd = (struct vehicle_command_s *)_cmd_sub->get_data();
+}
 
-int parameters_init(struct position_estimator_mc_param_handles *h)
+MavlinkCommandsStream::~MavlinkCommandsStream()
 {
-	h->addNoise	= param_find("POS_EST_ADDN");
-	h->sigma = param_find("POS_EST_SIGMA");
-	h->r = param_find("POS_EST_R");
-	h->baro_param_handle = param_find("POS_EST_BARO");
-	return OK;
 }
 
-int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p)
+void
+MavlinkCommandsStream::update(const hrt_abstime t)
 {
-	param_get(h->addNoise, &(p->addNoise));
-	param_get(h->sigma, &(p->sigma));
-	param_get(h->r, &(p->R));
-	param_get(h->baro_param_handle, &(p->baro));
-	return OK;
+	if (_cmd_sub->update(t)) {
+		/* only send commands for other systems/components */
+		if (_cmd->target_system != mavlink_system.sysid || _cmd->target_component != mavlink_system.compid) {
+			mavlink_msg_command_long_send(_channel,
+						      _cmd->target_system,
+						      _cmd->target_component,
+						      _cmd->command,
+						      _cmd->confirmation,
+						      _cmd->param1,
+						      _cmd->param2,
+						      _cmd->param3,
+						      _cmd->param4,
+						      _cmd->param5,
+						      _cmd->param6,
+						      _cmd->param7);
+		}
+	}
 }
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/mavlink/mavlink_commands.h
index 600e35b89..6255d65df 100644
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/src/modules/mavlink/mavlink_commands.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
+ *   Copyright (c) 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
@@ -33,19 +31,35 @@
  *
  ****************************************************************************/
 
-/* @file Fixed Wing Attitude Control */
+/**
+ * @file mavlink_commands.h
+ * Mavlink commands stream definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef MAVLINK_COMMANDS_H_
+#define MAVLINK_COMMANDS_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_command.h>
+
+class Mavlink;
+class MavlinkCommansStream;
 
-#ifndef FIXEDWING_ATT_CONTROL_ATT_H_
-#define FIXEDWING_ATT_CONTROL_ATT_H_
+#include "mavlink_main.h"
 
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_global_position.h>
+class MavlinkCommandsStream
+{
+private:
+	MavlinkOrbSubscription *_cmd_sub;
+	struct vehicle_command_s *_cmd;
+	mavlink_channel_t _channel;
 
-int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				   const struct vehicle_attitude_s *att,
-				   const float speed_body[],
-				   struct vehicle_rates_setpoint_s *rates_sp);
+public:
+	MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel);
+	~MavlinkCommandsStream();
+	void update(const hrt_abstime t);
+};
 
-#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
+#endif /* MAVLINK_COMMANDS_H_ */
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 18df577fe..199e85305 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -81,6 +81,7 @@
 #include "mavlink_messages.h"
 #include "mavlink_receiver.h"
 #include "mavlink_rate_limiter.h"
+#include "mavlink_commands.h"
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -166,12 +167,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 	int buf_free = 0;
 
 	if (instance->get_flow_control_enabled()
-	    && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
+		&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
 
 		if (buf_free == 0) {
 
 			if (last_write_times[(unsigned)channel] != 0 &&
-			    hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
+				hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
 
 				warnx("DISABLING HARDWARE FLOW CONTROL");
 				instance->enable_flow_control(false);
@@ -185,12 +186,26 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 		}
 	}
 
-	ssize_t ret = write(uart, ch, desired);
+	/* If the wait until transmit flag is on, only transmit after we've received messages.
+	   Otherwise, transmit all the time. */
+	if (instance->should_transmit()) {
 
-	if (ret != desired) {
-		// XXX do something here, but change to using FIONWRITE and OS buf size for detection
+		/* check if there is space in the buffer, let it overflow else */
+		if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) {
+
+			if (desired > buf_free) {
+				desired = buf_free;
+			}
+		}
+
+		ssize_t ret = write(uart, ch, desired);
+		if (ret != desired) {
+			warnx("TX FAIL");
+		}
 	}
 
+
+
 }
 
 static void usage(void);
@@ -202,15 +217,23 @@ Mavlink::Mavlink() :
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
+	_use_hil_gps(false),
 	_is_usb_uart(false),
+	_wait_to_transmit(false),
+	_received_messages(false),
 	_main_loop_delay(1000),
 	_subscriptions(nullptr),
 	_streams(nullptr),
 	_mission_pub(-1),
+	_verbose(false),
+	_forwarding_on(false),
+	_passing_on(false),
+	_uart_fd(-1),
 	_mavlink_param_queue_index(0),
 	_subscribe_to_stream(nullptr),
 	_subscribe_to_stream_rate(0.0f),
 	_flow_control_enabled(true),
+	_message_buffer({}),
 
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
@@ -261,7 +284,6 @@ Mavlink::Mavlink() :
 		errx(1, "instance ID is out of range");
 		break;
 	}
-
 }
 
 Mavlink::~Mavlink()
@@ -394,6 +416,18 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
 	return false;
 }
 
+void
+Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self)
+{
+	
+	Mavlink *inst;
+	LL_FOREACH(_mavlink_instances, inst) {
+		if (inst != self) {
+			inst->pass_message(msg);
+		}
+	}
+}
+
 int
 Mavlink::get_uart_fd(unsigned index)
 {
@@ -463,11 +497,13 @@ void Mavlink::mavlink_update_system(void)
 	static param_t param_system_id;
 	static param_t param_component_id;
 	static param_t param_system_type;
+	static param_t param_use_hil_gps;
 
 	if (!initialized) {
 		param_system_id = param_find("MAV_SYS_ID");
 		param_component_id = param_find("MAV_COMP_ID");
 		param_system_type = param_find("MAV_TYPE");
+		param_use_hil_gps = param_find("MAV_USEHILGPS");
 		initialized = true;
 	}
 
@@ -492,6 +528,11 @@ void Mavlink::mavlink_update_system(void)
 	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 		mavlink_system.type = system_type;
 	}
+
+	int32_t use_hil_gps;
+	param_get(param_use_hil_gps, &use_hil_gps);
+
+	_use_hil_gps = (bool)use_hil_gps;
 }
 
 int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
@@ -550,6 +591,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
 	/* open uart */
 	_uart_fd = open(uart_name, O_RDWR | O_NOCTTY);
 
+	if (_uart_fd < 0) {
+		return _uart_fd;
+	}
+
+
 	/* Try to set baud rate */
 	struct termios uart_config;
 	int termios_state;
@@ -690,9 +736,9 @@ int Mavlink::mavlink_pm_send_param(param_t param)
 	if (param == PARAM_INVALID) { return 1; }
 
 	/* buffers for param transmission */
-	static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
+	char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
 	float val_buf;
-	static mavlink_message_t tx_msg;
+	mavlink_message_t tx_msg;
 
 	/* query parameter type */
 	param_type_t type = param_type(param);
@@ -808,10 +854,10 @@ void Mavlink::publish_mission()
 {
 	/* Initialize mission publication if necessary */
 	if (_mission_pub < 0) {
-		_mission_pub = orb_advertise(ORB_ID(mission), &mission);
+		_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
 
 	} else {
-		orb_publish(ORB_ID(mission), _mission_pub, &mission);
+		orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission);
 	}
 }
 
@@ -1486,6 +1532,8 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 void
 Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
 {
+	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+
 	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
 
 	mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len);
@@ -1498,6 +1546,8 @@ Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
 {
 	const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
 	mavlink_statustext_t statustext;
+	statustext.severity = MAV_SEVERITY_INFO;
+
 	int i = 0;
 
 	while (i < len - 1) {
@@ -1617,6 +1667,125 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
 }
 
 int
+Mavlink::message_buffer_init(int size)
+{
+	_message_buffer.size = size;
+	_message_buffer.write_ptr = 0;
+	_message_buffer.read_ptr = 0;
+	_message_buffer.data = (char*)malloc(_message_buffer.size);
+	return (_message_buffer.data == 0) ? ERROR : OK;
+}
+
+void
+Mavlink::message_buffer_destroy()
+{
+	_message_buffer.size = 0;
+	_message_buffer.write_ptr = 0;
+	_message_buffer.read_ptr = 0;
+	free(_message_buffer.data);
+}
+
+int
+Mavlink::message_buffer_count()
+{
+	int n = _message_buffer.write_ptr - _message_buffer.read_ptr;
+
+	if (n < 0) {
+		n += _message_buffer.size;
+	}
+
+	return n;
+}
+
+int
+Mavlink::message_buffer_is_empty()
+{
+	return _message_buffer.read_ptr == _message_buffer.write_ptr;
+}
+
+
+bool
+Mavlink::message_buffer_write(void *ptr, int size)
+{
+	// bytes available to write
+	int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1;
+
+	if (available < 0) {
+		available += _message_buffer.size;
+	}
+
+	if (size > available) {
+		// buffer overflow
+		return false;
+	}
+
+	char *c = (char *) ptr;
+	int n = _message_buffer.size - _message_buffer.write_ptr;	// bytes to end of the buffer
+
+	if (n < size) {
+		// message goes over end of the buffer
+		memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), c, n);
+		_message_buffer.write_ptr = 0;
+
+	} else {
+		n = 0;
+	}
+
+	// now: n = bytes already written
+	int p = size - n;	// number of bytes to write
+	memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), &(c[n]), p);
+	_message_buffer.write_ptr = (_message_buffer.write_ptr + p) % _message_buffer.size;
+	return true;
+}
+
+int
+Mavlink::message_buffer_get_ptr(void **ptr, bool *is_part)
+{
+	// bytes available to read
+	int available = _message_buffer.write_ptr - _message_buffer.read_ptr;
+
+	if (available == 0) {
+		return 0;	// buffer is empty
+	}
+
+	int n = 0;
+
+	if (available > 0) {
+		// read pointer is before write pointer, all available bytes can be read
+		n = available;
+		*is_part = false;
+
+	} else {
+		// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
+		n = _message_buffer.size - _message_buffer.read_ptr;
+		*is_part = _message_buffer.write_ptr > 0;
+	}
+
+	*ptr = &(_message_buffer.data[_message_buffer.read_ptr]);
+	return n;
+}
+
+void
+Mavlink::message_buffer_mark_read(int n)
+{
+	_message_buffer.read_ptr = (_message_buffer.read_ptr + n) % _message_buffer.size;
+}
+
+void
+Mavlink::pass_message(mavlink_message_t *msg)
+{
+	if (_passing_on) {
+		/* size is 8 bytes plus variable payload */
+		int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len;
+		pthread_mutex_lock(&_message_buffer_mutex);
+		message_buffer_write(msg, size);
+		pthread_mutex_unlock(&_message_buffer_mutex);
+	}
+}
+
+
+
+int
 Mavlink::task_main(int argc, char *argv[])
 {
 	int ch;
@@ -1632,7 +1801,7 @@ Mavlink::task_main(int argc, char *argv[])
 	 * set error flag instead */
 	bool err_flag = false;
 
-	while ((ch = getopt(argc, argv, "b:r:d:m:v")) != EOF) {
+	while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) {
 		switch (ch) {
 		case 'b':
 			_baudrate = strtoul(optarg, NULL, 10);
@@ -1672,10 +1841,22 @@ Mavlink::task_main(int argc, char *argv[])
 
 			break;
 
+		case 'f':
+			_forwarding_on = true;
+			break;
+
+		case 'p':
+			_passing_on = true;
+			break;
+
 		case 'v':
 			_verbose = true;
 			break;
 
+		case 'w':
+			_wait_to_transmit = true;
+			break;
+
 		default:
 			err_flag = true;
 			break;
@@ -1740,6 +1921,17 @@ Mavlink::task_main(int argc, char *argv[])
 	/* initialize mavlink text message buffering */
 	mavlink_logbuffer_init(&_logbuffer, 5);
 
+	/* if we are passing on mavlink messages, we need to prepare a buffer for this instance */
+	if (_passing_on) {
+		/* initialize message buffer if multiplexing is on */
+		if (OK != message_buffer_init(500)) {
+			errx(1, "can't allocate message buffer, exiting");
+		}
+
+		/* initialize message buffer mutex */
+		pthread_mutex_init(&_message_buffer_mutex, NULL);
+	}
+
 	/* create the device node that's used for sending text log messages, etc. */
 	register_driver(MAVLINK_LOG_DEVICE, &fops, 0666, NULL);
 
@@ -1766,6 +1958,8 @@ Mavlink::task_main(int argc, char *argv[])
 
 	struct vehicle_status_s *status = (struct vehicle_status_s *) status_sub->get_data();
 
+	MavlinkCommandsStream commands_stream(this, _channel);
+
 	/* add default streams depending on mode and intervals depending on datarate */
 	float rate_mult = _datarate / 1000.0f;
 
@@ -1783,6 +1977,9 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("LOCAL_POSITION_NED", 3.0f * rate_mult);
 		configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult);
 		configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult);
+		configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult);
+		configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult);
+		configure_stream("DISTANCE_SENSOR", 0.5f);
 		break;
 
 	case MAVLINK_MODE_CAMERA:
@@ -1826,6 +2023,9 @@ Mavlink::task_main(int argc, char *argv[])
 			set_hil_enabled(status->hil_state == HIL_STATE_ON);
 		}
 
+		/* update commands stream */
+		commands_stream.update(t);
+
 		/* check for requested subscriptions */
 		if (_subscribe_to_stream != nullptr) {
 			if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
@@ -1884,6 +2084,37 @@ Mavlink::task_main(int argc, char *argv[])
 			}
 		}
 
+		/* pass messages from other UARTs */
+		if (_passing_on) {
+
+			bool is_part;
+			void *read_ptr;
+
+			/* guard get ptr by mutex */
+			pthread_mutex_lock(&_message_buffer_mutex);
+			int available = message_buffer_get_ptr(&read_ptr, &is_part);
+			pthread_mutex_unlock(&_message_buffer_mutex);
+
+			if (available > 0) {
+				/* write first part of buffer */
+				_mavlink_resend_uart(_channel, (const mavlink_message_t*)read_ptr);
+				message_buffer_mark_read(available);
+
+				/* write second part of buffer if there is some */
+				if (is_part) {
+					/* guard get ptr by mutex */
+					pthread_mutex_lock(&_message_buffer_mutex);
+					available = message_buffer_get_ptr(&read_ptr, &is_part);
+					pthread_mutex_unlock(&_message_buffer_mutex);
+
+					_mavlink_resend_uart(_channel, (const mavlink_message_t*)read_ptr);
+					message_buffer_mark_read(available);
+				}
+			}
+		}
+
+
+
 		perf_end(_loop_perf);
 	}
 
@@ -1928,6 +2159,10 @@ Mavlink::task_main(int argc, char *argv[])
 	/* close mavlink logging device */
 	close(_mavlink_fd);
 
+	if (_passing_on) {
+		message_buffer_destroy();
+		pthread_mutex_destroy(&_message_buffer_mutex);
+	}
 	/* destroy log buffer */
 	mavlink_logbuffer_destroy(&_logbuffer);
 
@@ -1969,7 +2204,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2048,
+		       2000,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 
@@ -2067,7 +2302,7 @@ Mavlink::stream(int argc, char *argv[])
 
 static void usage()
 {
-	warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-v]");
+	warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]");
 }
 
 int mavlink_main(int argc, char *argv[])
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 5a118a0ad..c7a7d32f8 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -138,6 +138,8 @@ public:
 
 	static bool	instance_exists(const char *device_name, Mavlink *self);
 
+	static void	forward_message(mavlink_message_t *msg, Mavlink *self);
+
 	static int get_uart_fd(unsigned index);
 
 	int get_uart_fd();
@@ -153,10 +155,14 @@ public:
 	void		set_mode(enum MAVLINK_MODE);
 	enum MAVLINK_MODE		get_mode() { return _mode; }
 
-	bool		get_hil_enabled() { return _hil_enabled; };
+	bool		get_hil_enabled() { return _hil_enabled; }
+
+	bool		get_use_hil_gps() { return _use_hil_gps; }
 
 	bool		get_flow_control_enabled() { return _flow_control_enabled; }
 
+	bool		get_forwarding_on() { return _forwarding_on; }
+
 	/**
 	 * Handle waypoint related messages.
 	 */
@@ -196,6 +202,16 @@ public:
 
 	bool		_task_should_exit;		/**< if true, mavlink task should exit */
 
+	int get_mavlink_fd() { return _mavlink_fd; }
+
+
+	/* Functions for waiting to start transmission until message received. */
+	void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
+	bool get_has_received_messages() { return _received_messages; }
+	void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
+	bool get_wait_to_transmit() { return _wait_to_transmit; }
+	bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
+
 protected:
 	Mavlink	*next;
 
@@ -209,7 +225,10 @@ private:
 
 	/* states */
 	bool		_hil_enabled;		/**< Hardware In the Loop mode */
+	bool		_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
 	bool		_is_usb_uart;		/**< Port is USB */
+	bool        _wait_to_transmit;  /**< Wait to transmit until received messages. */
+	bool        _received_messages; /**< Whether we've received valid mavlink messages. */
 
 	unsigned	_main_loop_delay;		/**< mainloop delay, depends on data rate */
 
@@ -218,7 +237,6 @@ private:
 
 	orb_advert_t	_mission_pub;
 	struct mission_s mission;
-	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
 	MAVLINK_MODE _mode;
 
 	uint8_t _mavlink_wpm_comp_id;
@@ -234,6 +252,8 @@ private:
 	mavlink_wpm_storage *_wpm;
 
 	bool _verbose;
+	bool _forwarding_on;
+	bool _passing_on;
 	int _uart_fd;
 	int _baudrate;
 	int _datarate;
@@ -252,6 +272,18 @@ private:
 
 	bool		_flow_control_enabled;
 
+	struct mavlink_message_buffer {
+		int write_ptr;
+		int read_ptr;
+		int size;
+		char *data;
+	};
+	mavlink_message_buffer _message_buffer;
+
+	pthread_mutex_t _message_buffer_mutex;
+
+
+
 	/**
 	 * Send one parameter.
 	 *
@@ -315,6 +347,22 @@ private:
 	int configure_stream(const char *stream_name, const float rate);
 	void configure_stream_threadsafe(const char *stream_name, const float rate);
 
+	int message_buffer_init(int size);
+
+	void message_buffer_destroy();
+
+	int message_buffer_count();
+
+	int message_buffer_is_empty();
+
+	bool message_buffer_write(void *ptr, int size);
+
+	int message_buffer_get_ptr(void **ptr, bool *is_part);
+
+	void message_buffer_mark_read(int n);
+
+	void pass_message(mavlink_message_t *msg);
+
 	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
 
 	/**
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 4ca3840d4..79dd88657 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -72,6 +72,7 @@
 #include <uORB/topics/navigation_capabilities.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_range_finder.h>
 
 #include "mavlink_messages.h"
 
@@ -123,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
 
-		} else if (status->main_state == MAIN_STATE_SEATBELT) {
+		} else if (status->main_state == MAIN_STATE_ALTCTL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
 
-		} else if (status->main_state == MAIN_STATE_EASY) {
+		} else if (status->main_state == MAIN_STATE_POSCTL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
 
 		} else if (status->main_state == MAIN_STATE_AUTO) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -262,22 +263,21 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
-		if (status_sub->update(t)) {
-			mavlink_msg_sys_status_send(_channel,
-						    status->onboard_control_sensors_present,
-						    status->onboard_control_sensors_enabled,
-						    status->onboard_control_sensors_health,
-						    status->load * 1000.0f,
-						    status->battery_voltage * 1000.0f,
-						    status->battery_current * 1000.0f,
-						    status->battery_remaining,
-						    status->drop_rate_comm,
-						    status->errors_comm,
-						    status->errors_count1,
-						    status->errors_count2,
-						    status->errors_count3,
-						    status->errors_count4);
-		}
+		status_sub->update(t);
+		mavlink_msg_sys_status_send(_channel,
+						status->onboard_control_sensors_present,
+						status->onboard_control_sensors_enabled,
+						status->onboard_control_sensors_health,
+						status->load * 1000.0f,
+						status->battery_voltage * 1000.0f,
+						status->battery_current * 1000.0f,
+						status->battery_remaining * 100.0f,
+						status->drop_rate_comm,
+						status->errors_comm,
+						status->errors_count1,
+						status->errors_count2,
+						status->errors_count3,
+						status->errors_count4);
 	}
 };
 
@@ -641,6 +641,47 @@ protected:
 };
 
 
+
+class MavlinkStreamViconPositionEstimate : public MavlinkStream
+{
+public:
+	const char *get_name()
+	{
+		return "VICON_POSITION_ESTIMATE";
+	}
+
+	MavlinkStream *new_instance()
+	{
+		return new MavlinkStreamViconPositionEstimate();
+	}
+
+private:
+	MavlinkOrbSubscription *pos_sub;
+	struct vehicle_vicon_position_s *pos;
+
+protected:
+	void subscribe(Mavlink *mavlink)
+	{
+		pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position));
+		pos = (struct vehicle_vicon_position_s *)pos_sub->get_data();
+	}
+
+	void send(const hrt_abstime t)
+	{
+		if (pos_sub->update(t)) {
+			mavlink_msg_vicon_position_estimate_send(_channel,
+								pos->timestamp / 1000,
+								pos->x,
+								pos->y,
+								pos->z,
+								pos->roll,
+								pos->pitch,
+								pos->yaw);
+		}
+	}
+};
+
+
 class MavlinkStreamGPSGlobalOrigin : public MavlinkStream
 {
 public:
@@ -778,11 +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;
@@ -1097,10 +1138,10 @@ protected:
 		if (manual_sub->update(t)) {
 			mavlink_msg_manual_control_send(_channel,
 							mavlink_system.sysid,
-							manual->roll * 1000,
-							manual->pitch * 1000,
-							manual->yaw * 1000,
-							manual->throttle * 1000,
+							manual->x * 1000,
+							manual->y * 1000,
+							manual->z * 1000,
+							manual->r * 1000,
 							0);
 		}
 	}
@@ -1253,8 +1294,6 @@ protected:
 	{
 		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
 		status = (struct vehicle_status_s *)status_sub->get_data();
-
-
 	}
 
 	void send(const hrt_abstime t)
@@ -1265,11 +1304,57 @@ protected:
 		    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
 
 			/* send camera capture on */
-			mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
+			mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
 
 		} else {
 			/* send camera capture off */
-			mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
+			mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
+		}
+	}
+};
+
+class MavlinkStreamDistanceSensor : public MavlinkStream
+{
+public:
+	const char *get_name()
+	{
+		return "DISTANCE_SENSOR";
+	}
+
+	MavlinkStream *new_instance()
+	{
+		return new MavlinkStreamDistanceSensor();
+	}
+
+private:
+	MavlinkOrbSubscription *range_sub;
+	struct range_finder_report *range;
+
+protected:
+	void subscribe(Mavlink *mavlink)
+	{
+		range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
+		range = (struct range_finder_report *)range_sub->get_data();
+	}
+
+	void send(const hrt_abstime t)
+	{
+		if (range_sub->update(t)) {
+
+			uint8_t type;
+
+			switch (range->type) {
+				case RANGE_FINDER_TYPE_LASER:
+				type = MAV_DISTANCE_SENSOR_LASER;
+				break;
+			}
+
+			uint8_t id = 0;
+			uint8_t orientation = 0;
+			uint8_t covariance = 20;
+
+			mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
+				range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
 		}
 	}
 };
@@ -1300,5 +1385,7 @@ MavlinkStream *streams_list[] = {
 	new MavlinkStreamAttitudeControls(),
 	new MavlinkStreamNamedValueFloat(),
 	new MavlinkStreamCameraCapture(),
+	new MavlinkStreamDistanceSensor(),
+	new MavlinkStreamViconPositionEstimate(),
 	nullptr
 };
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp
index 4de722832..d432edd2b 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.cpp
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -88,6 +88,7 @@ MavlinkOrbSubscription::update(const hrt_abstime t)
 
 		if (_updated) {
 			orb_copy(_topic, _fd, _data);
+			_published = true;
 			return true;
 		}
 	}
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index d7e300670..b03a68c07 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -88,8 +88,6 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mavlink(parent),
 
-	_manual_sub(-1),
-
 	_global_pos_pub(-1),
 	_local_pos_pub(-1),
 	_attitude_pub(-1),
@@ -162,6 +160,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	 * The HIL mode is enabled by the HIL bit flag
 	 * in the system mode. Either send a set mode
 	 * COMMAND_LONG message or a SET_MODE message
+	 *
+	 * Accept HIL GPS messages if use_hil_gps flag is true.
+	 * This allows to provide fake gps measurements to the system.
 	 */
 	if (_mavlink->get_hil_enabled()) {
 		switch (msg->msgid) {
@@ -169,10 +170,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			handle_message_hil_sensor(msg);
 			break;
 
-		case MAVLINK_MSG_ID_HIL_GPS:
-			handle_message_hil_gps(msg);
-			break;
-
 		case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
 			handle_message_hil_state_quaternion(msg);
 			break;
@@ -181,6 +178,23 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			break;
 		}
 	}
+
+
+   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
+		switch (msg->msgid) {
+		case MAVLINK_MSG_ID_HIL_GPS:
+			handle_message_hil_gps(msg);
+			break;
+
+		default:
+			break;
+		}
+
+	}
+
+    /* If we've received a valid message, mark the flag indicating so.
+	   This is used in the '-w' command-line flag. */
+	_mavlink->set_has_received_messages(true);
 }
 
 void
@@ -203,6 +217,12 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 			_mavlink->_task_should_exit = true;
 
 		} else {
+
+			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
+				warnx("ignoring CMD spoofed with same SYS/COMP ID");
+				return;
+			}
+
 			struct vehicle_command_s vcmd;
 			memset(&vcmd, 0, sizeof(vcmd));
 
@@ -222,12 +242,10 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 			vcmd.source_component = msg->compid;
 			vcmd.confirmation =  cmd_mavlink.confirmation;
 
-			/* check if topic is advertised */
-			if (_cmd_pub <= 0) {
+			if (_cmd_pub < 0) {
 				_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
 
 			} else {
-				/* publish */
 				orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
 			}
 		}
@@ -245,6 +263,7 @@ 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;
@@ -253,7 +272,7 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
 	f.quality = flow.quality;
 	f.sensor_id = flow.sensor_id;
 
-	if (_flow_pub <= 0) {
+	if (_flow_pub < 0) {
 		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
 
 	} else {
@@ -287,7 +306,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
 	vcmd.source_component = msg->compid;
 	vcmd.confirmation = 1;
 
-	if (_cmd_pub <= 0) {
+	if (_cmd_pub < 0) {
 		_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
 
 	} else {
@@ -312,7 +331,7 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
 	vicon_position.pitch = pos.pitch;
 	vicon_position.yaw = pos.yaw;
 
-	if (_vicon_position_pub <= 0) {
+	if (_vicon_position_pub < 0) {
 		_vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
 
 	} else {
@@ -373,7 +392,7 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
 
 		offboard_control_sp.timestamp = hrt_absolute_time();
 
-		if (_offboard_control_sp_pub <= 0) {
+		if (_offboard_control_sp_pub < 0) {
 			_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
 
 		} else {
@@ -401,7 +420,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 	tstatus.rxerrors = rstatus.rxerrors;
 	tstatus.fixed = rstatus.fixed;
 
-	if (_telemetry_status_pub <= 0) {
+	if (_telemetry_status_pub < 0) {
 		_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
 
 	} else {
@@ -415,47 +434,20 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	mavlink_manual_control_t man;
 	mavlink_msg_manual_control_decode(msg, &man);
 
-	/* rc channels */
-	{
-		struct rc_channels_s rc;
-		memset(&rc, 0, sizeof(rc));
-
-		rc.timestamp = hrt_absolute_time();
-		rc.chan_count = 4;
+	struct manual_control_setpoint_s manual;
+	memset(&manual, 0, sizeof(manual));
 
-		rc.chan[0].scaled = man.x / 1000.0f;
-		rc.chan[1].scaled = man.y / 1000.0f;
-		rc.chan[2].scaled = man.r / 1000.0f;
-		rc.chan[3].scaled = man.z / 1000.0f;
+	manual.timestamp = hrt_absolute_time();
+	manual.x = man.x / 1000.0f;
+	manual.y = man.y / 1000.0f;
+	manual.r = man.r / 1000.0f;
+	manual.z = man.z / 1000.0f;
 
-		if (_rc_pub == 0) {
-			_rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
+	if (_manual_pub < 0) {
+		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
 
-		} else {
-			orb_publish(ORB_ID(rc_channels), _rc_pub, &rc);
-		}
-	}
-
-	/* manual control */
-	{
-		struct manual_control_setpoint_s manual;
-		memset(&manual, 0, sizeof(manual));
-
-		/* get a copy first, to prevent altering values that are not sent by the mavlink command */
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &manual);
-
-		manual.timestamp = hrt_absolute_time();
-		manual.roll = man.x / 1000.0f;
-		manual.pitch = man.y / 1000.0f;
-		manual.yaw = man.r / 1000.0f;
-		manual.throttle = man.z / 1000.0f;
-
-		if (_manual_pub == 0) {
-			_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
-
-		} else {
-			orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
-		}
+	} else {
+		orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
 	}
 }
 
@@ -619,11 +611,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		hil_sensors.differential_pressure_timestamp = timestamp;
 
 		/* publish combined sensor topic */
-		if (_sensors_pub > 0) {
-			orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors);
+		if (_sensors_pub < 0) {
+			_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
 
 		} else {
-			_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+			orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors);
 		}
 	}
 
@@ -638,11 +630,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		hil_battery_status.current_a = 10.0f;
 		hil_battery_status.discharged_mah = -1.0f;
 
-		if (_battery_pub > 0) {
-			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
+		if (_battery_pub < 0) {
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 
 		} else {
-			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
 		}
 	}
 
@@ -694,11 +686,11 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.fix_type = gps.fix_type;
 	hil_gps.satellites_visible = gps.satellites_visible;
 
-	if (_gps_pub > 0) {
-		orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps);
+	if (_gps_pub < 0) {
+		_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
 
 	} else {
-		_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+		orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps);
 	}
 }
 
@@ -752,11 +744,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_attitude.pitchspeed = hil_state.pitchspeed;
 		hil_attitude.yawspeed = hil_state.yawspeed;
 
-		if (_attitude_pub > 0) {
-			orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude);
+		if (_attitude_pub < 0) {
+			_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 
 		} else {
-			_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
+			orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude);
 		}
 	}
 
@@ -766,7 +758,6 @@ 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;
@@ -774,30 +765,35 @@ 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) {
-			orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos);
+		if (_global_pos_pub < 0) {
+			_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 
 		} else {
-			_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
+			orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos);
 		}
 	}
 
 	/* 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;
@@ -816,11 +812,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve?
 		hil_local_pos.landed = landed;
 
-		if (_local_pos_pub > 0) {
-			orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
+		if (_local_pos_pub < 0) {
+			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
 
 		} else {
-			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
+			orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
 		}
 	}
 
@@ -857,11 +853,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_battery_status.current_a = 10.0f;
 		hil_battery_status.discharged_mah = -1.0f;
 
-		if (_battery_pub > 0) {
-			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
+		if (_battery_pub < 0) {
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 
 		} else {
-			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
 		}
 	}
 }
@@ -885,8 +881,6 @@ MavlinkReceiver::receive_thread(void *arg)
 	sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
 	prctl(PR_SET_NAME, thread_name, getpid());
 
-	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-
 	struct pollfd fds[1];
 	fds[0].fd = uart_fd;
 	fds[0].events = POLLIN;
@@ -913,6 +907,11 @@ MavlinkReceiver::receive_thread(void *arg)
 
 					/* handle packet with parameter component */
 					_mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg);
+
+					if (_mavlink->get_forwarding_on()) {
+						/* forward any messages to other mavlink instances */
+						Mavlink::forward_message(&msg, _mavlink);
+					}
 				}
 			}
 		}
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 0a5a1b5c7..9ab84b58a 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -120,7 +120,6 @@ private:
 
 	mavlink_status_t status;
 	struct vehicle_local_position_s hil_local_pos;
-	int _manual_sub;
 	orb_advert_t _global_pos_pub;
 	orb_advert_t _local_pos_pub;
 	orb_advert_t _attitude_pub;
@@ -143,4 +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/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index 135e1bce0..def40d9ad 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file mavlink_stream.cpp
+ * @file mavlink_stream.h
  * Mavlink messages stream definition.
  *
  * @author Anton Babushkin <anton.babushkin@me.com>
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index f09efa2e6..f532e26fe 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -42,6 +42,11 @@ SRCS		 += mavlink_main.cpp \
 			mavlink_orb_subscription.cpp \
 			mavlink_messages.cpp \
 			mavlink_stream.cpp \
-			mavlink_rate_limiter.cpp
+			mavlink_rate_limiter.cpp \
+			mavlink_commands.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1024
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 9cb8e8344..b23166a5e 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,9 +32,13 @@
  ****************************************************************************/
 
 /**
- * @file mc_att_control_main.c
+ * @file mc_att_control_main.cpp
  * Multicopter attitude controller.
  *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  * The controller has two loops: P loop for angular error and PD loop for angular rate error.
  * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
  * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
@@ -71,7 +72,7 @@
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
-#include <mathlib/mathlib.h>
+#include <lib/mathlib/mathlib.h>
 #include <lib/geo/geo.h>
 
 /**
@@ -156,8 +157,11 @@ private:
 		param_t yaw_rate_i;
 		param_t yaw_rate_d;
 		param_t yaw_ff;
+		param_t yaw_rate_max;
 
-		param_t rc_scale_yaw;
+		param_t man_roll_max;
+		param_t man_pitch_max;
+		param_t man_yaw_max;
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	struct {
@@ -166,8 +170,11 @@ private:
 		math::Vector<3> rate_i;				/**< I gain for angular rate error */
 		math::Vector<3> rate_d;				/**< D gain for angular rate error */
 		float yaw_ff;						/**< yaw control feed-forward */
+		float yaw_rate_max;					/**< max yaw rate */
 
-		float rc_scale_yaw;
+		float man_roll_max;
+		float man_pitch_max;
+		float man_yaw_max;
 	}		_params;
 
 	/**
@@ -221,9 +228,9 @@ private:
 	static void	task_main_trampoline(int argc, char *argv[]);
 
 	/**
-	 * Main sensor collection task.
+	 * Main attitude control task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 };
 
 namespace mc_att_control
@@ -272,6 +279,11 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_params.rate_p.zero();
 	_params.rate_i.zero();
 	_params.rate_d.zero();
+	_params.yaw_ff = 0.0f;
+	_params.yaw_rate_max = 0.0f;
+	_params.man_roll_max = 0.0f;
+	_params.man_pitch_max = 0.0f;
+	_params.man_yaw_max = 0.0f;
 
 	_rates_prev.zero();
 	_rates_sp.zero();
@@ -294,8 +306,10 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_params_handles.yaw_rate_i		= 	param_find("MC_YAWRATE_I");
 	_params_handles.yaw_rate_d		= 	param_find("MC_YAWRATE_D");
 	_params_handles.yaw_ff			= 	param_find("MC_YAW_FF");
-
-	_params_handles.rc_scale_yaw	= 	param_find("RC_SCALE_YAW");
+	_params_handles.yaw_rate_max	= 	param_find("MC_YAWRATE_MAX");
+	_params_handles.man_roll_max	= 	param_find("MC_MAN_R_MAX");
+	_params_handles.man_pitch_max	= 	param_find("MC_MAN_P_MAX");
+	_params_handles.man_yaw_max		= 	param_find("MC_MAN_Y_MAX");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -330,7 +344,7 @@ MulticopterAttitudeControl::parameters_update()
 {
 	float v;
 
-	/* roll */
+	/* roll gains */
 	param_get(_params_handles.roll_p, &v);
 	_params.att_p(0) = v;
 	param_get(_params_handles.roll_rate_p, &v);
@@ -340,7 +354,7 @@ MulticopterAttitudeControl::parameters_update()
 	param_get(_params_handles.roll_rate_d, &v);
 	_params.rate_d(0) = v;
 
-	/* pitch */
+	/* pitch gains */
 	param_get(_params_handles.pitch_p, &v);
 	_params.att_p(1) = v;
 	param_get(_params_handles.pitch_rate_p, &v);
@@ -350,7 +364,7 @@ MulticopterAttitudeControl::parameters_update()
 	param_get(_params_handles.pitch_rate_d, &v);
 	_params.rate_d(1) = v;
 
-	/* yaw */
+	/* yaw gains */
 	param_get(_params_handles.yaw_p, &v);
 	_params.att_p(2) = v;
 	param_get(_params_handles.yaw_rate_p, &v);
@@ -361,8 +375,16 @@ MulticopterAttitudeControl::parameters_update()
 	_params.rate_d(2) = v;
 
 	param_get(_params_handles.yaw_ff, &_params.yaw_ff);
+	param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
+	_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
 
-	param_get(_params_handles.rc_scale_yaw, &_params.rc_scale_yaw);
+	/* manual control scale */
+	param_get(_params_handles.man_roll_max, &_params.man_roll_max);
+	param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
+	param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
+	_params.man_roll_max = math::radians(_params.man_roll_max);
+	_params.man_pitch_max = math::radians(_params.man_pitch_max);
+	_params.man_yaw_max = math::radians(_params.man_yaw_max);
 
 	return OK;
 }
@@ -404,7 +426,6 @@ MulticopterAttitudeControl::vehicle_manual_poll()
 	orb_check(_manual_control_sp_sub, &updated);
 
 	if (updated) {
-
 		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
 	}
 }
@@ -466,7 +487,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
 
 		if (!_v_control_mode.flag_control_climb_rate_enabled) {
 			/* pass throttle directly if not in altitude stabilized mode */
-			_v_att_sp.thrust = _manual_control_sp.throttle;
+			_v_att_sp.thrust = _manual_control_sp.z;
 			publish_att_sp = true;
 		}
 
@@ -483,24 +504,19 @@ MulticopterAttitudeControl::control_attitude(float dt)
 			//	reset_yaw_sp = true;
 			//}
 		} else {
-			float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale_yaw;
-
-			if (_params.rc_scale_yaw > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) {
-				/* move yaw setpoint */
-				yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale_yaw;
-
-				if (_manual_control_sp.yaw > 0.0f) {
-					yaw_sp_move_rate -= YAW_DEADZONE;
-
-				} else {
-					yaw_sp_move_rate += YAW_DEADZONE;
-				}
-
-				yaw_sp_move_rate *= _params.rc_scale_yaw;
-				_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;
+			/* move yaw setpoint */
+			yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
+			_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
+			float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
+			float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
+			if (yaw_offs < - yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
+
+			} else if (yaw_offs > yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
 			}
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
 		}
 
 		/* reset yaw setpint to current position if needed */
@@ -513,8 +529,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
 
 		if (!_v_control_mode.flag_control_velocity_enabled) {
 			/* update attitude setpoint if not in position control mode */
-			_v_att_sp.roll_body = _manual_control_sp.roll;
-			_v_att_sp.pitch_body = _manual_control_sp.pitch;
+			_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
+			_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
 			_v_att_sp.R_valid = false;
 			publish_att_sp = true;
 		}
@@ -627,6 +643,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
 	/* calculate angular rates setpoint */
 	_rates_sp = _params.att_p.emult(e_R);
 
+	/* limit yaw rate */
+	_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
+
 	/* feed forward yaw setpoint rate */
 	_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
 }
@@ -807,7 +826,7 @@ MulticopterAttitudeControl::start()
 	_control_task = task_spawn_cmd("mc_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
 				       nullptr);
 
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 488107d58..ad38a0a03 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *   	     @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
 /**
  * @file mc_att_control_params.c
  * Parameters for multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <systemlib/param/param.h>
@@ -173,3 +174,44 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
  * @group Multicopter Attitude Control
  */
 PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
+
+/**
+ * Max yaw rate
+ *
+ * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
+
+/**
+ * Max manual roll
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
+
+/**
+ * Max manual pitch
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
+
+/**
+ * Max manual yaw rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
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 78d06ba5b..09960d106 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 {
@@ -145,23 +148,17 @@ private:
 		param_t xy_vel_d;
 		param_t xy_vel_max;
 		param_t xy_ff;
-		param_t tilt_max;
+		param_t tilt_max_air;
 		param_t land_speed;
-		param_t land_tilt_max;
-
-		param_t rc_scale_pitch;
-		param_t rc_scale_roll;
+		param_t tilt_max_land;
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	struct {
 		float thr_min;
 		float thr_max;
-		float tilt_max;
+		float tilt_max_air;
 		float land_speed;
-		float land_tilt_max;
-
-		float rc_scale_pitch;
-		float rc_scale_roll;
+		float tilt_max_land;
 
 		math::Vector<3> pos_p;
 		math::Vector<3> vel_p;
@@ -172,14 +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 */
@@ -202,9 +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
@@ -224,7 +226,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 };
 
 namespace pos_control
@@ -252,31 +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();
@@ -285,6 +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();
@@ -303,11 +308,9 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_params_handles.xy_vel_d	= param_find("MPC_XY_VEL_D");
 	_params_handles.xy_vel_max	= param_find("MPC_XY_VEL_MAX");
 	_params_handles.xy_ff		= param_find("MPC_XY_FF");
-	_params_handles.tilt_max	= param_find("MPC_TILT_MAX");
+	_params_handles.tilt_max_air	= param_find("MPC_TILTMAX_AIR");
 	_params_handles.land_speed	= param_find("MPC_LAND_SPEED");
-	_params_handles.land_tilt_max	= param_find("MPC_LAND_TILT");
-	_params_handles.rc_scale_pitch	= param_find("RC_SCALE_PITCH");
-	_params_handles.rc_scale_roll	= param_find("RC_SCALE_ROLL");
+	_params_handles.tilt_max_land	= param_find("MPC_TILTMAX_LND");
 
 	/* fetch initial parameter values */
 	parameters_update(true);
@@ -345,17 +348,18 @@ 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);
 		param_get(_params_handles.thr_max, &_params.thr_max);
-		param_get(_params_handles.tilt_max, &_params.tilt_max);
+		param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
+		_params.tilt_max_air = math::radians(_params.tilt_max_air);
 		param_get(_params_handles.land_speed, &_params.land_speed);
-		param_get(_params_handles.land_tilt_max, &_params.land_tilt_max);
-		param_get(_params_handles.rc_scale_pitch, &_params.rc_scale_pitch);
-		param_get(_params_handles.rc_scale_roll, &_params.rc_scale_roll);
+		param_get(_params_handles.tilt_max_land, &_params.tilt_max_land);
+		_params.tilt_max_land = math::radians(_params.tilt_max_land);
 
 		float v;
 		param_get(_params_handles.xy_p, &v);
@@ -402,33 +406,39 @@ 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
@@ -452,40 +462,50 @@ 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));
 	}
 }
 
@@ -506,7 +526,7 @@ 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);
@@ -537,8 +557,7 @@ 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) {
@@ -546,8 +565,9 @@ 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) {
@@ -564,7 +584,7 @@ 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;
@@ -572,44 +592,41 @@ 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 */
 					reset_alt_sp();
 
 					/* move altitude setpoint with throttle stick */
-					sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
+					sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
 				}
 
 				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) = scale_control(-_manual.pitch / _params.rc_scale_pitch, 1.0f, pos_ctl_dz);
-					sp_move_rate(1) = scale_control(_manual.roll / _params.rc_scale_roll, 1.0f, pos_ctl_dz);
+					sp_move_rate(0) = _manual.x;
+					sp_move_rate(1) = _manual.y;
 				}
 
 				/* limit setpoint move rate */
@@ -625,74 +642,47 @@ 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)) {
@@ -701,11 +691,25 @@ 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();
@@ -729,9 +733,7 @@ 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);
 
@@ -741,7 +743,7 @@ 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;
 				}
@@ -780,7 +782,7 @@ MulticopterPositionControl::task_main()
 							float i = _params.thr_min;
 
 							if (reset_int_z_manual) {
-								i = _manual.throttle;
+								i = _manual.z;
 
 								if (i < _params.thr_min) {
 									i = _params.thr_min;
@@ -839,16 +841,17 @@ MulticopterPositionControl::task_main()
 						thr_min = 0.0f;
 					}
 
-					float tilt_max = _params.tilt_max;
+					float tilt_max = _params.tilt_max_air;
 
 					/* adjust limits for landing mode */
 					if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
 					    _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
 						/* limit max tilt and min lift when landing */
-						tilt_max = _params.land_tilt_max;
+						tilt_max = _params.tilt_max_land;
 
-						if (thr_min < 0.0f)
+						if (thr_min < 0.0f) {
 							thr_min = 0.0f;
+						}
 					}
 
 					/* limit min lift */
@@ -939,8 +942,9 @@ 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 */
@@ -999,6 +1003,18 @@ MulticopterPositionControl::task_main()
 						_att_sp.roll_body = euler(0);
 						_att_sp.pitch_body = euler(1);
 						/* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */
+
+					} else if (!_control_mode.flag_control_manual_enabled) {
+						/* autonomous altitude control without position control (failsafe landing),
+						 * force level attitude, don't change yaw */
+						R.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
+
+						/* copy rotation matrix to attitude setpoint topic */
+						memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body));
+						_att_sp.R_valid = true;
+
+						_att_sp.roll_body = 0.0f;
+						_att_sp.pitch_body = 0.0f;
 					}
 
 					_att_sp.thrust = thrust_abs;
@@ -1021,7 +1037,7 @@ 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;
 		}
@@ -1046,7 +1062,7 @@ MulticopterPositionControl::start()
 	_control_task = task_spawn_cmd("mc_pos_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterPositionControl::task_main_trampoline,
 				       nullptr);
 
@@ -1060,18 +1076,21 @@ 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;
@@ -1083,8 +1102,9 @@ 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/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 0082a5e6a..05ab5769b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -35,6 +35,8 @@
 /**
  * @file mc_pos_control_params.c
  * Multicopter position controller parameters.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <systemlib/param/param.h>
@@ -98,8 +100,9 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
 /**
  * Maximum vertical velocity
  *
- * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY).
+ * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
  *
+ * @unit m/s
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -108,7 +111,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
 /**
  * Vertical velocity feed forward
  *
- * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -153,8 +156,9 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
 /**
  * Maximum horizontal velocity
  *
- * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY).
+ * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
  *
+ * @unit m/s
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -163,7 +167,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 /**
  * Horizontal velocity feed forward
  *
- * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -172,31 +176,35 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
 
 /**
- * Maximum tilt
+ * Maximum tilt angle in air
  *
- * Limits maximum tilt in AUTO and EASY modes.
+ * Limits maximum tilt in AUTO and POSCTRL modes during flight.
  *
+ * @unit deg
  * @min 0.0
- * @max 1.57
+ * @max 90.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
 
 /**
- * Landing descend rate
+ * Maximum tilt during landing
  *
+ * Limits maximum tilt angle on landing.
+ *
+ * @unit deg
  * @min 0.0
+ * @max 90.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);
 
 /**
- * Maximum landing tilt
- *
- * Limits maximum tilt on landing.
+ * Landing descend rate
  *
+ * @unit m/s
  * @min 0.0
- * @max 1.57
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f);
+PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
+
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index f452a85f7..bc8dbca50 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.cpp
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 #include "geofence.h"
 
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 9628b7271..2eb126ab5 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.h
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #ifndef GEOFENCE_H_
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
index 5831a0ca9..653b1ad84 100644
--- a/src/modules/navigator/geofence_params.c
+++ b/src/modules/navigator/geofence_params.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   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
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index eaafa217d..2f45f2267 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file mission_feasibility_checker.cpp
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
 
 #include "mission_feasibility_checker.h"
@@ -100,8 +101,8 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	/* Check if all mission items are inside the geofence (if we have a valid geofence) */
 	if (geofence.valid()) {
 		for (size_t i = 0; i < nMissionItems; i++) {
-			static struct mission_item_s missionitem;
-			const ssize_t len = sizeof(struct mission_item_s);
+			struct mission_item_s missionitem;
+			const ssize_t len = sizeof(missionitem);
 
 			if (dm_read(dm_current, i, &missionitem, len) != len) {
 				/* not supposed to happen unless the datamanager can't access the SD card, etc. */
@@ -125,8 +126,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 
 
 	for (size_t i = 0; i < nMissionItems; i++) {
-		static struct mission_item_s missionitem;
-		const ssize_t len = sizeof(struct mission_item_s);
+		struct mission_item_s missionitem;
+		const ssize_t len = sizeof(missionitem);
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return false;
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index 7a0b2a296..f98e28462 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +33,11 @@
 /**
  * @file mission_feasibility_checker.h
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
+
 #ifndef MISSION_FEASIBILITY_CHECKER_H_
 #define MISSION_FEASIBILITY_CHECKER_H_
 
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 55f8a4caa..6ea9dec2b 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -45,3 +45,5 @@ SRCS		= navigator_main.cpp \
 		  geofence_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index c45cafc1b..87c893079 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +31,7 @@
  *
  ****************************************************************************/
 /**
- * @file navigator_main.c
+ * @file navigator_main.cpp
  * Implementation of the main navigation state machine.
  *
  * Handles missions, geo fencing and failsafe navigation behavior.
@@ -177,7 +173,7 @@ 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;
@@ -510,7 +506,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 {
 	struct mission_s offboard_mission;
 
-	if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
+	if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) {
 
 		/* Check mission feasibility, for now do not handle the return value,
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
@@ -543,7 +539,7 @@ Navigator::onboard_mission_update()
 {
 	struct mission_s onboard_mission;
 
-	if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
+	if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
 
 		_mission.set_onboard_mission_count(onboard_mission.count);
 		_mission.set_current_onboard_mission_index(onboard_mission.current_index);
@@ -611,7 +607,7 @@ Navigator::task_main()
 	 * do subscriptions
 	 */
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
+	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
 	_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
 	_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -690,84 +686,56 @@ Navigator::task_main()
 		if (fds[6].revents & POLLIN) {
 			vehicle_status_update();
 
-			/* evaluate state machine from commander and set the navigator mode accordingly */
+			/* evaluate state requested by commander */
 			if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
-				bool stick_mode = false;
-
-				if (!_vstatus.rc_signal_lost) {
-					/* RC signal available, use control switches to set mode */
-					/* RETURN switch, overrides MISSION switch */
-					if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
-						/* switch to RTL if not already landed after RTL and home position set */
-						if (!(_rtl_state == RTL_STATE_DESCEND &&
-						      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
-						    _vstatus.condition_home_position_valid) {
-							dispatch(EVENT_RTL_REQUESTED);
-						}
+				/* publish position setpoint triplet on each status update if navigator active */
+				_pos_sp_triplet_updated = true;
 
-						stick_mode = true;
+				if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) {
+					/* commander requested new navigation mode, try to set it */
+					switch (_vstatus.set_nav_state) {
+					case NAV_STATE_NONE:
+						/* nothing to do */
+						break;
 
-					} else {
-						/* MISSION switch */
-						if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
-							request_loiter_or_ready();
-							stick_mode = true;
+					case NAV_STATE_LOITER:
+						request_loiter_or_ready();
+						break;
 
-						} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
-							request_mission_if_available();
-							stick_mode = true;
-						}
+					case NAV_STATE_MISSION:
+						request_mission_if_available();
+						break;
 
-						if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
-							/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
-							request_mission_if_available();
-							stick_mode = true;
+					case NAV_STATE_RTL:
+						if (!(_rtl_state == RTL_STATE_DESCEND &&
+							  (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
+							_vstatus.condition_home_position_valid) {
+							dispatch(EVENT_RTL_REQUESTED);
 						}
-					}
-				}
-
-				if (!stick_mode) {
-					if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) {
-						/* commander requested new navigation mode, try to set it */
-						_set_nav_state_timestamp = _vstatus.set_nav_state_timestamp;
-
-						switch (_vstatus.set_nav_state) {
-						case NAV_STATE_NONE:
-							/* nothing to do */
-							break;
-
-						case NAV_STATE_LOITER:
-							request_loiter_or_ready();
-							break;
-
-						case NAV_STATE_MISSION:
-							request_mission_if_available();
-							break;
 
-						case NAV_STATE_RTL:
-							if (!(_rtl_state == RTL_STATE_DESCEND &&
-							      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
-							    _vstatus.condition_home_position_valid) {
-								dispatch(EVENT_RTL_REQUESTED);
-							}
+						break;
 
-							break;
+					case NAV_STATE_LAND:
+						dispatch(EVENT_LAND_REQUESTED);
 
-						case NAV_STATE_LAND:
-							dispatch(EVENT_LAND_REQUESTED);
+						break;
 
-							break;
+					default:
+						warnx("ERROR: Requested navigation state not supported");
+						break;
+					}
 
-						default:
-							warnx("ERROR: Requested navigation state not supported");
-							break;
-						}
+				} else {
+					/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
+					if (myState == NAV_STATE_NONE) {
+						request_mission_if_available();
+					}
+				}
 
-					} else {
-						/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
-						if (myState == NAV_STATE_NONE) {
-							request_mission_if_available();
-						}
+				/* 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()) {
+						on_mission_item_reached();
 					}
 				}
 
@@ -775,6 +743,8 @@ Navigator::task_main()
 				/* navigator shouldn't act */
 				dispatch(EVENT_NONE_REQUESTED);
 			}
+
+			_set_nav_state_timestamp = _vstatus.set_nav_state_timestamp;
 		}
 
 		/* parameters updated */
@@ -813,17 +783,15 @@ Navigator::task_main()
 		if (fds[1].revents & POLLIN) {
 			global_position_update();
 
-			/* publish position setpoint triplet on each position update if navigator active */
 			if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
+				/* publish position setpoint triplet on each position update if navigator active */
 				_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()) {
@@ -848,6 +816,8 @@ 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;
@@ -878,7 +848,7 @@ Navigator::start()
 	_navigator_task = task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
-					 2048,
+					 2000,
 					 (main_t)&Navigator::task_main_trampoline,
 					 nullptr);
 
@@ -893,9 +863,9 @@ 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));
@@ -1317,7 +1287,7 @@ Navigator::set_rtl_item()
 			_mission_item.yaw = NAN;
 			_mission_item.loiter_radius = _parameters.loiter_radius;
 			_mission_item.loiter_direction = 1;
-			_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
+			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 			_mission_item.acceptance_radius = _parameters.acceptance_radius;
 			_mission_item.time_inside = 0.0f;
 			_mission_item.pitch_min = 0.0f;
@@ -1377,7 +1347,7 @@ Navigator::set_rtl_item()
 			_mission_item.yaw = NAN;
 			_mission_item.loiter_radius = _parameters.loiter_radius;
 			_mission_item.loiter_direction = 1;
-			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+			_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
 			_mission_item.acceptance_radius = _parameters.acceptance_radius;
 			_mission_item.time_inside = _parameters.rtl_land_delay < 0.0f ? 0.0f : _parameters.rtl_land_delay;
 			_mission_item.pitch_min = 0.0f;
@@ -1539,7 +1509,7 @@ Navigator::check_mission_item_reached()
 			/* check yaw if defined only for rotary wing except takeoff */
 			float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
 
-			if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */
+			if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */
 				_waypoint_yaw_reached = true;
 			}
 
diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp
index 72dddebfe..49fc62785 100644
--- a/src/modules/navigator/navigator_mission.cpp
+++ b/src/modules/navigator/navigator_mission.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Julian Oes <joes@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +33,8 @@
 /**
  * @file navigator_mission.cpp
  * Helper class to access missions
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #include <string.h>
diff --git a/src/modules/navigator/navigator_mission.h b/src/modules/navigator/navigator_mission.h
index 2bd4da82e..b0f88e016 100644
--- a/src/modules/navigator/navigator_mission.h
+++ b/src/modules/navigator/navigator_mission.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Julian Oes <joes@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +33,8 @@
 /**
  * @file navigator_mission.h
  * Helper class to access missions
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef NAVIGATOR_MISSION_H
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index 9ef359c6d..5139283b6 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/navigator/navigator_state.h b/src/modules/navigator/navigator_state.h
index 6a1475c9b..476f93414 100644
--- a/src/modules/navigator/navigator_state.h
+++ b/src/modules/navigator/navigator_state.h
@@ -1,8 +1,42 @@
-/*
- * navigator_state.h
+/****************************************************************************
  *
- *  Created on: 27.01.2014
- *      Author: ton
+ *   Copyright (c) 2013 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
+ * 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 navigator_state.h
+ *
+ * Navigator state
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef NAVIGATOR_STATE_H_
diff --git a/src/modules/position_estimator/module.mk b/src/modules/position_estimator/module.mk
deleted file mode 100644
index f64095d9d..000000000
--- a/src/modules/position_estimator/module.mk
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 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
-# 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.
-#
-############################################################################
-
-#
-# Makefile to build the position estimator
-#
-
-MODULE_COMMAND		= position_estimator
-
-# XXX this should be converted to a deamon, its a pretty bad example app
-MODULE_PRIORITY	 	= SCHED_PRIORITY_DEFAULT
-MODULE_STACKSIZE	= 4096
-
-SRCS		 	= position_estimator_main.c
diff --git a/src/modules/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c
deleted file mode 100644
index e84945299..000000000
--- a/src/modules/position_estimator/position_estimator_main.c
+++ /dev/null
@@ -1,423 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *			 Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           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
- * 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 position_estimator_main.c
- * Model-identification based position estimator for multirotors
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <float.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <limits.h>
-#include <math.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <poll.h>
-
-#define N_STATES 6
-#define ERROR_COVARIANCE_INIT 3
-#define R_EARTH 6371000.0
-
-#define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000
-#define REPROJECTION_COUNTER_LIMIT 125
-
-__EXPORT int position_estimator_main(int argc, char *argv[]);
-
-static uint16_t position_estimator_counter_position_information;
-
-/* values for map projection */
-static double phi_1;
-static double sin_phi_1;
-static double cos_phi_1;
-static double lambda_0;
-static double scale;
-
-/**
- * Initializes the map transformation.
- *
- * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-{
-	/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	phi_1 = lat_0 / 180.0 * M_PI;
-	lambda_0 = lon_0 / 180.0 * M_PI;
-
-	sin_phi_1 = sin(phi_1);
-	cos_phi_1 = cos(phi_1);
-
-	/* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale
-
-	/* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */
-	const double r_earth = 6371000;
-
-	double lat1 = phi_1;
-	double lon1 = lambda_0;
-
-	double lat2 = phi_1 + 0.5 / 180 * M_PI;
-	double lon2 = lambda_0 + 0.5 / 180 * M_PI;
-	double sin_lat_2 = sin(lat2);
-	double cos_lat_2 = cos(lat2);
-	double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth;
-
-	/* 2) calculate distance rho on plane */
-	double k_bar = 0;
-	double c =  acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0));
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane
-	double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)));
-	double rho = sqrt(pow(x2, 2) + pow(y2, 2));
-
-	scale = d / rho;
-
-}
-
-/**
- * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_project(double lat, double lon, float *x, float *y)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	double phi = lat / 180.0 * M_PI;
-	double lambda = lon / 180.0 * M_PI;
-
-	double sin_phi = sin(phi);
-	double cos_phi = cos(phi);
-
-	double k_bar = 0;
-	/* using small angle approximation (formula in comment is without aproximation) */
-	double c =  acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c =  acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) );
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	/* using small angle approximation (formula in comment is without aproximation) */
-	*y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale;
-	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; //	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale;
-
-//	printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
-}
-
-/**
- * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_reproject(float x, float y, double *lat, double *lon)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-
-	double x_descaled = x / scale;
-	double y_descaled = y / scale;
-
-	double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2));
-	double sin_c = sin(c);
-	double cos_c = cos(c);
-
-	double lat_sphere = 0;
-
-	if (c != 0)
-		lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c);
-	else
-		lat_sphere = asin(cos_c * sin_phi_1);
-
-//	printf("lat_sphere = %.10f\n",lat_sphere);
-
-	double lon_sphere = 0;
-
-	if (phi_1  == M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled));
-
-	} else if (phi_1 == -M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled));
-
-	} else {
-
-		lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c));
-		//using small angle approximation
-//    	double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c);
-//    	if(denominator != 0)
-//    	{
-//    		lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator);
-//    	}
-//    	else
-//    	{
-//    	...
-//    	}
-	}
-
-//	printf("lon_sphere = %.10f\n",lon_sphere);
-
-	*lat = lat_sphere * 180.0 / M_PI;
-	*lon = lon_sphere * 180.0 / M_PI;
-
-}
-
-/****************************************************************************
- * main
- ****************************************************************************/
-
-int position_estimator_main(int argc, char *argv[])
-{
-
-	/* welcome user */
-	printf("[multirotor position_estimator] started\n");
-
-	/* initialize values */
-	static float u[2] = {0, 0};
-	static float z[3] = {0, 0, 0};
-	static float xapo[N_STATES] = {0, 0, 0, 0, 0, 0};
-	static float Papo[N_STATES * N_STATES] = {ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0
-						 };
-
-	static float xapo1[N_STATES];
-	static float Papo1[36];
-
-	static float gps_covariance[3] = {0.0f, 0.0f, 0.0f};
-
-	static uint16_t counter = 0;
-	position_estimator_counter_position_information = 0;
-
-	uint8_t predict_only = 1;
-
-	bool gps_valid = false;
-
-	bool new_initialization = true;
-
-	static double lat_current = 0.0d;//[°]] --> 47.0
-	static double lon_current = 0.0d; //[°]] -->8.5
-	float alt_current = 0.0f;
-
-
-	//TODO: handle flight without gps but with estimator
-
-	/* subscribe to vehicle status, attitude, gps */
-	struct vehicle_gps_position_s gps;
-	gps.fix_type = 0;
-	struct vehicle_status_s vstatus;
-	struct vehicle_attitude_s att;
-
-	int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* subscribe to attitude at 100 Hz */
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-
-	/* wait until gps signal turns valid, only then can we initialize the projection */
-	while (gps.fix_type < 3) {
-		struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} };
-
-		/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
-		 * this choice is critical, since the vehicle status might not
-		 * actually change, if this app is started after GPS lock was
-		 * aquired.
-		 */
-		if (poll(fds, 1, 5000)) {
-			/* Wait for the GPS update to propagate (we have some time) */
-			usleep(5000);
-			/* Read wether the vehicle status changed */
-			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-			gps_valid = (gps.fix_type > 2);
-		}
-	}
-
-	/* get gps value for first initialization */
-	orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-	lat_current = ((double)(gps.lat)) * 1e-7;
-	lon_current = ((double)(gps.lon)) * 1e-7;
-	alt_current = gps.alt * 1e-3;
-
-	/* initialize coordinates */
-	map_projection_init(lat_current, lon_current);
-
-	/* publish global position messages only after first GPS message */
-	struct vehicle_local_position_s local_pos = {
-		.x = 0,
-		.y = 0,
-		.z = 0
-	};
-	orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
-
-	printf("[multirotor position estimator] initialized projection with: lat: %.10f,  lon:%.10f\n", lat_current, lon_current);
-
-	while (1) {
-
-		/*This runs at the rate of the sensors, if we have also a new gps update this is used in the position_estimator function */
-		struct pollfd fds[1] = { {.fd = vehicle_attitude_sub, .events = POLLIN} };
-
-		if (poll(fds, 1, 5000) <= 0) {
-			/* error / timeout */
-		} else {
-
-			orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-			/* got attitude, updating pos as well */
-			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
-
-			/*copy attitude */
-			u[0] = att.roll;
-			u[1] = att.pitch;
-
-			/* initialize map projection with the last estimate (not at full rate) */
-			if (gps.fix_type > 2) {
-				/* Project gps lat lon (Geographic coordinate system) to plane*/
-				map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1]));
-
-				local_pos.x = z[0];
-				local_pos.y = z[1];
-				/* negative offset from initialization altitude */
-				local_pos.z = alt_current - (gps.alt) * 1e-3;
-
-
-				orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos);
-			}
-
-
-			// 	gps_covariance[0] = gps.eph; //TODO: needs scaling
-			// 	gps_covariance[1] = gps.eph;
-			// 	gps_covariance[2] = gps.epv;
-
-			// } else {
-			// 	/* we can not use the gps signal (it is of low quality) */
-			// 	predict_only = 1;
-			// }
-
-			// //		predict_only = 0;																//TODO: only for testing, removeme, XXX
-			// //		z[0] = sinf(((float)counter)/180.0f*3.14159265f);								//TODO: only for testing, removeme, XXX
-			// //		usleep(100000);																	//TODO: only for testing, removeme, XXX
-
-
-			// /*Get new estimation (this is calculated in the plane) */
-			// //TODO: if new_initialization == true: use 0,0,0, else use xapo
-			// if (true == new_initialization) {																								//TODO,XXX: uncomment!
-			// 	xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane
-			// 	xapo[2] = 0;
-			// 	xapo[4] = 0;
-			// 	position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
-
-			// } else {
-			// 	position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
-			// }
-
-
-
-			// /* Copy values from xapo1 to xapo */
-			// int i;
-
-			// for (i = 0; i < N_STATES; i++) {
-			// 	xapo[i] = xapo1[i];
-			// }
-
-			// if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) {
-			// 	/* Reproject from plane to geographic coordinate system */
-			// 	//		map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment!
-			// 	map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme
-			// 	//		//DEBUG
-			// 	//			if(counter%500 == 0)
-			// 	//			{
-			// 	//				printf("phi_1: %.10f\n", phi_1);
-			// 	//				printf("lambda_0: %.10f\n", lambda_0);
-			// 	//				printf("lat_estimated: %.10f\n", lat_current);
-			// 	//				printf("lon_estimated: %.10f\n", lon_current);
-			// 	//				printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]);
-			// 	//				fflush(stdout);
-			// 	//
-			// 	//			}
-
-			// 	//			if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5]))
-			// 	//			{
-			// 	/* send out */
-
-			// 	global_pos.lat = lat_current;
-			// 	global_pos.lon = lon_current;
-			// 	global_pos.alt = xapo1[4];
-			// 	global_pos.vx = xapo1[1];
-			// 	global_pos.vy = xapo1[3];
-			// 	global_pos.vz = xapo1[5];
-
-				/* publish current estimate */
-				// orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos);
-				//			}
-				//			else
-				//			{
-				//				printf("[position estimator] ERROR: nan values, lat_current=%.4f, lon_current=%.4f, z[0]=%.4f z[1]=%.4f\n", lat_current, lon_current, z[0], z[1]);
-				//				fflush(stdout);
-				//			}
-
-			// }
-
-			counter++;
-		}
-
-	}
-
-	return 0;
-}
-
-
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 368fa6ee2..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));
 			}
 		}
 
@@ -763,7 +864,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		float thrust = armed.armed ? actuator.control[3] : 0.0f;
 
 		if (landed) {
-			if (alt_disp2 > land_disp2 && thrust > params.land_thr) {
+			if (alt_disp2 > land_disp2 || thrust > params.land_thr) {
 				landed = false;
 				landed_time = 0;
 			}
@@ -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 b71f9472f..2e4f26661 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -50,13 +50,13 @@ 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);
 PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
 PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
-PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f);
+PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
deleted file mode 100755
index 977565b8e..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * kalman_dlqe1.c
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3],
-                  const real32_T x_aposteriori_k[3], real32_T z, real32_T
-                  x_aposteriori[3])
-{
-	printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z);
-	printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2]));
-  real32_T y;
-  int32_T i0;
-  real32_T b_y[3];
-  int32_T i1;
-  real32_T f0;
-  y = 0.0F;
-  for (i0 = 0; i0 < 3; i0++) {
-    b_y[i0] = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      b_y[i0] += C[i1] * A[i1 + 3 * i0];
-    }
-
-    y += b_y[i0] * x_aposteriori_k[i0];
-  }
-
-  y = z - y;
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-    }
-
-    x_aposteriori[i0] = f0 + K[i0] * y;
-  }
-  //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2]));
-}
-
-/* End of code generation (kalman_dlqe1.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
deleted file mode 100755
index 2f5330563..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1.h
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_H__
-#define __KALMAN_DLQE1_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
-#endif
-/* End of code generation (kalman_dlqe1.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
deleted file mode 100755
index 6627f76e9..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe1_initialize.c
- *
- * Code generation for function 'kalman_dlqe1_initialize'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-#include "kalman_dlqe1_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (kalman_dlqe1_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
deleted file mode 100755
index a77eb5712..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1_initialize.h
- *
- * Code generation for function 'kalman_dlqe1_initialize'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_INITIALIZE_H__
-#define __KALMAN_DLQE1_INITIALIZE_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1_initialize(void);
-#endif
-/* End of code generation (kalman_dlqe1_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
deleted file mode 100755
index a65536f79..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe1_terminate.c
- *
- * Code generation for function 'kalman_dlqe1_terminate'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-#include "kalman_dlqe1_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (kalman_dlqe1_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
deleted file mode 100755
index 100c7f76c..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1_terminate.h
- *
- * Code generation for function 'kalman_dlqe1_terminate'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_TERMINATE_H__
-#define __KALMAN_DLQE1_TERMINATE_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1_terminate(void);
-#endif
-/* End of code generation (kalman_dlqe1_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
deleted file mode 100755
index d4b2c2d61..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * kalman_dlqe1_types.h
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_TYPES_H__
-#define __KALMAN_DLQE1_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (kalman_dlqe1_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
deleted file mode 100755
index 11b999064..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * kalman_dlqe2.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1);
-
-/* Function Definitions */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1)
-{
-  real32_T y;
-  real32_T f1;
-  real32_T f2;
-  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
-    y = ((real32_T)rtNaN);
-  } else {
-    f1 = (real32_T)fabs(u0);
-    f2 = (real32_T)fabs(u1);
-    if (rtIsInfF(u1)) {
-      if (f1 == 1.0F) {
-        y = ((real32_T)rtNaN);
-      } else if (f1 > 1.0F) {
-        if (u1 > 0.0F) {
-          y = ((real32_T)rtInf);
-        } else {
-          y = 0.0F;
-        }
-      } else if (u1 > 0.0F) {
-        y = 0.0F;
-      } else {
-        y = ((real32_T)rtInf);
-      }
-    } else if (f2 == 0.0F) {
-      y = 1.0F;
-    } else if (f2 == 1.0F) {
-      if (u1 > 0.0F) {
-        y = u0;
-      } else {
-        y = 1.0F / u0;
-      }
-    } else if (u1 == 2.0F) {
-      y = u0 * u0;
-    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
-      y = (real32_T)sqrt(u0);
-    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
-      y = ((real32_T)rtNaN);
-    } else {
-      y = (real32_T)pow(u0, u1);
-    }
-  }
-
-  return y;
-}
-
-void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
-                  real32_T x_aposteriori_k[3], real32_T z, real32_T
-                  x_aposteriori[3])
-{
-	//printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3));
-	//printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3));
-  real32_T A[9];
-  real32_T y;
-  int32_T i0;
-  static const int8_T iv0[3] = { 0, 0, 1 };
-
-  real32_T b_k1[3];
-  int32_T i1;
-  static const int8_T iv1[3] = { 1, 0, 0 };
-
-  real32_T f0;
-  A[0] = 1.0F;
-  A[3] = dt;
-  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
-  A[1] = 0.0F;
-  A[4] = 1.0F;
-  A[7] = dt;
-  y = 0.0F;
-  for (i0 = 0; i0 < 3; i0++) {
-    A[2 + 3 * i0] = (real32_T)iv0[i0];
-    b_k1[i0] = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
-    }
-
-    y += b_k1[i0] * x_aposteriori_k[i0];
-  }
-
-  y = z - y;
-  b_k1[0] = k1;
-  b_k1[1] = k2;
-  b_k1[2] = k3;
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-    }
-
-    x_aposteriori[i0] = f0 + b_k1[i0] * y;
-  }
-}
-
-/* End of code generation (kalman_dlqe2.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
deleted file mode 100755
index 30170ae22..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_H__
-#define __KALMAN_DLQE2_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
-#endif
-/* End of code generation (kalman_dlqe2.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
deleted file mode 100755
index de5a1d8aa..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe2_initialize.c
- *
- * Code generation for function 'kalman_dlqe2_initialize'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-#include "kalman_dlqe2_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe2_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (kalman_dlqe2_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
deleted file mode 100755
index 3d507ff31..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2_initialize.h
- *
- * Code generation for function 'kalman_dlqe2_initialize'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_INITIALIZE_H__
-#define __KALMAN_DLQE2_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2_initialize(void);
-#endif
-/* End of code generation (kalman_dlqe2_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
deleted file mode 100755
index 0757c878c..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe2_terminate.c
- *
- * Code generation for function 'kalman_dlqe2_terminate'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-#include "kalman_dlqe2_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe2_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (kalman_dlqe2_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
deleted file mode 100755
index 23995020b..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2_terminate.h
- *
- * Code generation for function 'kalman_dlqe2_terminate'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_TERMINATE_H__
-#define __KALMAN_DLQE2_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2_terminate(void);
-#endif
-/* End of code generation (kalman_dlqe2_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
deleted file mode 100755
index f7a04d908..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * kalman_dlqe2_types.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_TYPES_H__
-#define __KALMAN_DLQE2_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (kalman_dlqe2_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
deleted file mode 100755
index 9efe2ea7a..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
+++ /dev/null
@@ -1,137 +0,0 @@
-/*

- * kalman_dlqe3.c

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "randn.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-static real32_T rt_powf_snf(real32_T u0, real32_T u1);

-

-/* Function Definitions */

-static real32_T rt_powf_snf(real32_T u0, real32_T u1)

-{

-  real32_T y;

-  real32_T f1;

-  real32_T f2;

-  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {

-    y = ((real32_T)rtNaN);

-  } else {

-    f1 = (real32_T)fabs(u0);

-    f2 = (real32_T)fabs(u1);

-    if (rtIsInfF(u1)) {

-      if (f1 == 1.0F) {

-        y = ((real32_T)rtNaN);

-      } else if (f1 > 1.0F) {

-        if (u1 > 0.0F) {

-          y = ((real32_T)rtInf);

-        } else {

-          y = 0.0F;

-        }

-      } else if (u1 > 0.0F) {

-        y = 0.0F;

-      } else {

-        y = ((real32_T)rtInf);

-      }

-    } else if (f2 == 0.0F) {

-      y = 1.0F;

-    } else if (f2 == 1.0F) {

-      if (u1 > 0.0F) {

-        y = u0;

-      } else {

-        y = 1.0F / u0;

-      }

-    } else if (u1 == 2.0F) {

-      y = u0 * u0;

-    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {

-      y = (real32_T)sqrt(u0);

-    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {

-      y = ((real32_T)rtNaN);

-    } else {

-      y = (real32_T)pow(u0, u1);

-    }

-  }

-

-  return y;

-}

-

-void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const

-                  real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate,

-                  real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3])

-{

-  real32_T A[9];

-  int32_T i0;

-  static const int8_T iv0[3] = { 0, 0, 1 };

-

-  real_T b;

-  real32_T y;

-  real32_T b_y[3];

-  int32_T i1;

-  static const int8_T iv1[3] = { 1, 0, 0 };

-

-  real32_T b_k1[3];

-  real32_T f0;

-  A[0] = 1.0F;

-  A[3] = dt;

-  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);

-  A[1] = 0.0F;

-  A[4] = 1.0F;

-  A[7] = dt;

-  for (i0 = 0; i0 < 3; i0++) {

-    A[2 + 3 * i0] = (real32_T)iv0[i0];

-  }

-

-  if (addNoise == 1.0F) {

-    b = randn();

-    z += sigma * (real32_T)b;

-  }

-

-  if (posUpdate != 0.0F) {

-    y = 0.0F;

-    for (i0 = 0; i0 < 3; i0++) {

-      b_y[i0] = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];

-      }

-

-      y += b_y[i0] * x_aposteriori_k[i0];

-    }

-

-    y = z - y;

-    b_k1[0] = k1;

-    b_k1[1] = k2;

-    b_k1[2] = k3;

-    for (i0 = 0; i0 < 3; i0++) {

-      f0 = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];

-      }

-

-      x_aposteriori[i0] = f0 + b_k1[i0] * y;

-    }

-  } else {

-    for (i0 = 0; i0 < 3; i0++) {

-      x_aposteriori[i0] = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1];

-      }

-    }

-  }

-}

-

-/* End of code generation (kalman_dlqe3.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
deleted file mode 100755
index 9bbffbbb3..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3.h

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_H__

-#define __KALMAN_DLQE3_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]);

-#endif

-/* End of code generation (kalman_dlqe3.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
deleted file mode 100755
index 8f2275c13..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
+++ /dev/null
@@ -1,32 +0,0 @@
-/*

- * kalman_dlqe3_data.c

- *

- * Code generation for function 'kalman_dlqe3_data'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-uint32_T method;

-uint32_T state[2];

-uint32_T b_method;

-uint32_T b_state;

-uint32_T c_state[2];

-boolean_T state_not_empty;

-

-/* Function Declarations */

-

-/* Function Definitions */

-/* End of code generation (kalman_dlqe3_data.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
deleted file mode 100755
index 952eb7b89..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*

- * kalman_dlqe3_data.h

- *

- * Code generation for function 'kalman_dlqe3_data'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_DATA_H__

-#define __KALMAN_DLQE3_DATA_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-extern uint32_T method;

-extern uint32_T state[2];

-extern uint32_T b_method;

-extern uint32_T b_state;

-extern uint32_T c_state[2];

-extern boolean_T state_not_empty;

-

-/* Variable Definitions */

-

-/* Function Declarations */

-#endif

-/* End of code generation (kalman_dlqe3_data.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
deleted file mode 100755
index b87d604c4..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
+++ /dev/null
@@ -1,47 +0,0 @@
-/*

- * kalman_dlqe3_initialize.c

- *

- * Code generation for function 'kalman_dlqe3_initialize'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_initialize.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-

-/* Function Definitions */

-void kalman_dlqe3_initialize(void)

-{

-  int32_T i;

-  static const uint32_T uv0[2] = { 362436069U, 0U };

-

-  rt_InitInfAndNaN(8U);

-  state_not_empty = FALSE;

-  b_state = 1144108930U;

-  b_method = 7U;

-  method = 0U;

-  for (i = 0; i < 2; i++) {

-    c_state[i] = 362436069U + 158852560U * (uint32_T)i;

-    state[i] = uv0[i];

-  }

-

-  if (state[1] == 0U) {

-    state[1] = 521288629U;

-  }

-}

-

-/* End of code generation (kalman_dlqe3_initialize.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
deleted file mode 100755
index 9dee90f9e..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3_initialize.h

- *

- * Code generation for function 'kalman_dlqe3_initialize'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_INITIALIZE_H__

-#define __KALMAN_DLQE3_INITIALIZE_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3_initialize(void);

-#endif

-/* End of code generation (kalman_dlqe3_initialize.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
deleted file mode 100755
index b00858205..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*

- * kalman_dlqe3_terminate.c

- *

- * Code generation for function 'kalman_dlqe3_terminate'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_terminate.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-

-/* Function Definitions */

-void kalman_dlqe3_terminate(void)

-{

-  /* (no terminate code required) */

-}

-

-/* End of code generation (kalman_dlqe3_terminate.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
deleted file mode 100755
index 69cc85c76..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3_terminate.h

- *

- * Code generation for function 'kalman_dlqe3_terminate'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_TERMINATE_H__

-#define __KALMAN_DLQE3_TERMINATE_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3_terminate(void);

-#endif

-/* End of code generation (kalman_dlqe3_terminate.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
deleted file mode 100755
index f36ea4557..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*

- * kalman_dlqe3_types.h

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:30 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_TYPES_H__

-#define __KALMAN_DLQE3_TYPES_H__

-

-/* Type Definitions */

-

-#endif

-/* End of code generation (kalman_dlqe3_types.h) */

diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
deleted file mode 100755
index 5139848bc..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
- * positionKalmanFilter1D.c
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const
-  real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T
-  P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T
-  Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3],
-  real32_T P_aposteriori[9])
-{
-  int32_T i0;
-  real32_T f0;
-  int32_T k;
-  real32_T b_A[9];
-  int32_T i1;
-  real32_T P_apriori[9];
-  real32_T y;
-  real32_T K[3];
-  real32_T S;
-  int8_T I[9];
-
-  /* prediction */
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (k = 0; k < 3; k++) {
-      f0 += A[i0 + 3 * k] * x_aposteriori_k[k];
-    }
-
-    x_aposteriori[i0] = f0 + B[i0] * u;
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      b_A[i0 + 3 * k] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k];
-      }
-    }
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1];
-      }
-
-      P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k];
-    }
-  }
-
-  if ((real32_T)fabs(u) < thresh) {
-    x_aposteriori[1] *= decay;
-  }
-
-  /* update */
-  if (gps_update == 1) {
-    y = 0.0F;
-    for (k = 0; k < 3; k++) {
-      y += C[k] * x_aposteriori[k];
-      K[k] = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        K[k] += C[i0] * P_apriori[i0 + 3 * k];
-      }
-    }
-
-    y = z - y;
-    S = 0.0F;
-    for (k = 0; k < 3; k++) {
-      S += K[k] * C[k];
-    }
-
-    S += R;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (k = 0; k < 3; k++) {
-        f0 += P_apriori[i0 + 3 * k] * C[k];
-      }
-
-      K[i0] = f0 / S;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      x_aposteriori[i0] += K[i0] * y;
-    }
-
-    for (i0 = 0; i0 < 9; i0++) {
-      I[i0] = 0;
-    }
-
-    for (k = 0; k < 3; k++) {
-      I[k + 3 * k] = 1;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0];
-      }
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        P_aposteriori[i0 + 3 * k] = 0.0F;
-        for (i1 = 0; i1 < 3; i1++) {
-          P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k];
-        }
-      }
-    }
-  } else {
-    for (i0 = 0; i0 < 9; i0++) {
-      P_aposteriori[i0] = P_apriori[i0];
-    }
-  }
-}
-
-/* End of code generation (positionKalmanFilter1D.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
deleted file mode 100755
index 205c8eb4e..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D.h
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_H__
-#define __POSITIONKALMANFILTER1D_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
-#endif
-/* End of code generation (positionKalmanFilter1D.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
deleted file mode 100755
index 4c535618a..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
- * positionKalmanFilter1D_dT.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3],
-  const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update,
-  const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T
-  x_aposteriori[3], real32_T P_aposteriori[9])
-{
-  real32_T A[9];
-  int32_T i;
-  static const int8_T iv0[3] = { 0, 0, 1 };
-
-  real32_T K[3];
-  real32_T f0;
-  int32_T i0;
-  real32_T b_A[9];
-  int32_T i1;
-  real32_T P_apriori[9];
-  static const int8_T iv1[3] = { 1, 0, 0 };
-
-  real32_T fv0[3];
-  real32_T y;
-  static const int8_T iv2[3] = { 1, 0, 0 };
-
-  real32_T S;
-  int8_T I[9];
-
-  /* dynamics */
-  A[0] = 1.0F;
-  A[3] = dT;
-  A[6] = -0.5F * dT * dT;
-  A[1] = 0.0F;
-  A[4] = 1.0F;
-  A[7] = -dT;
-  for (i = 0; i < 3; i++) {
-    A[2 + 3 * i] = (real32_T)iv0[i];
-  }
-
-  /* prediction */
-  K[0] = 0.5F * dT * dT;
-  K[1] = dT;
-  K[2] = 0.0F;
-  for (i = 0; i < 3; i++) {
-    f0 = 0.0F;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 += A[i + 3 * i0] * x_aposteriori_k[i0];
-    }
-
-    x_aposteriori[i] = f0 + K[i] * u;
-  }
-
-  for (i = 0; i < 3; i++) {
-    for (i0 = 0; i0 < 3; i0++) {
-      b_A[i + 3 * i0] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0];
-      }
-    }
-  }
-
-  for (i = 0; i < 3; i++) {
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1];
-      }
-
-      P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0];
-    }
-  }
-
-  if ((real32_T)fabs(u) < thresh) {
-    x_aposteriori[1] *= decay;
-  }
-
-  /* update */
-  if (gps_update == 1) {
-    f0 = 0.0F;
-    for (i = 0; i < 3; i++) {
-      f0 += (real32_T)iv1[i] * x_aposteriori[i];
-      fv0[i] = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i];
-      }
-    }
-
-    y = z - f0;
-    f0 = 0.0F;
-    for (i = 0; i < 3; i++) {
-      f0 += fv0[i] * (real32_T)iv2[i];
-    }
-
-    S = f0 + (real32_T)R;
-    for (i = 0; i < 3; i++) {
-      f0 = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0];
-      }
-
-      K[i] = f0 / S;
-    }
-
-    for (i = 0; i < 3; i++) {
-      x_aposteriori[i] += K[i] * y;
-    }
-
-    for (i = 0; i < 9; i++) {
-      I[i] = 0;
-    }
-
-    for (i = 0; i < 3; i++) {
-      I[i + 3 * i] = 1;
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (i0 = 0; i0 < 3; i0++) {
-        A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i];
-      }
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (i0 = 0; i0 < 3; i0++) {
-        P_aposteriori[i + 3 * i0] = 0.0F;
-        for (i1 = 0; i1 < 3; i1++) {
-          P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0];
-        }
-      }
-    }
-  } else {
-    for (i = 0; i < 9; i++) {
-      P_aposteriori[i] = P_apriori[i];
-    }
-  }
-}
-
-/* End of code generation (positionKalmanFilter1D_dT.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
deleted file mode 100755
index 94cbe2ce6..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_H__
-#define __POSITIONKALMANFILTER1D_DT_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
deleted file mode 100755
index aa89f8a9d..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_initialize.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT_initialize'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-#include "positionKalmanFilter1D_dT_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
deleted file mode 100755
index 8d358a9a3..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_initialize.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT_initialize'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
-#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT_initialize(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
deleted file mode 100755
index 20ed2edbb..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_terminate.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT_terminate'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-#include "positionKalmanFilter1D_dT_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
deleted file mode 100755
index 5eb5807a0..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_terminate.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT_terminate'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
-#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT_terminate(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
deleted file mode 100755
index 43e5f016c..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_types.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__
-#define __POSITIONKALMANFILTER1D_DT_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
deleted file mode 100755
index 5bd87c390..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_initialize.c
- *
- * Code generation for function 'positionKalmanFilter1D_initialize'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-#include "positionKalmanFilter1D_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (positionKalmanFilter1D_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
deleted file mode 100755
index 44bce472f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_initialize.h
- *
- * Code generation for function 'positionKalmanFilter1D_initialize'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__
-#define __POSITIONKALMANFILTER1D_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_initialize(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
deleted file mode 100755
index 41e11936f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_terminate.c
- *
- * Code generation for function 'positionKalmanFilter1D_terminate'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-#include "positionKalmanFilter1D_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (positionKalmanFilter1D_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
deleted file mode 100755
index e84ea01bc..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_terminate.h
- *
- * Code generation for function 'positionKalmanFilter1D_terminate'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__
-#define __POSITIONKALMANFILTER1D_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_terminate(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
deleted file mode 100755
index 4b473f56f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * positionKalmanFilter1D_types.h
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_TYPES_H__
-#define __POSITIONKALMANFILTER1D_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (positionKalmanFilter1D_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c
deleted file mode 100755
index 51aef7b76..000000000
--- a/src/modules/position_estimator_mc/codegen/randn.c
+++ /dev/null
@@ -1,524 +0,0 @@
-/*

- * randn.c

- *

- * Code generation for function 'randn'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "randn.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-static uint32_T d_state[625];

-

-/* Function Declarations */

-static real_T b_genrandu(uint32_T mt[625]);

-static real_T eml_rand_mt19937ar(uint32_T e_state[625]);

-static real_T eml_rand_shr3cong(uint32_T e_state[2]);

-static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]);

-static void genrandu(uint32_T s, uint32_T *e_state, real_T *r);

-static void twister_state_vector(uint32_T mt[625], real_T seed);

-

-/* Function Definitions */

-static real_T b_genrandu(uint32_T mt[625])

-{

-  real_T r;

-  int32_T exitg1;

-  uint32_T u[2];

-  boolean_T isvalid;

-  int32_T k;

-  boolean_T exitg2;

-

-  /* <LEGAL>   This is a uniform (0,1) pseudorandom number generator based on: */

-  /* <LEGAL> */

-  /* <LEGAL>    A C-program for MT19937, with initialization improved 2002/1/26. */

-  /* <LEGAL>    Coded by Takuji Nishimura and Makoto Matsumoto. */

-  /* <LEGAL> */

-  /* <LEGAL>    Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */

-  /* <LEGAL>    All rights reserved. */

-  /* <LEGAL> */

-  /* <LEGAL>    Redistribution and use in source and binary forms, with or without */

-  /* <LEGAL>    modification, are permitted provided that the following conditions */

-  /* <LEGAL>    are met: */

-  /* <LEGAL> */

-  /* <LEGAL>      1. Redistributions of source code must retain the above copyright */

-  /* <LEGAL>         notice, this list of conditions and the following disclaimer. */

-  /* <LEGAL> */

-  /* <LEGAL>      2. Redistributions in binary form must reproduce the above copyright */

-  /* <LEGAL>         notice, this list of conditions and the following disclaimer in the */

-  /* <LEGAL>         documentation and/or other materials provided with the distribution. */

-  /* <LEGAL> */

-  /* <LEGAL>      3. The names of its contributors may not be used to endorse or promote */

-  /* <LEGAL>         products derived from this software without specific prior written */

-  /* <LEGAL>         permission. */

-  /* <LEGAL> */

-  /* <LEGAL>    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */

-  /* <LEGAL>    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */

-  /* <LEGAL>    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */

-  /* <LEGAL>    A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR */

-  /* <LEGAL>    CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */

-  /* <LEGAL>    EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */

-  /* <LEGAL>    PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */

-  /* <LEGAL>    PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */

-  /* <LEGAL>    LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */

-  /* <LEGAL>    NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */

-  /* <LEGAL>    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */

-  do {

-    exitg1 = 0;

-    genrand_uint32_vector(mt, u);

-    r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T)

-                                  (u[1] >> 6U));

-    if (r == 0.0) {

-      if ((mt[624] >= 1U) && (mt[624] < 625U)) {

-        isvalid = TRUE;

-      } else {

-        isvalid = FALSE;

-      }

-

-      if (isvalid) {

-        isvalid = FALSE;

-        k = 1;

-        exitg2 = FALSE;

-        while ((exitg2 == FALSE) && (k < 625)) {

-          if (mt[k - 1] == 0U) {

-            k++;

-          } else {

-            isvalid = TRUE;

-            exitg2 = TRUE;

-          }

-        }

-      }

-

-      if (!isvalid) {

-        twister_state_vector(mt, 5489.0);

-      }

-    } else {

-      exitg1 = 1;

-    }

-  } while (exitg1 == 0);

-

-  return r;

-}

-

-static real_T eml_rand_mt19937ar(uint32_T e_state[625])

-{

-  real_T r;

-  int32_T exitg1;

-  uint32_T u32[2];

-  int32_T i;

-  static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068,

-    0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787,

-    0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557,

-    0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991,

-    0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419,

-    0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975,

-    0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107,

-    0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997,

-    0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153,

-    0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165,

-    0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959,

-    0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086,

-    0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062,

-    0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548,

-    1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093,

-    1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034,

-    1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357,

-    1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815,

-    1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083,

-    1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944,

-    1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653,

-    1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949,

-    1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382,

-    1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073,

-    1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936,

-    1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328,

-    1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998,

-    1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547,

-    1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872,

-    1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808,

-    1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049,

-    1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761,

-    1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417,

-    1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591,

-    1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609,

-    1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487,

-    1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818,

-    1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719,

-    1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782,

-    1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172,

-    1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452,

-    1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082,

-    1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281,

-    1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127,

-    1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043,

-    1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569,

-    1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366,

-    1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053,

-    2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753,

-    2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983,

-    2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952,

-    2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431,

-    2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416,

-    2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379,

-    2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137,

-    2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729,

-    2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715,

-    2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105,

-    2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184,

-    2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674,

-    2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999,

-    2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341,

-    2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214,

-    3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143,

-    3.65415288536101, 3.91075795952492 };

-

-  real_T u;

-  static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108,

-    0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131,

-    0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857,

-    0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884,

-    0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964,

-    0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187,

-    0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157,

-    0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863,

-    0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512,

-    0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774,

-    0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697,

-    0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624,

-    0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914,

-    0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987,

-    0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354,

-    0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766,

-    0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952,

-    0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322,

-    0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468,

-    0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458,

-    0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773,

-    0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716,

-    0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804,

-    0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022,

-    0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188,

-    0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832,

-    0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393,

-    0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032,

-    0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077,

-    0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522,

-    0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601,

-    0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337,

-    0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803,

-    0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183,

-    0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668,

-    0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261,

-    0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942,

-    0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501,

-    0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681,

-    0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331,

-    0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881,

-    0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135,

-    0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268,

-    0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839,

-    0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366,

-    0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263,

-    0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514,

-    0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669,

-    0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597,

-    0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839,

-    0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487,

-    0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009,

-    0.093365311912691, 0.0911136480663738, 0.0888735920682759,

-    0.0866451944505581, 0.0844285095703535, 0.082223595813203,

-    0.0800305158146631, 0.0778493367020961, 0.0756801303589272,

-    0.0735229737139814, 0.0713779490588905, 0.0692451443970068,

-    0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954,

-    0.0587679529209339, 0.0567106901062031, 0.0546664613248891,

-    0.0526354182767924, 0.0506177238609479, 0.0486135532158687,

-    0.0466230949019305, 0.0446465522512946, 0.0426841449164746,

-    0.0407361106559411, 0.0388027074045262, 0.0368842156885674,

-    0.0349809414617162, 0.0330932194585786, 0.0312214171919203,

-    0.0293659397581334, 0.0275272356696031, 0.0257058040085489,

-    0.0239022033057959, 0.0221170627073089, 0.0203510962300445,

-    0.0186051212757247, 0.0168800831525432, 0.0151770883079353,

-    0.0134974506017399, 0.0118427578579079, 0.0102149714397015,

-    0.00861658276939875, 0.00705087547137324, 0.00552240329925101,

-    0.00403797259336304, 0.00260907274610216, 0.0012602859304986,

-    0.000477467764609386 };

-

-  real_T x;

-  do {

-    exitg1 = 0;

-    genrand_uint32_vector(e_state, u32);

-    i = (int32_T)((u32[1] >> 24U) + 1U);

-    r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] &

-           16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i];

-    if (fabs(r) <= dv1[i - 1]) {

-      exitg1 = 1;

-    } else if (i < 256) {

-      u = b_genrandu(e_state);

-      if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) {

-        exitg1 = 1;

-      }

-    } else {

-      do {

-        u = b_genrandu(e_state);

-        x = log(u) * 0.273661237329758;

-        u = b_genrandu(e_state);

-      } while (!(-2.0 * log(u) > x * x));

-

-      if (r < 0.0) {

-        r = x - 3.65415288536101;

-      } else {

-        r = 3.65415288536101 - x;

-      }

-

-      exitg1 = 1;

-    }

-  } while (exitg1 == 0);

-

-  return r;

-}

-

-static real_T eml_rand_shr3cong(uint32_T e_state[2])

-{

-  real_T r;

-  uint32_T icng;

-  uint32_T jsr;

-  uint32_T ui;

-  int32_T j;

-  static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427,

-    0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948,

-    0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738,

-    1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008,

-    1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122,

-    1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503,

-    1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831,

-    1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713,

-    2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658,

-    2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 };

-

-  real_T x;

-  real_T y;

-  real_T s;

-  icng = 69069U * e_state[0] + 1234567U;

-  jsr = e_state[1] ^ e_state[1] << 13U;

-  jsr ^= jsr >> 17U;

-  jsr ^= jsr << 5U;

-  ui = icng + jsr;

-  j = (int32_T)(ui & 63U);

-  r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1];

-  if (fabs(r) <= dv0[j]) {

-  } else {

-    x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]);

-    icng = 69069U * icng + 1234567U;

-    jsr ^= jsr << 13U;

-    jsr ^= jsr >> 17U;

-    jsr ^= jsr << 5U;

-    y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10;

-    s = x + (0.5 + y);

-    if (s > 1.301198) {

-      if (r < 0.0) {

-        r = 0.4878992 * x - 0.4878992;

-      } else {

-        r = 0.4878992 - 0.4878992 * x;

-      }

-    } else if (s <= 0.9689279) {

-    } else {

-      s = 0.4878992 * x;

-      x = 0.4878992 - 0.4878992 * x;

-      if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) {

-        if (r < 0.0) {

-          r = -(0.4878992 - s);

-        } else {

-          r = 0.4878992 - s;

-        }

-      } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 /

-                 dv0[j + 1] <= exp(-0.5 * r * r)) {

-      } else {

-        do {

-          icng = 69069U * icng + 1234567U;

-          jsr ^= jsr << 13U;

-          jsr ^= jsr >> 17U;

-          jsr ^= jsr << 5U;

-          x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) /

-            2.776994;

-          icng = 69069U * icng + 1234567U;

-          jsr ^= jsr << 13U;

-          jsr ^= jsr >> 17U;

-          jsr ^= jsr << 5U;

-        } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) *

-                              2.328306436538696E-10) > x * x));

-

-        if (r < 0.0) {

-          r = x - 2.776994;

-        } else {

-          r = 2.776994 - x;

-        }

-      }

-    }

-  }

-

-  e_state[0] = icng;

-  e_state[1] = jsr;

-  return r;

-}

-

-static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2])

-{

-  int32_T i;

-  uint32_T mti;

-  int32_T kk;

-  uint32_T y;

-  uint32_T b_y;

-  uint32_T c_y;

-  uint32_T d_y;

-  for (i = 0; i < 2; i++) {

-    u[i] = 0U;

-  }

-

-  for (i = 0; i < 2; i++) {

-    mti = mt[624] + 1U;

-    if (mti >= 625U) {

-      for (kk = 0; kk < 227; kk++) {

-        y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U);

-        if ((int32_T)(y & 1U) == 0) {

-          b_y = y >> 1U;

-        } else {

-          b_y = y >> 1U ^ 2567483615U;

-        }

-

-        mt[kk] = mt[397 + kk] ^ b_y;

-      }

-

-      for (kk = 0; kk < 396; kk++) {

-        y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U);

-        if ((int32_T)(y & 1U) == 0) {

-          c_y = y >> 1U;

-        } else {

-          c_y = y >> 1U ^ 2567483615U;

-        }

-

-        mt[227 + kk] = mt[kk] ^ c_y;

-      }

-

-      y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U);

-      if ((int32_T)(y & 1U) == 0) {

-        d_y = y >> 1U;

-      } else {

-        d_y = y >> 1U ^ 2567483615U;

-      }

-

-      mt[623] = mt[396] ^ d_y;

-      mti = 1U;

-    }

-

-    y = mt[(int32_T)mti - 1];

-    mt[624] = mti;

-    y ^= y >> 11U;

-    y ^= y << 7U & 2636928640U;

-    y ^= y << 15U & 4022730752U;

-    y ^= y >> 18U;

-    u[i] = y;

-  }

-}

-

-static void genrandu(uint32_T s, uint32_T *e_state, real_T *r)

-{

-  int32_T hi;

-  uint32_T test1;

-  uint32_T test2;

-  hi = (int32_T)(s / 127773U);

-  test1 = 16807U * (s - (uint32_T)hi * 127773U);

-  test2 = 2836U * (uint32_T)hi;

-  if (test1 < test2) {

-    *e_state = (test1 - test2) + 2147483647U;

-  } else {

-    *e_state = test1 - test2;

-  }

-

-  *r = (real_T)*e_state * 4.6566128752457969E-10;

-}

-

-static void twister_state_vector(uint32_T mt[625], real_T seed)

-{

-  uint32_T r;

-  int32_T mti;

-  if (seed < 4.294967296E+9) {

-    if (seed >= 0.0) {

-      r = (uint32_T)seed;

-    } else {

-      r = 0U;

-    }

-  } else if (seed >= 4.294967296E+9) {

-    r = MAX_uint32_T;

-  } else {

-    r = 0U;

-  }

-

-  mt[0] = r;

-  for (mti = 0; mti < 623; mti++) {

-    r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti);

-    mt[1 + mti] = r;

-  }

-

-  mt[624] = 624U;

-}

-

-real_T randn(void)

-{

-  real_T r;

-  uint32_T e_state;

-  real_T t;

-  real_T b_r;

-  uint32_T f_state;

-  if (method == 0U) {

-    if (b_method == 4U) {

-      do {

-        genrandu(b_state, &e_state, &r);

-        genrandu(e_state, &b_state, &t);

-        b_r = 2.0 * r - 1.0;

-        t = 2.0 * t - 1.0;

-        t = t * t + b_r * b_r;

-      } while (!(t <= 1.0));

-

-      r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

-    } else if (b_method == 5U) {

-      r = eml_rand_shr3cong(c_state);

-    } else {

-      if (!state_not_empty) {

-        memset(&d_state[0], 0, 625U * sizeof(uint32_T));

-        twister_state_vector(d_state, 5489.0);

-        state_not_empty = TRUE;

-      }

-

-      r = eml_rand_mt19937ar(d_state);

-    }

-  } else if (method == 4U) {

-    e_state = state[0];

-    do {

-      genrandu(e_state, &f_state, &r);

-      genrandu(f_state, &e_state, &t);

-      b_r = 2.0 * r - 1.0;

-      t = 2.0 * t - 1.0;

-      t = t * t + b_r * b_r;

-    } while (!(t <= 1.0));

-

-    state[0] = e_state;

-    r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

-  } else {

-    r = eml_rand_shr3cong(state);

-  }

-

-  return r;

-}

-

-/* End of code generation (randn.c) */

diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h
deleted file mode 100755
index 8a2aa9277..000000000
--- a/src/modules/position_estimator_mc/codegen/randn.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * randn.h

- *

- * Code generation for function 'randn'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-#ifndef __RANDN_H__

-#define __RANDN_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern real_T randn(void);

-#endif

-/* End of code generation (randn.h) */

diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c
deleted file mode 100755
index c6fa7884e..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetInf.c
+++ /dev/null
@@ -1,139 +0,0 @@
-/*
- * rtGetInf.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *       MATLAB for code generation function to initialize non-finite, Inf and MinusInf
- */
-#include "rtGetInf.h"
-#define NumBitsPerChar	8U
-
-/* Function: rtGetInf ==================================================
- * Abstract:
- * Initialize rtInf needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetInf(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T inf = 0.0;
-  if (bitsPerReal == 32U) {
-    inf = rtGetInfF();
-  } else {
-    uint16_T one = 1U;
-    enum {
-      LittleEndian,
-      BigEndian
-    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-    switch (machByteOrder) {
-     case LittleEndian:
-      {
-        union {
-          LittleEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        inf = tmpVal.fltVal;
-        break;
-      }
-
-     case BigEndian:
-      {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        inf = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return inf;
-}
-
-/* Function: rtGetInfF ==================================================
- * Abstract:
- * Initialize rtInfF needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetInfF(void)
-{
-  IEEESingle infF;
-  infF.wordL.wordLuint = 0x7F800000U;
-  return infF.wordL.wordLreal;
-}
-
-/* Function: rtGetMinusInf ==================================================
- * Abstract:
- * Initialize rtMinusInf needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetMinusInf(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T minf = 0.0;
-  if (bitsPerReal == 32U) {
-    minf = rtGetMinusInfF();
-  } else {
-    uint16_T one = 1U;
-    enum {
-      LittleEndian,
-      BigEndian
-    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-    switch (machByteOrder) {
-     case LittleEndian:
-      {
-        union {
-          LittleEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0xFFF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        minf = tmpVal.fltVal;
-        break;
-      }
-
-     case BigEndian:
-      {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0xFFF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        minf = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return minf;
-}
-
-/* Function: rtGetMinusInfF ==================================================
- * Abstract:
- * Initialize rtMinusInfF needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetMinusInfF(void)
-{
-  IEEESingle minfF;
-  minfF.wordL.wordLuint = 0xFF800000U;
-  return minfF.wordL.wordLreal;
-}
-
-/* End of code generation (rtGetInf.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h
deleted file mode 100755
index e7b2a2d1c..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetInf.h
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * rtGetInf.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTGETINF_H__
-#define __RTGETINF_H__
-
-#include <stddef.h>
-#include "rtwtypes.h"
-#include "rt_nonfinite.h"
-
-extern real_T rtGetInf(void);
-extern real32_T rtGetInfF(void);
-extern real_T rtGetMinusInf(void);
-extern real32_T rtGetMinusInfF(void);
-
-#endif
-/* End of code generation (rtGetInf.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
deleted file mode 100755
index 552770149..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetNaN.c
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- * rtGetNaN.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *       MATLAB for code generation function to initialize non-finite, NaN
- */
-#include "rtGetNaN.h"
-#define NumBitsPerChar	8U
-
-/* Function: rtGetNaN ==================================================
- * Abstract:
- * Initialize rtNaN needed by the generated code.
- * NaN is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetNaN(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T nan = 0.0;
-  if (bitsPerReal == 32U) {
-    nan = rtGetNaNF();
-  } else {
-  uint16_T one = 1U;
-  enum {
-    LittleEndian,
-    BigEndian
-  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-  switch (machByteOrder) {
-   case LittleEndian:
-    {
-      union {
-        LittleEndianIEEEDouble bitVal;
-        real_T fltVal;
-      } tmpVal;
-
-      tmpVal.bitVal.words.wordH = 0xFFF80000U;
-      tmpVal.bitVal.words.wordL = 0x00000000U;
-      nan = tmpVal.fltVal;
-      break;
-    }
-
-   case BigEndian:
-    {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
-        tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
-        nan = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return nan;
-}
-
-/* Function: rtGetNaNF ==================================================
- * Abstract:
- * Initialize rtNaNF needed by the generated code.
- * NaN is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetNaNF(void)
-{
-  IEEESingle nanF = { { 0 } };
-  uint16_T one = 1U;
-  enum {
-    LittleEndian,
-    BigEndian
-  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-  switch (machByteOrder) {
-   case LittleEndian:
-    {
-      nanF.wordL.wordLuint = 0xFFC00000U;
-      break;
-    }
-
-   case BigEndian:
-    {
-      nanF.wordL.wordLuint = 0x7FFFFFFFU;
-      break;
-    }
-  }
-
-  return nanF.wordL.wordLreal;
-}
-
-/* End of code generation (rtGetNaN.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
deleted file mode 100755
index 5acdd9790..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetNaN.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * rtGetNaN.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTGETNAN_H__
-#define __RTGETNAN_H__
-
-#include <stddef.h>
-#include "rtwtypes.h"
-#include "rt_nonfinite.h"
-
-extern real_T rtGetNaN(void);
-extern real32_T rtGetNaNF(void);
-
-#endif
-/* End of code generation (rtGetNaN.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
deleted file mode 100755
index de121c4a0..000000000
--- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * rt_nonfinite.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *      MATLAB for code generation function to initialize non-finites,
- *      (Inf, NaN and -Inf).
- */
-#include "rt_nonfinite.h"
-#include "rtGetNaN.h"
-#include "rtGetInf.h"
-
-real_T rtInf;
-real_T rtMinusInf;
-real_T rtNaN;
-real32_T rtInfF;
-real32_T rtMinusInfF;
-real32_T rtNaNF;
-
-/* Function: rt_InitInfAndNaN ==================================================
- * Abstract:
- * Initialize the rtInf, rtMinusInf, and rtNaN needed by the
- * generated code. NaN is initialized as non-signaling. Assumes IEEE.
- */
-void rt_InitInfAndNaN(size_t realSize)
-{
-  (void) (realSize);
-  rtNaN = rtGetNaN();
-  rtNaNF = rtGetNaNF();
-  rtInf = rtGetInf();
-  rtInfF = rtGetInfF();
-  rtMinusInf = rtGetMinusInf();
-  rtMinusInfF = rtGetMinusInfF();
-}
-
-/* Function: rtIsInf ==================================================
- * Abstract:
- * Test if value is infinite
- */
-boolean_T rtIsInf(real_T value)
-{
-  return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
-}
-
-/* Function: rtIsInfF =================================================
- * Abstract:
- * Test if single-precision value is infinite
- */
-boolean_T rtIsInfF(real32_T value)
-{
-  return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
-}
-
-/* Function: rtIsNaN ==================================================
- * Abstract:
- * Test if value is not a number
- */
-boolean_T rtIsNaN(real_T value)
-{
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-  return _isnan(value)? TRUE:FALSE;
-#else
-  return (value!=value)? 1U:0U;
-#endif
-}
-
-/* Function: rtIsNaNF =================================================
- * Abstract:
- * Test if single-precision value is not a number
- */
-boolean_T rtIsNaNF(real32_T value)
-{
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-  return _isnan((real_T)value)? true:false;
-#else
-  return (value!=value)? 1U:0U;
-#endif
-}
-
-
-/* End of code generation (rt_nonfinite.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
deleted file mode 100755
index 3bbcfd087..000000000
--- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * rt_nonfinite.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RT_NONFINITE_H__
-#define __RT_NONFINITE_H__
-
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-#include <float.h>
-#endif
-#include <stddef.h>
-#include "rtwtypes.h"
-
-extern real_T rtInf;
-extern real_T rtMinusInf;
-extern real_T rtNaN;
-extern real32_T rtInfF;
-extern real32_T rtMinusInfF;
-extern real32_T rtNaNF;
-extern void rt_InitInfAndNaN(size_t realSize);
-extern boolean_T rtIsInf(real_T value);
-extern boolean_T rtIsInfF(real32_T value);
-extern boolean_T rtIsNaN(real_T value);
-extern boolean_T rtIsNaNF(real32_T value);
-
-typedef struct {
-  struct {
-    uint32_T wordH;
-    uint32_T wordL;
-  } words;
-} BigEndianIEEEDouble;
-
-typedef struct {
-  struct {
-    uint32_T wordL;
-    uint32_T wordH;
-  } words;
-} LittleEndianIEEEDouble;
-
-typedef struct {
-  union {
-    real32_T wordLreal;
-    uint32_T wordLuint;
-  } wordL;
-} IEEESingle;
-
-#endif
-/* End of code generation (rt_nonfinite.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h
deleted file mode 100755
index 8916e8572..000000000
--- a/src/modules/position_estimator_mc/codegen/rtwtypes.h
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
- * rtwtypes.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTWTYPES_H__
-#define __RTWTYPES_H__
-#ifndef TRUE
-# define TRUE (1U)
-#endif
-#ifndef FALSE
-# define FALSE (0U)
-#endif
-#ifndef __TMWTYPES__
-#define __TMWTYPES__
-
-#include <limits.h>
-
-/*=======================================================================* 
- * Target hardware information
- *   Device type: Generic->MATLAB Host Computer
- *   Number of bits:     char:   8    short:   16    int:  32
- *                       long:  32      native word size:  32
- *   Byte ordering: LittleEndian
- *   Signed integer division rounds to: Undefined
- *   Shift right on a signed integer as arithmetic shift: off
- *=======================================================================*/
-
-/*=======================================================================* 
- * Fixed width word size data types:                                     * 
- *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
- *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
- *   real32_T, real64_T           - 32 and 64 bit floating point numbers * 
- *=======================================================================*/
-
-typedef signed char int8_T;
-typedef unsigned char uint8_T;
-typedef short int16_T;
-typedef unsigned short uint16_T;
-typedef int int32_T;
-typedef unsigned int uint32_T;
-typedef float real32_T;
-typedef double real64_T;
-
-/*===========================================================================* 
- * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T,       * 
- *                           ulong_T, char_T and byte_T.                     * 
- *===========================================================================*/
-
-typedef double real_T;
-typedef double time_T;
-typedef unsigned char boolean_T;
-typedef int int_T;
-typedef unsigned int uint_T;
-typedef unsigned long ulong_T;
-typedef char char_T;
-typedef char_T byte_T;
-
-/*===========================================================================* 
- * Complex number type definitions                                           * 
- *===========================================================================*/
-#define CREAL_T	
-   typedef struct {  
-     real32_T re;  
-     real32_T im;  
-   } creal32_T;  
-
-   typedef struct {  
-     real64_T re;  
-     real64_T im;  
-   } creal64_T;  
-
-   typedef struct {  
-     real_T re;  
-     real_T im;  
-   } creal_T;  
-
-   typedef struct {  
-     int8_T re;  
-     int8_T im;  
-   } cint8_T;  
-
-   typedef struct {  
-     uint8_T re;  
-     uint8_T im;  
-   } cuint8_T;  
-
-   typedef struct {  
-     int16_T re;  
-     int16_T im;  
-   } cint16_T;  
-
-   typedef struct {  
-     uint16_T re;  
-     uint16_T im;  
-   } cuint16_T;  
-
-   typedef struct {  
-     int32_T re;  
-     int32_T im;  
-   } cint32_T;  
-
-   typedef struct {  
-     uint32_T re;  
-     uint32_T im;  
-   } cuint32_T;  
-
-
-/*=======================================================================* 
- * Min and Max:                                                          * 
- *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
- *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
- *=======================================================================*/
-
-#define MAX_int8_T  	((int8_T)(127))
-#define MIN_int8_T  	((int8_T)(-128))
-#define MAX_uint8_T 	((uint8_T)(255))
-#define MIN_uint8_T 	((uint8_T)(0))
-#define MAX_int16_T 	((int16_T)(32767))
-#define MIN_int16_T 	((int16_T)(-32768))
-#define MAX_uint16_T	((uint16_T)(65535))
-#define MIN_uint16_T	((uint16_T)(0))
-#define MAX_int32_T 	((int32_T)(2147483647))
-#define MIN_int32_T 	((int32_T)(-2147483647-1))
-#define MAX_uint32_T	((uint32_T)(0xFFFFFFFFU))
-#define MIN_uint32_T	((uint32_T)(0))
-
-/* Logical type definitions */
-#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
-#  ifndef false
-#   define false (0U)
-#  endif
-#  ifndef true
-#   define true (1U)
-#  endif
-#endif
-
-/*
- * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
- * for signed integer values.
- */
-#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
-#error "This code must be compiled using a 2's complement representation for signed integer values"
-#endif
-
-/*
- * Maximum length of a MATLAB identifier (function/variable)
- * including the null-termination character. Referenced by
- * rt_logging.c and rt_matrx.c.
- */
-#define TMW_NAME_LENGTH_MAX	64
-
-#endif
-#endif
-/* End of code generation (rtwtypes.h) */
diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m
deleted file mode 100755
index ff939d029..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe1.m
+++ /dev/null
@@ -1,3 +0,0 @@
-function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z)
-    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m
deleted file mode 100755
index 2a50164ef..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe2.m
+++ /dev/null
@@ -1,9 +0,0 @@
-function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z)
-    st = 1/2*dt^2;
-    A = [1,dt,st;
-        0,1,dt;
-        0,0,1];
-    C=[1,0,0];
-    K = [k1;k2;k3];
-    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m
deleted file mode 100755
index 4c6421b7f..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe3.m
+++ /dev/null
@@ -1,17 +0,0 @@
-function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma)

-    st = 1/2*dt^2;

-    A = [1,dt,st;

-        0,1,dt;

-        0,0,1];

-    C=[1,0,0];

-    K = [k1;k2;k3];

-    if addNoise==1

-        noise = sigma*randn(1,1);

-        z = z + noise;

-    end

-    if(posUpdate)

-        x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);

-    else

-        x_aposteriori=A*x_aposteriori_k;

-    end

-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk
deleted file mode 100644
index 40b135ea4..000000000
--- a/src/modules/position_estimator_mc/module.mk
+++ /dev/null
@@ -1,60 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 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
-# 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.
-#
-############################################################################
-
-#
-# Makefile to build the position estimator
-#
-
-MODULE_COMMAND	 = position_estimator_mc
-
-SRCS		 = position_estimator_mc_main.c \
-			   position_estimator_mc_params.c \
-			   codegen/positionKalmanFilter1D_initialize.c \
-			   codegen/positionKalmanFilter1D_terminate.c \
-			   codegen/positionKalmanFilter1D.c \
-			   codegen/rt_nonfinite.c \
-			   codegen/rtGetInf.c \
-			   codegen/rtGetNaN.c \
-			   codegen/positionKalmanFilter1D_dT_initialize.c \
-			   codegen/positionKalmanFilter1D_dT_terminate.c \
-			   codegen/kalman_dlqe1.c \
-			   codegen/kalman_dlqe1_initialize.c \
-			   codegen/kalman_dlqe1_terminate.c \
-			   codegen/kalman_dlqe2.c \
-			   codegen/kalman_dlqe2_initialize.c \
-			   codegen/kalman_dlqe2_terminate.c \
-			   codegen/kalman_dlqe3.c \
-			   codegen/kalman_dlqe3_initialize.c \
-			   codegen/kalman_dlqe3_terminate.c \
-			   codegen/kalman_dlqe3_data.c \
-			   codegen/randn.c
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
deleted file mode 100755
index 144ff8c7c..000000000
--- a/src/modules/position_estimator_mc/positionKalmanFilter1D.m
+++ /dev/null
@@ -1,19 +0,0 @@
-function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
-%prediction
-    x_apriori=A*x_aposteriori_k+B*u;
-    P_apriori=A*P_aposteriori_k*A'+Q;
-    if abs(u)<thresh
-        x_apriori(2)=decay*x_apriori(2);
-    end
-    %update
-    if gps_update==1
-        y=z-C*x_apriori;
-        S=C*P_apriori*C'+R;
-        K=(P_apriori*C')/S;
-        x_aposteriori=x_apriori+K*y;
-        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
-    else
-        x_aposteriori=x_apriori;
-        P_aposteriori=P_apriori;
-    end
-end
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
deleted file mode 100755
index f94cce1fb..000000000
--- a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
+++ /dev/null
@@ -1,26 +0,0 @@
-function  [x_aposteriori,P_aposteriori]=positionKalmanFilter1D_dT(dT,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
-    %dynamics
-    A = [1 dT -0.5*dT*dT;
-         0 1 -dT;
-         0 0 1];
-    B = [0.5*dT*dT; dT; 0];
-    C = [1 0 0];
-    %prediction
-    x_apriori=A*x_aposteriori_k+B*u;
-    P_apriori=A*P_aposteriori_k*A'+Q;
-    if abs(u)<thresh
-        x_apriori(2)=decay*x_apriori(2);
-    end
-    %update
-    if gps_update==1
-        y=z-C*x_apriori;
-        S=C*P_apriori*C'+R;
-        K=(P_apriori*C')/S;
-        x_aposteriori=x_apriori+K*y;
-        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
-    else
-        x_aposteriori=x_apriori;
-        P_aposteriori=P_apriori;
-    end
-end
-
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c
deleted file mode 100755
index 363961819..000000000
--- a/src/modules/position_estimator_mc/position_estimator_mc_main.c
+++ /dev/null
@@ -1,515 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger	<daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
-* 				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
- * 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 position_estimator_main.c
- * Model-identification based position estimator for multirotors
- */
-
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <float.h>
-#include <string.h>
-#include <nuttx/config.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <limits.h>
-#include <math.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls_effective.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <mavlink/mavlink_log.h>
-#include <poll.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/err.h>
-#include <systemlib/systemlib.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "position_estimator_mc_params.h"
-//#include <uORB/topics/debug_key_value.h>
-#include "codegen/kalman_dlqe2.h"
-#include "codegen/kalman_dlqe2_initialize.h"
-#include "codegen/kalman_dlqe3.h"
-#include "codegen/kalman_dlqe3_initialize.h"
-
-static bool thread_should_exit = false;	/**< Deamon exit flag */
-static bool thread_running = false;	/**< Deamon status flag */
-static int position_estimator_mc_task;	/**< Handle of deamon task / thread */
-
-__EXPORT int position_estimator_mc_main(int argc, char *argv[]);
-
-int position_estimator_mc_thread_main(int argc, char *argv[]);
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		warnx("%s\n", reason);
-	warnx("usage: position_estimator_mc {start|stop|status}");
-	exit(1);
-}
-
-/**
- * The position_estimator_mc_thread only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int position_estimator_mc_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("position_estimator_mc already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		position_estimator_mc_task = task_spawn_cmd("position_estimator_mc",
-					 SCHED_RR,
-					 SCHED_PRIORITY_MAX - 5,
-					 4096,
-					 position_estimator_mc_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("position_estimator_mc is running");
-		} else {
-			warnx("position_estimator_mc not started");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-/****************************************************************************
- * main
- ****************************************************************************/
-int position_estimator_mc_thread_main(int argc, char *argv[])
-{
-	/* welcome user */
-	warnx("[position_estimator_mc] started");
-	int mavlink_fd;
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	mavlink_log_info(mavlink_fd, "[position_estimator_mc] started");
-
-	/* initialize values */
-	float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */
-	// float rotMatrix[4] = {1.0f,  0.0f, 0.0f,  1.0f};
-	float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f};
-	float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f};
-	float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f};
-
-	// XXX this is terribly wrong and should actual dT instead
-	const float dT_const_50 = 1.0f/50.0f;
-
-	float addNoise = 0.0f;
-	float sigma = 0.0f;
-	//computed from dlqe in matlab
-	const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f};
-	// XXX implement baro filter
-	const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f};
-	float K[3] = {0.0f, 0.0f, 0.0f};
-	int baro_loop_cnt = 0;
-	int baro_loop_end = 70; /* measurement for 1 second */
-	float p0_Pa = 0.0f; /* to determin while start up */
-	float rho0 = 1.293f; /* standard pressure */
-	const float const_earth_gravity = 9.81f;
-
-	float posX = 0.0f;
-	float posY = 0.0f;
-	float posZ = 0.0f;
-
-	double lat_current;
-	double lon_current;
-	float alt_current;
-
-	float gps_origin_altitude = 0.0f;
-
-	/* Initialize filter */
-	kalman_dlqe2_initialize();
-	kalman_dlqe3_initialize();
-
-	/* declare and safely initialize all structs */
-	struct sensor_combined_s sensor;
-	memset(&sensor, 0, sizeof(sensor));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_status_s vehicle_status;
-	memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */
-	struct vehicle_vicon_position_s vicon_pos;
-	memset(&vicon_pos, 0, sizeof(vicon_pos));
-	struct actuator_controls_effective_s act_eff;
-	memset(&act_eff, 0, sizeof(act_eff));
-	struct vehicle_gps_position_s gps;
-	memset(&gps, 0, sizeof(gps));
-	struct vehicle_local_position_s local_pos_est;
-	memset(&local_pos_est, 0, sizeof(local_pos_est));
-	struct vehicle_global_position_s global_pos_est;
-	memset(&global_pos_est, 0, sizeof(global_pos_est));
-
-	/* subscribe */
-	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	int sub_params = orb_subscribe(ORB_ID(parameter_update));
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0));
-	int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* advertise */
-	orb_advert_t local_pos_est_pub = 0;
-	orb_advert_t global_pos_est_pub = 0;
-
-	struct position_estimator_mc_params pos1D_params;
-	struct position_estimator_mc_param_handles pos1D_param_handles;
-	/* initialize parameter handles */
-	parameters_init(&pos1D_param_handles);
-
-	bool flag_use_gps = false;
-	bool flag_use_baro = false;
-	bool flag_baro_initialized = false; /* in any case disable baroINITdone */
-	/* FIRST PARAMETER READ at START UP*/
-	struct parameter_update_s update;
-	orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */
-	/* FIRST PARAMETER UPDATE */
-	parameters_update(&pos1D_param_handles, &pos1D_params);
-	flag_use_baro = pos1D_params.baro;
-	sigma = pos1D_params.sigma;
-	addNoise = pos1D_params.addNoise;
-	/* END FIRST PARAMETER UPDATE */
-
-	/* try to grab a vicon message - if it fails, go for GPS. */
-
-	/* make sure the next orb_check() can't return true unless we get a timely update */
-	orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
-	/* allow 200 ms for vicon to come in */
-	usleep(200000);
-	/* check if we got vicon */
-	bool update_check;
-	orb_check(vicon_pos_sub, &update_check);
-	/* if no update was available, use GPS */
-	flag_use_gps = !update_check;
-
-	if (flag_use_gps) {
-		mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked");
-		/* wait until gps signal turns valid, only then can we initialize the projection */
-
-		// XXX magic number
-		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.
-		 */
-
-		while (!(gps.fix_type == 3
-			&& (gps.eph_m < hdop_threshold_m)
-			&& (gps.epv_m < vdop_threshold_m)
-			&& (hrt_absolute_time() - gps.timestamp_position < 2000000))) {
-
-			struct pollfd fds1[2] = {
-					{ .fd = vehicle_gps_sub, .events = POLLIN },
-					{ .fd = sub_params,   .events = POLLIN },
-			};
-
-			/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
-			 * this choice is critical, since the vehicle status might not
-			 * actually change, if this app is started after GPS lock was
-			 * aquired.
-			 */
-			if (poll(fds1, 2, 5000)) {
-				if (fds1[0].revents & POLLIN){
-					/* Read gps position */
-					orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-				}
-				if (fds1[1].revents & POLLIN){
-					/* Read out parameters to check for an update there, e.g. useGPS variable */
-					/* read from param to clear updated flag */
-					struct parameter_update_s updated;
-					orb_copy(ORB_ID(parameter_update), sub_params, &updated);
-					/* update parameters */
-					parameters_update(&pos1D_param_handles, &pos1D_params);
-				}
-			}
-			static int printcounter = 0;
-			if (printcounter == 100) {
-				printcounter = 0;
-				warnx("[pos_est_mc] wait for GPS fix");
-			}
-			printcounter++;
-		}
-
-		/* get gps value for first initialization */
-		orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-		lat_current = ((double)(gps.lat)) * 1e-7d;
-		lon_current = ((double)(gps.lon)) * 1e-7d;
-		alt_current = gps.alt * 1e-3f;
-		gps_origin_altitude = alt_current;
-		/* initialize coordinates */
-		map_projection_init(lat_current, lon_current);
-		/* publish global position messages only after first GPS message */
-		printf("[pos_est_mc] initialized projection with: lat: %.10f,  lon:%.10f\n", lat_current, lon_current);
-
-	} else {
-		mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON");
-		/* onboard calculated position estimations */
-	}
-	thread_running = true;
-
-	struct pollfd fds2[3] = {
-		{ .fd = vehicle_gps_sub,   .events = POLLIN },
-		{ .fd = vicon_pos_sub,   .events = POLLIN },
-		{ .fd = sub_params,   .events = POLLIN },
-	};
-
-	bool vicon_updated = false;
-	bool gps_updated = false;
-
-	/**< main_loop */
-	while (!thread_should_exit) {
-		int ret = poll(fds2, 3, 20);  //wait maximal this 20 ms = 50 Hz minimum rate
-		if (ret < 0) {
-			/* poll error */
-		} else {
-			if (fds2[2].revents & POLLIN){
-				/* new parameter */
-				/* read from param to clear updated flag */
-				struct parameter_update_s updated;
-				orb_copy(ORB_ID(parameter_update), sub_params, &updated);
-				/* update parameters */
-				parameters_update(&pos1D_param_handles, &pos1D_params);
-				flag_use_baro = pos1D_params.baro;
-				sigma = pos1D_params.sigma;
-				addNoise = pos1D_params.addNoise;
-			}
-			vicon_updated = false; /* default is no vicon_updated */
-			if (fds2[1].revents & POLLIN) {
-				/* new vicon position */
-				orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
-				posX = vicon_pos.x;
-				posY = vicon_pos.y;
-				posZ = vicon_pos.z;
-				vicon_updated = true; /* set flag for vicon update */
-			} /* end of poll call for vicon updates */
-			gps_updated = false;
-			if (fds2[0].revents & POLLIN) {
-				/* new GPS value */
-				orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-				/* Project gps lat lon (Geographic coordinate system) to plane*/
-				map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1]));
-				posX = z[0];
-				posY = z[1];
-				posZ = (float)(gps.alt * 1e-3f);
-				gps_updated = true;
-			}
-
-			/* Main estimator loop */
-			orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff);
-			orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
-			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor);
-			// barometric pressure estimation at start up
-			if (!flag_baro_initialized){
-				// mean calculation over several measurements
-				if (baro_loop_cnt<baro_loop_end) {
-					p0_Pa += (sensor.baro_pres_mbar*100);
-					baro_loop_cnt++;
-				} else {
-					p0_Pa /= (float)(baro_loop_cnt);
-					flag_baro_initialized = true;
-					char *baro_m_start = "barometer initialized with p0 = ";
-					char p0_char[15];
-					sprintf(p0_char, "%8.2f", (double)(p0_Pa/100));
-					char *baro_m_end = " mbar";
-					char str[80];
-					strcpy(str,baro_m_start);
-					strcat(str,p0_char);
-					strcat(str,baro_m_end);
-					mavlink_log_info(mavlink_fd, str);
-				}
-			}
-			if (flag_use_gps) {
-				/* initialize map projection with the last estimate (not at full rate) */
-				if (gps.fix_type > 2) {
-					/* x-y-position/velocity estimation in earth frame = gps frame */
-					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori);
-					memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
-					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori);
-					memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
-					/* z-position/velocity estimation in earth frame = vicon frame */
-					float z_est = 0.0f;
-					if (flag_baro_initialized && flag_use_baro) {
-						z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity);
-						K[0] = K_vicon_50Hz[0];
-						K[1] = K_vicon_50Hz[1];
-						K[2] = K_vicon_50Hz[2];
-						gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */
-					} else {
-						z_est = posZ;
-						K[0] = K_vicon_50Hz[0];
-						K[1] = K_vicon_50Hz[1];
-						K[2] = K_vicon_50Hz[2];
-					}
-
-					kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori);
-					memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
-					local_pos_est.x = x_x_aposteriori_k[0];
-					local_pos_est.vx = x_x_aposteriori_k[1];
-					local_pos_est.y = x_y_aposteriori_k[0];
-					local_pos_est.vy = x_y_aposteriori_k[1];
-					local_pos_est.z = x_z_aposteriori_k[0];
-					local_pos_est.vz = x_z_aposteriori_k[1];
-					local_pos_est.timestamp = hrt_absolute_time();
-					if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) {
-						/* publish local position estimate */
-						if (local_pos_est_pub > 0) {
-							orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
-						} else {
-							local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
-						}
-						/* publish on GPS updates */
-						if (gps_updated) {
-
-							double lat, lon;
-							float alt = z_est + gps_origin_altitude;
-
-							map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon);
-
-							global_pos_est.lat = lat;
-							global_pos_est.lon = lon;
-							global_pos_est.alt = alt;
-
-							if (global_pos_est_pub > 0) {
-								orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est);
-							} else {
-								global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est);
-							}
-						}
-					}
-				}
-			} else {
-				/* x-y-position/velocity estimation in earth frame = vicon frame */
-				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori);
-				memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
-				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori);
-				memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
-				/* z-position/velocity estimation in earth frame = vicon frame */
-				float z_est = 0.0f;
-				float local_sigma = 0.0f;
-				if (flag_baro_initialized && flag_use_baro) {
-					z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity);
-					K[0] = K_vicon_50Hz[0];
-					K[1] = K_vicon_50Hz[1];
-					K[2] = K_vicon_50Hz[2];
-					vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */
-					local_sigma = 0.0f; /* don't add noise on barometer in any case */
-				} else {
-					z_est = posZ;
-					K[0] = K_vicon_50Hz[0];
-					K[1] = K_vicon_50Hz[1];
-					K[2] = K_vicon_50Hz[2];
-					local_sigma = sigma;
-				}
-				kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori);
-				memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
-				local_pos_est.x = x_x_aposteriori_k[0];
-				local_pos_est.vx = x_x_aposteriori_k[1];
-				local_pos_est.y = x_y_aposteriori_k[0];
-				local_pos_est.vy = x_y_aposteriori_k[1];
-				local_pos_est.z = x_z_aposteriori_k[0];
-				local_pos_est.vz = x_z_aposteriori_k[1];
-				local_pos_est.timestamp = hrt_absolute_time();
-				if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){
-					if(local_pos_est_pub > 0)
-						orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
-					else
-						local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
-					//char buf[0xff]; sprintf(buf,"[pos_est_mc] x:%f, y:%f, z:%f",x_x_aposteriori_k[0],x_y_aposteriori_k[0],x_z_aposteriori_k[0]);
-					//mavlink_log_info(mavlink_fd, buf);
-				}
-			}
-		} /* end of poll return value check */
-	}
-
-	printf("[pos_est_mc] exiting.\n");
-	mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting");
-	thread_running = false;
-	return 0;
-}
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 941500f0d..62e6b12cb 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -134,8 +134,6 @@ controls_tick() {
 
 	perf_begin(c_gather_sbus);
 
-	bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS);
-
 	bool sbus_failsafe, sbus_frame_drop;
 	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS);
 
@@ -201,94 +199,105 @@ controls_tick() {
 		/* update RC-received timestamp */
 		system_state.rc_channels_timestamp_received = hrt_absolute_time();
 
-		/* do not command anything in failsafe, kick in the RC loss counter */
-		if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
-
-			/* update RC-received timestamp */
-			system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;
-
-			/* map raw inputs to mapped inputs */
-			/* XXX mapping should be atomic relative to protocol */
-			for (unsigned i = 0; i < r_raw_rc_count; i++) {
-
-				/* map the input channel */
-				uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
-
-				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
-
-					uint16_t raw = r_raw_rc_values[i];
-
-					int16_t scaled;
-
-					/*
-					 * 1) Constrain to min/max values, as later processing depends on bounds.
-					 */
-					if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
-						raw = conf[PX4IO_P_RC_CONFIG_MIN];
-					if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
-						raw = conf[PX4IO_P_RC_CONFIG_MAX];
-
-					/*
-					 * 2) Scale around the mid point differently for lower and upper range.
-					 *
-					 * This is necessary as they don't share the same endpoints and slope.
-					 *
-					 * First normalize to 0..1 range with correct sign (below or above center),
-					 * then scale to 20000 range (if center is an actual center, -10000..10000,
-					 * if parameters only support half range, scale to 10000 range, e.g. if
-					 * center == min 0..10000, if center == max -10000..0).
-					 *
-					 * As the min and max bounds were enforced in step 1), division by zero
-					 * cannot occur, as for the case of center == min or center == max the if
-					 * statement is mutually exclusive with the arithmetic NaN case.
-					 *
-					 * DO NOT REMOVE OR ALTER STEP 1!
-					 */
-					if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-						scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
-
-					} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-						scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
-
-					} else {
-						/* in the configured dead zone, output zero */
-						scaled = 0;
-					}
-
-					/* invert channel if requested */
-					if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
-						scaled = -scaled;
+		/* update RC-received timestamp */
+		system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;
+
+		/* map raw inputs to mapped inputs */
+		/* XXX mapping should be atomic relative to protocol */
+		for (unsigned i = 0; i < r_raw_rc_count; i++) {
+
+			/* map the input channel */
+			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
+
+			if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
+
+				uint16_t raw = r_raw_rc_values[i];
+
+				int16_t scaled;
+
+				/*
+				 * 1) Constrain to min/max values, as later processing depends on bounds.
+				 */
+				if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
+					raw = conf[PX4IO_P_RC_CONFIG_MIN];
+				if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
+					raw = conf[PX4IO_P_RC_CONFIG_MAX];
+
+				/*
+				 * 2) Scale around the mid point differently for lower and upper range.
+				 *
+				 * This is necessary as they don't share the same endpoints and slope.
+				 *
+				 * First normalize to 0..1 range with correct sign (below or above center),
+				 * then scale to 20000 range (if center is an actual center, -10000..10000,
+				 * if parameters only support half range, scale to 10000 range, e.g. if
+				 * center == min 0..10000, if center == max -10000..0).
+				 *
+				 * As the min and max bounds were enforced in step 1), division by zero
+				 * cannot occur, as for the case of center == min or center == max the if
+				 * statement is mutually exclusive with the arithmetic NaN case.
+				 *
+				 * DO NOT REMOVE OR ALTER STEP 1!
+				 */
+				if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
+
+				} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
+
+				} else {
+					/* in the configured dead zone, output zero */
+					scaled = 0;
+				}
 
-					/* and update the scaled/mapped version */
-					unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
-					if (mapped < PX4IO_CONTROL_CHANNELS) {
+				/* invert channel if requested */
+				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) {
+					scaled = -scaled;
+				}
 
-						/* invert channel if pitch - pulling the lever down means pitching up by convention */
-						if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
-							scaled = -scaled;
+				/* and update the scaled/mapped version */
+				unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
+				if (mapped < PX4IO_CONTROL_CHANNELS) {
 
-						r_rc_values[mapped] = SIGNED_TO_REG(scaled);
-						assigned_channels |= (1 << mapped);
+					/* invert channel if pitch - pulling the lever down means pitching up by convention */
+					if (mapped == 1) {
+						/* roll, pitch, yaw, throttle, override is the standard order */
+						scaled = -scaled;
+					}
 
+					if (mapped == 3 && r_setup_rc_thr_failsafe) {
+						/* throttle failsafe detection */
+						if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
+						    ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
+							r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
+						} else {
+							r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+						}
 					}
+
+					r_rc_values[mapped] = SIGNED_TO_REG(scaled);
+					assigned_channels |= (1 << mapped);
+
 				}
 			}
+		}
 
-			/* set un-assigned controls to zero */
-			for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
-				if (!(assigned_channels & (1 << i)))
-					r_rc_values[i] = 0;
+		/* set un-assigned controls to zero */
+		for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
+			if (!(assigned_channels & (1 << i))) {
+				r_rc_values[i] = 0;
 			}
+		}
 
-			/* set RC OK flag, as we got an update */
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+		/* set RC OK flag, as we got an update */
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+		r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;
 
-			/* if we have enough channels (5) to control the vehicle, the mapping is ok */
-			if (assigned_channels > 4) {
-				r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
-			} else {
-				r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
-			}
+		/* if we have enough channels (5) to control the vehicle, the mapping is ok */
+		if (assigned_channels > 4) {
+			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
+		} else {
+			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
 		}
 
 		/*
@@ -316,37 +325,42 @@ controls_tick() {
 	 * Handle losing RC input
 	 */
 
-	/* this kicks in if the receiver is gone or the system went to failsafe */
-	if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
+	/* if we are in failsafe, clear the override flag */
+	if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) {
+		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
+	}
+
+	/* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */
+	if (rc_input_lost) {
 		/* Clear the RC input status flag, clear manual override flag */
 		r_status_flags &= ~(
 			PX4IO_P_STATUS_FLAGS_OVERRIDE |
 			PX4IO_P_STATUS_FLAGS_RC_OK);
 
+		/* flag raw RC as lost */
+		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
+
 		/* Mark all channels as invalid, as we just lost the RX */
 		r_rc_valid = 0;
 
+		/* Set raw channel count to zero */
+		r_raw_rc_count = 0;
+
 		/* Set the RC_LOST alarm */
 		r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
 	}
 
-	/* this kicks in if the receiver is completely gone */
-	if (rc_input_lost) {
-
-		/* Set channel count to zero */
-		r_raw_rc_count = 0;
-	}
-
 	/*
 	 * Check for manual override.
 	 *
 	 * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
-	 * must have R/C input.
+	 * must have R/C input (NO FAILSAFE!).
 	 * Override is enabled if either the hardcoded channel / value combination
 	 * is selected, or the AP has requested it.
 	 */
 	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
-		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
+		!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
 
 		bool override = false;
 
@@ -369,10 +383,10 @@ controls_tick() {
 				mixer_tick();
 
 		} else {
-			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
+			r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
 		}
 	} else {
-		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
+		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
 	}
 }
 
@@ -395,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 		if (*num_values > PX4IO_RC_INPUT_CHANNELS)
 			*num_values = PX4IO_RC_INPUT_CHANNELS;
 
-		for (unsigned i = 0; i < *num_values; i++)
+		for (unsigned i = 0; i < *num_values; i++) {
 			values[i] = ppm_buffer[i];
+		}
 
 		/* clear validity */
 		ppm_last_valid_decode = 0;
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index b044bbf13..ebf4f3e8e 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -173,16 +173,15 @@ mixer_tick(void)
 	 * here.
 	 */
 	should_arm = (
-				  (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)/* IO initialised without error */
-				  && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)/* and IO is armed */
-				  && (
-						((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)/* and FMU is armed */
-							&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))/* and there is valid input via or mixer */
-						|| (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)/* or direct PWM is set */
-						|| ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
-							&& !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK))/* or failsafe was set manually */
-					)
-				);
+		/* IO initialised without error */   (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
+		/* and IO is armed */ 		  && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
+		/* and FMU is armed */ 		  && (
+							    ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
+		/* and there is valid input via or mixer */         &&   (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) )
+		/* or direct PWM is set */               || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
+		/* or failsafe was set manually */	 || ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) && !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK))
+						     )
+	);
 
 	should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
 						&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
@@ -255,10 +254,25 @@ mixer_tick(void)
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servos[i]);
 
+		/* set S.BUS1 or S.BUS2 outputs */
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
+		} else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+		}
+
 	} else if (mixer_servos_armed && should_always_enable_pwm) {
 		/* set the disarmed servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
+
+		/* set S.BUS1 or S.BUS2 outputs */
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
 	}
 }
 
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index d48c6c529..91975f2a0 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -142,6 +142,7 @@
 #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE		(1 << 1) /* receiver is in failsafe mode */
 #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11		(1 << 2) /* DSM decoding is 11 bit mode */
 #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK		(1 << 3) /* Channel mapping is ok */
+#define PX4IO_P_RAW_RC_FLAGS_RC_OK		(1 << 4) /* RC reception ok */
 
 #define PX4IO_P_RAW_RC_NRSSI			2	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
 #define PX4IO_P_RAW_RC_DATA			3	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
@@ -164,10 +165,10 @@
 /* setup page */
 #define PX4IO_PAGE_SETUP		50
 #define PX4IO_P_SETUP_FEATURES			0
-#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT	(1 << 0) /* enable S.Bus v1 output */
-#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT	(1 << 1) /* enable S.Bus v2 output */
-#define PX4IO_P_SETUP_FEATURES_PWM_RSSI		(1 << 2) /* enable PWM RSSI parsing */
-#define PX4IO_P_SETUP_FEATURES_ADC_RSSI		(1 << 3) /* enable ADC RSSI parsing */
+#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT	(1 << 0) /**< enable S.Bus v1 output */
+#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT	(1 << 1) /**< enable S.Bus v2 output */
+#define PX4IO_P_SETUP_FEATURES_PWM_RSSI		(1 << 2) /**< enable PWM RSSI parsing */
+#define PX4IO_P_SETUP_FEATURES_ADC_RSSI		(1 << 3) /**< enable ADC RSSI parsing */
 
 #define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
 #define PX4IO_P_SETUP_ARMING_IO_ARM_OK		(1 << 0) /* OK to arm the IO side */
@@ -201,13 +202,19 @@ enum {							/* DSM bind states */
 	dsm_bind_send_pulses,
 	dsm_bind_reinit_uart
 };
- 					     /*	8 */
-#define PX4IO_P_SETUP_SET_DEBUG			9		/* debug level for IO board */
+						/* 8 */
+#define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
 
-#define PX4IO_P_SETUP_REBOOT_BL		       10	/* reboot IO into bootloader */
-#define PX4IO_REBOOT_BL_MAGIC               14662       /* required argument for reboot (random) */
+#define PX4IO_P_SETUP_REBOOT_BL			10	/* reboot IO into bootloader */
+#define PX4IO_REBOOT_BL_MAGIC			14662	/* required argument for reboot (random) */
 
-#define PX4IO_P_SETUP_CRC		       11	/* get CRC of IO firmware */
+#define PX4IO_P_SETUP_CRC			11	/* get CRC of IO firmware */
+						/* 12 occupied by CRC */
+#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US	13	/**< the throttle failsafe pulse length in microseconds */
+
+#define PX4IO_P_SETUP_FORCE_SAFETY_OFF	       12	/* force safety switch into
+                                                           'armed' (PWM enabled) state */
+#define PX4IO_FORCE_SAFETY_MAGIC            22027       /* required argument for force safety (random) */
 
 /* autopilot control values, -10000..10000 */
 #define PX4IO_PAGE_CONTROLS			51		/**< actuator control groups, one after the other, 8 wide */
@@ -217,10 +224,10 @@ enum {							/* DSM bind states */
 #define PX4IO_P_CONTROLS_GROUP_3		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
 
 #define PX4IO_P_CONTROLS_GROUP_VALID		64
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /* group 0 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /* group 1 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /* group 2 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /* group 3 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /**< group 0 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /**< group 1 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /**< group 2 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /**< group 3 is valid / received */
 
 /* raw text load to the mixer parser - ignores offset */
 #define PX4IO_PAGE_MIXERLOAD			52
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 54c5663a5..ca175bfbc 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -108,6 +108,7 @@ extern uint16_t			r_page_servo_disarmed[];	/* PX4IO_PAGE_DISARMED_PWM */
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 #define r_setup_relays		r_page_setup[PX4IO_P_SETUP_RELAYS]
 #endif
+#define r_setup_rc_thr_failsafe	r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US]
 
 #define r_control_values	(&r_page_controls[0])
 
@@ -218,6 +219,8 @@ extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
 extern void	dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
 extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
+extern bool	sbus1_output(uint16_t *values, uint16_t num_values);
+extern bool	sbus2_output(uint16_t *values, uint16_t num_values);
 
 /** global debug level for isr_debug() */
 extern volatile uint8_t debug_level;
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 97d25bbfa..fd7c6081f 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -169,6 +169,7 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 	[PX4IO_P_SETUP_REBOOT_BL]		= 0,
 	[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
+	[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0,
 };
 
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
@@ -462,9 +463,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			#ifdef ENABLE_SBUS_OUT
 			ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT));
 
-			/* disable the conflicting options */
-			if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
-				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI);
+			/* disable the conflicting options with SBUS 1 */
+			if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) {
+				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
+					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
+					PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
+			}
+
+			/* disable the conflicting options with SBUS 2 */
+			if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
+				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
+					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
+					PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
 			}
 			#endif
 
@@ -569,6 +579,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			dsm_bind(value & 0x0f, (value >> 4) & 0xF);
 			break;
 
+		case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
+			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
+				r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+			}
+			break;
+
 		default:
 			return -1;
 		}
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index f6ec542eb..0e7dc621c 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -93,7 +93,7 @@ int
 sbus_init(const char *device)
 {
 	if (sbus_fd < 0)
-		sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
+		sbus_fd = open(device, O_RDWR | O_NONBLOCK);
 
 	if (sbus_fd >= 0) {
 		struct termios t;
@@ -113,11 +113,22 @@ sbus_init(const char *device)
 	} else {
 		debug("S.Bus: open failed");
 	}
-
 	return sbus_fd;
 }
 
 bool
+sbus1_output(uint16_t *values, uint16_t num_values)
+{
+	write(sbus_fd, 'A', 1);
+}
+
+bool
+sbus2_output(uint16_t *values, uint16_t num_values)
+{
+	write(sbus_fd, 'B', 1);
+}
+
+bool
 sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
 {
 	ssize_t		ret;
diff --git a/src/modules/sdlog/module.mk b/src/modules/sdlog/module.mk
deleted file mode 100644
index 89da2d827..000000000
--- a/src/modules/sdlog/module.mk
+++ /dev/null
@@ -1,43 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 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
-# 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.
-#
-############################################################################
-
-#
-# sdlog Application
-#
-
-MODULE_COMMAND	 = sdlog
-# The main thread only buffers to RAM, needs a high priority
-MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
-
-SRCS		 = sdlog.c \
-		   sdlog_ringbuffer.c
diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c
deleted file mode 100644
index c22523bf2..000000000
--- a/src/modules/sdlog/sdlog.c
+++ /dev/null
@@ -1,840 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   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
- * 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 sdlog.c
- * @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Simple SD logger for flight data. Buffers new sensor values and
- * does the heavy SD I/O in a low-priority worker thread.
- */
-
-#include <nuttx/config.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <sys/prctl.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <poll.h>
-#include <stdlib.h>
-#include <string.h>
-#include <ctype.h>
-#include <systemlib/err.h>
-#include <unistd.h>
-#include <drivers/drv_hrt.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/optical_flow.h>
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/differential_pressure.h>
-#include <uORB/topics/airspeed.h>
-
-#include <systemlib/systemlib.h>
-
-#include <mavlink/mavlink_log.h>
-
-#include "sdlog_ringbuffer.h"
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log folders */
-
-static const char *mountpoint = "/fs/microsd";
-static const char *mfile_in = "/etc/logging/logconv.m";
-int sysvector_file = -1;
-int mavlink_fd = -1;
-struct sdlog_logbuffer lb;
-
-/* mutex / condition to synchronize threads */
-pthread_mutex_t sysvector_mutex;
-pthread_cond_t sysvector_cond;
-
-/**
- * System state vector log buffer writing
- */
-static void *sdlog_sysvector_write_thread(void *arg);
-
-/**
- * Create the thread to write the system vector
- */
-pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf);
-
-/**
- * SD log management function.
- */
-__EXPORT int sdlog_main(int argc, char *argv[]);
-
-/**
- * Mainloop of sd log deamon.
- */
-int sdlog_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static int file_exist(const char *filename);
-
-static int file_copy(const char *file_old, const char *file_new);
-
-static void handle_command(struct vehicle_command_s *cmd);
-
-/**
- * Print the current status.
- */
-static void print_sdlog_status(void);
-
-/**
- * Create folder for current logging session.
- */
-static int create_logfolder(char *folder_path);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
-}
-
-// XXX turn this into a C++ class
-unsigned sensor_combined_bytes = 0;
-unsigned actuator_outputs_bytes = 0;
-unsigned actuator_controls_bytes = 0;
-unsigned sysvector_bytes = 0;
-unsigned blackbox_file_bytes = 0;
-uint64_t starttime = 0;
-
-/* logging on or off, default to true */
-bool logging_enabled = true;
-
-/**
- * The sd log deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_spawn_cmd().
- */
-int sdlog_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("sdlog already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("sdlog",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_DEFAULT - 30,
-					 4096,
-					 sdlog_thread_main,
-					 (const char **)argv);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (!thread_running) {
-			printf("\tsdlog is not started\n");
-		}
-
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			print_sdlog_status();
-
-		} else {
-			printf("\tsdlog not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int create_logfolder(char *folder_path)
-{
-	/* make folder on sdcard */
-	uint16_t foldernumber = 1; // start with folder 0001
-	int mkdir_ret;
-
-	/* look for the next folder that does not exist */
-	while (foldernumber < MAX_NO_LOGFOLDER) {
-		/* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
-		sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
-		mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
-		/* the result is -1 if the folder exists */
-
-		if (mkdir_ret == 0) {
-			/* folder does not exist, success */
-
-			/* now copy the Matlab/Octave file */
-			char mfile_out[100];
-			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
-			int ret = file_copy(mfile_in, mfile_out);
-
-			if (!ret) {
-				warnx("copied m file to %s", mfile_out);
-
-			} else {
-				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
-			}
-
-			break;
-
-		} else if (mkdir_ret == -1) {
-			/* folder exists already */
-			foldernumber++;
-			continue;
-
-		} else {
-			warn("failed creating new folder");
-			return -1;
-		}
-	}
-
-	if (foldernumber >= MAX_NO_LOGFOLDER) {
-		/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
-		warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
-		return -1;
-	}
-
-	return 0;
-}
-
-
-static void *
-sdlog_sysvector_write_thread(void *arg)
-{
-	/* set name */
-	prctl(PR_SET_NAME, "sdlog microSD I/O", 0);
-
-	struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg;
-
-	int poll_count = 0;
-	struct sdlog_sysvector sysvect;
-	memset(&sysvect, 0, sizeof(sysvect));
-
-	while (!thread_should_exit) {
-		
-		/* make sure threads are synchronized */
-		pthread_mutex_lock(&sysvector_mutex);
-
-		/* only wait if no data is available to process */
-		if (sdlog_logbuffer_is_empty(logbuf)) {
-			/* blocking wait for new data at this line */
-			pthread_cond_wait(&sysvector_cond, &sysvector_mutex);
-		}
-
-		/* only quickly load data, do heavy I/O a few lines down */
-		int ret = sdlog_logbuffer_read(logbuf, &sysvect);
-		/* continue */
-		pthread_mutex_unlock(&sysvector_mutex);
-
-		if (ret == OK) {
-			sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect));
-		}
-
-		if (poll_count % 100 == 0) {
-			fsync(sysvector_file);
-		}
-
-		poll_count++;
-	}
-
-	fsync(sysvector_file);
-
-	return OK;
-}
-
-pthread_t
-sysvector_write_start(struct sdlog_logbuffer *logbuf)
-{
-	pthread_attr_t receiveloop_attr;
-	pthread_attr_init(&receiveloop_attr);
-
-	struct sched_param param;
-	/* low priority, as this is expensive disk I/O */
-	param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
-	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
-
-	pthread_attr_setstacksize(&receiveloop_attr, 2048);
-
-	pthread_t thread;
-	pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf);
-	return thread;
-
-	// XXX we have to destroy the attr at some point
-}
-
-
-int sdlog_thread_main(int argc, char *argv[])
-{
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	if (mavlink_fd < 0) {
-		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
-	}
-
-	/* log every n'th value (skip three per default) */
-	int skip_value = 3;
-
-	/* work around some stupidity in task_create's argv handling */
-	argc -= 2;
-	argv += 2;
-	int ch;
-
-	while ((ch = getopt(argc, argv, "s:r")) != EOF) {
-		switch (ch) {
-		case 's':
-			{
-			/* log only every n'th (gyro clocked) value */
-			unsigned s = strtoul(optarg, NULL, 10);
-
-			if (s < 1 || s > 250) {
-				errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
-			} else {
-				skip_value = s;
-			}
-			}
-			break;
-
-		case 'r':
-			/* log only on request, disable logging per default */
-			logging_enabled = false;
-			break;
-
-		case '?':
-			if (optopt == 'c') {
-				warnx("Option -%c requires an argument.\n", optopt);
-			} else if (isprint(optopt)) {
-				warnx("Unknown option `-%c'.\n", optopt);
-			} else {
-				warnx("Unknown option character `\\x%x'.\n", optopt);
-			}
-
-		default:
-			usage("unrecognized flag");
-			errx(1, "exiting.");
-		}
-	}
-
-	if (file_exist(mountpoint) != OK) {
-		errx(1, "logging mount point %s not present, exiting.", mountpoint);
-	}
-
-	char folder_path[64];
-
-	if (create_logfolder(folder_path))
-		errx(1, "unable to create logging folder, exiting.");
-
-	FILE *gpsfile;
-	FILE *blackbox_file;
-
-	/* string to hold the path to the sensorfile */
-	char path_buf[64] = "";
-
-	/* only print logging path, important to find log file later */
-	warnx("logging to directory %s\n", folder_path);
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
-	sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
-
-	if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
-	sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
-
-	if (NULL == (gpsfile = fopen(path_buf, "w"))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	int gpsfile_no = fileno(gpsfile);
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
-	sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
-
-	if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	// XXX for fsync() calls
-	int blackbox_file_no = fileno(blackbox_file);
-
-	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
-	/* number of messages */
-	const ssize_t fdsc = 25;
-	/* Sanity check variable and index */
-	ssize_t fdsc_count = 0;
-	/* file descriptors to wait for */
-	struct pollfd fds[fdsc];
-
-
-	struct {
-		struct sensor_combined_s raw;
-		struct vehicle_attitude_s att;
-		struct vehicle_attitude_setpoint_s att_sp;
-		struct actuator_outputs_s act_outputs;
-		struct actuator_controls_s act_controls;
-		struct actuator_controls_effective_s act_controls_effective;
-		struct vehicle_command_s cmd;
-		struct vehicle_local_position_s local_pos;
-		struct vehicle_global_position_s global_pos;
-		struct vehicle_gps_position_s gps_pos;
-		struct vehicle_vicon_position_s vicon_pos;
-		struct optical_flow_s flow;
-		struct battery_status_s batt;
-		struct differential_pressure_s diff_pres;
-		struct airspeed_s airspeed;
-	} buf;
-	memset(&buf, 0, sizeof(buf));
-
-	struct {
-		int cmd_sub;
-		int sensor_sub;
-		int att_sub;
-		int spa_sub;
-		int act_0_sub;
-		int controls_0_sub;
-		int controls_effective_0_sub;
-		int local_pos_sub;
-		int global_pos_sub;
-		int gps_pos_sub;
-		int vicon_pos_sub;
-		int flow_sub;
-		int batt_sub;
-		int diff_pres_sub;
-		int airspeed_sub;
-	} subs;
-
-	/* --- MANAGEMENT - LOGGING COMMAND --- */
-	/* subscribe to ORB for vehicle command */
-	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	fds[fdsc_count].fd = subs.cmd_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GPS POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	fds[fdsc_count].fd = subs.gps_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- SENSORS RAW VALUE --- */
-	/* subscribe to ORB for sensors raw */
-	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	fds[fdsc_count].fd = subs.sensor_sub;
-	/* do not rate limit, instead use skip counter (aliasing on rate limit) */
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE VALUE --- */
-	/* subscribe to ORB for attitude */
-	subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	fds[fdsc_count].fd = subs.att_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE SETPOINT VALUE --- */
-	/* subscribe to ORB for attitude setpoint */
-	/* struct already allocated */
-	subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	fds[fdsc_count].fd = subs.spa_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/** --- ACTUATOR OUTPUTS --- */
-	subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
-	fds[fdsc_count].fd = subs.act_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL VALUE --- */
-	/* subscribe to ORB for actuator control */
-	subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-	fds[fdsc_count].fd = subs.controls_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
-	/* subscribe to ORB for actuator control */
-	subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
-	fds[fdsc_count].fd = subs.controls_effective_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- LOCAL POSITION --- */
-	/* subscribe to ORB for local position */
-	subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	fds[fdsc_count].fd = subs.local_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	fds[fdsc_count].fd = subs.global_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- VICON POSITION --- */
-	/* subscribe to ORB for vicon position */
-	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	fds[fdsc_count].fd = subs.vicon_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- FLOW measurements --- */
-	/* subscribe to ORB for flow measurements */
-	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
-	fds[fdsc_count].fd = subs.flow_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- BATTERY STATUS --- */
-	/* subscribe to ORB for flow measurements */
-	subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
-	fds[fdsc_count].fd = subs.batt_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- DIFFERENTIAL PRESSURE --- */
-	/* subscribe to ORB for flow measurements */
-	subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
-	fds[fdsc_count].fd = subs.diff_pres_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- AIRSPEED --- */
-	/* subscribe to ORB for airspeed */
-	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
-	fds[fdsc_count].fd = subs.airspeed_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.
-	 */
-	if (fdsc_count > fdsc) {
-		warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
-		fdsc_count = fdsc;
-	}
-
-	/*
-	 * set up poll to block for new data,
-	 * wait for a maximum of 1000 ms (1 second)
-	 */
-	// const int timeout = 1000;
-
-	thread_running = true;
-
-	/* initialize log buffer with a size of 10 */
-	sdlog_logbuffer_init(&lb, 10);
-
-	/* initialize thread synchronization */
-	pthread_mutex_init(&sysvector_mutex, NULL);
-  	pthread_cond_init(&sysvector_cond, NULL);
-
-	/* start logbuffer emptying thread */
-	pthread_t sysvector_pthread = sysvector_write_start(&lb);
-
-	starttime = hrt_absolute_time();
-
-	/* track skipping */
-	int skip_count = 0;
-
-	while (!thread_should_exit) {
-
-		/* only poll for commands, gps and sensor_combined */
-		int poll_ret = poll(fds, 3, 1000);
-
-		/* handle the poll result */
-		if (poll_ret == 0) {
-			/* XXX this means none of our providers is giving us data - might be an error? */
-		} else if (poll_ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
-		} else {
-
-			int ifds = 0;
-
-			/* --- VEHICLE COMMAND VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy command into local buffer */
-				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
-
-				/* always log to blackbox, even when logging disabled */
-				blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
-					buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
-					(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
-
-				handle_command(&buf.cmd);
-			}
-
-			/* --- VEHICLE GPS VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy gps position into local buffer */
-				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-
-				/* if logging disabled, continue */
-				if (logging_enabled) {
-
-				/* write KML line */
-				}
-			}
-
-			/* --- SENSORS RAW VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-
-				// /* copy sensors raw data into local buffer */
-				// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-				// /* write out */
-				// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
-
-				/* always copy sensors raw data into local buffer, since poll flags won't clear else */
-				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
-				orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
-				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
-				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
-				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
-				orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres);
-				orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
-				orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
-
-				/* if skipping is on or logging is disabled, ignore */
-				if (skip_count < skip_value || !logging_enabled) {
-					skip_count++;
-					/* do not log data */
-					continue;
-				} else {
-					/* log data, reset */
-					skip_count = 0;
-				}
-
-				struct sdlog_sysvector sysvect = {
-					.timestamp = buf.raw.timestamp,
-					.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
-					.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
-					.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
-					.baro = buf.raw.baro_pres_mbar,
-					.baro_alt = buf.raw.baro_alt_meter,
-					.baro_temp = buf.raw.baro_temp_celcius,
-					.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
-					.actuators = {
-						buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
-						buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
-					},
-					.vbat = buf.batt.voltage_v,
-					.bat_current = buf.batt.current_a,
-					.bat_discharged = buf.batt.discharged_mah,
-					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
-					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
-					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
-					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
-					.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
-					.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
-					.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
-					.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
-					.diff_pressure = buf.diff_pres.differential_pressure_pa,
-					.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
-					.true_airspeed = buf.airspeed.true_airspeed_m_s
-				};
-
-				/* put into buffer for later IO */
-				pthread_mutex_lock(&sysvector_mutex);
-				sdlog_logbuffer_write(&lb, &sysvect);
-				/* signal the other thread new data, but not yet unlock */
-				if ((unsigned)lb.count > (lb.size / 2)) {
-					/* only request write if several packets can be written at once */
-					pthread_cond_signal(&sysvector_cond);
-				}
-				/* unlock, now the writer thread may run */
-				pthread_mutex_unlock(&sysvector_mutex);
-			}
-
-		}
-
-	}
-
-	print_sdlog_status();
-
-	/* wake up write thread one last time */
-	pthread_mutex_lock(&sysvector_mutex);
-	pthread_cond_signal(&sysvector_cond);
-	/* unlock, now the writer thread may return */
-	pthread_mutex_unlock(&sysvector_mutex);
-
-	/* wait for write thread to return */
-	(void)pthread_join(sysvector_pthread, NULL);
-
-  	pthread_mutex_destroy(&sysvector_mutex);
-  	pthread_cond_destroy(&sysvector_cond);
-
-	warnx("exiting.\n\n");
-
-	/* finish KML file */
-	// XXX
-	fclose(gpsfile);
-	fclose(blackbox_file);
-
-	thread_running = false;
-
-	return 0;
-}
-
-void print_sdlog_status()
-{
-	unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
-	float mebibytes = bytes / 1024.0f / 1024.0f;
-	float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
-
-	warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
-}
-
-/**
- * @return 0 if file exists
- */
-int file_exist(const char *filename)
-{
-	struct stat buffer;
-	return stat(filename, &buffer);
-}
-
-int file_copy(const char *file_old, const char *file_new)
-{
-	FILE *source, *target;
-	source = fopen(file_old, "r");
-	int ret = 0;
-
-	if (source == NULL) {
-		warnx("failed opening input file to copy");
-		return 1;
-	}
-
-	target = fopen(file_new, "w");
-
-	if (target == NULL) {
-		fclose(source);
-		warnx("failed to open output file to copy");
-		return 1;
-	}
-
-	char buf[128];
-	int nread;
-
-	while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
-		int ret = fwrite(buf, 1, nread, target);
-
-		if (ret <= 0) {
-			warnx("error writing file");
-			ret = 1;
-			break;
-		}
-	}
-
-	fsync(fileno(target));
-
-	fclose(source);
-	fclose(target);
-
-	return ret;
-}
-
-void handle_command(struct vehicle_command_s *cmd)
-{
-	/* result of the command */
-	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-
-	/* request to set different system mode */
-	switch (cmd->command) {
-
-	case VEHICLE_CMD_PREFLIGHT_STORAGE:
-
-		if (((int)(cmd->param3)) == 1)	{
-
-			/* enable logging */
-			mavlink_log_info(mavlink_fd, "[log] file:");
-			mavlink_log_info(mavlink_fd, "logdir");
-			logging_enabled = true;
-		}
-		if (((int)(cmd->param3)) == 0)	{
-
-			/* disable logging */
-			mavlink_log_info(mavlink_fd, "[log] stopped.");
-			logging_enabled = false;
-		}
-		break;
-
-	default:
-		/* silently ignore */
-		break;
-	}
-
-}
diff --git a/src/modules/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c
deleted file mode 100644
index d7c8a4759..000000000
--- a/src/modules/sdlog/sdlog_ringbuffer.c
+++ /dev/null
@@ -1,91 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   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
- * 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 sdlog_log.c
- * MAVLink text logging.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <string.h>
-#include <stdlib.h>
-
-#include "sdlog_ringbuffer.h"
-
-void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size)
-{
-	lb->size  = size;
-	lb->start = 0;
-	lb->count = 0;
-	lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector));
-}
-
-int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb)
-{
-	return lb->count == (int)lb->size;
-}
-
-int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb)
-{
-	return lb->count == 0;
-}
-
-
-// XXX make these functions thread-safe
-void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem)
-{
-	int end = (lb->start + lb->count) % lb->size;
-	memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector));
-
-	if (sdlog_logbuffer_is_full(lb)) {
-		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
-
-	} else {
-		++lb->count;
-	}
-}
-
-int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem)
-{
-	if (!sdlog_logbuffer_is_empty(lb)) {
-		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector));
-		lb->start = (lb->start + 1) % lb->size;
-		--lb->count;
-		return 0;
-
-	} else {
-		return 1;
-	}
-}
diff --git a/src/modules/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h
deleted file mode 100644
index b65916459..000000000
--- a/src/modules/sdlog/sdlog_ringbuffer.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   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
- * 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 sdlog_ringbuffer.h
- * microSD logging
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef SDLOG_RINGBUFFER_H_
-#define SDLOG_RINGBUFFER_H_
-
-#pragma pack(push, 1)
-struct sdlog_sysvector {
-	uint64_t timestamp;		/**<  time [us] */
-	float gyro[3];			/**< [rad/s] */
-	float accel[3];			/**< [m/s^2] */
-	float mag[3];			/**< [gauss] */
-	float baro;			/**< pressure [millibar] */
-	float baro_alt;			/**< altitude above MSL [meter] */
-	float baro_temp;		/**< [degree celcius] */
-	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
-	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
-	float vbat;			/**< battery voltage in [volt] */
-	float bat_current;		/**< battery discharge current */
-	float bat_discharged;		/**< discharged energy in mAh */
-	float adc[4];			/**< ADC ports [volt] */
-	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
-	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
-	float attitude[3];		/**< roll, pitch, yaw [rad] */
-	float rotMatrix[9];		/**< unitvectors */
-	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
-	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
-	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
-	float diff_pressure;		/**< differential pressure */
-	float ind_airspeed;		/**< indicated airspeed */
-	float true_airspeed;		/**< true airspeed */
-};
-#pragma pack(pop)
-
-struct sdlog_logbuffer {
-	unsigned int start;
-	// unsigned int end;
-	unsigned int size;
-	int count;
-	struct sdlog_sysvector *elems;
-};
-
-void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
-
-int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
-
-int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
-
-void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
-
-int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
-
-#endif
diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk
index f53129688..a28d43e72 100644
--- a/src/modules/sdlog2/module.mk
+++ b/src/modules/sdlog2/module.mk
@@ -41,3 +41,5 @@ MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
 
 SRCS = sdlog2.c \
        logbuffer.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index ad709d27d..39f433eb5 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -83,6 +83,9 @@
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/esc_status.h>
 #include <uORB/topics/telemetry_status.h>
+#include <uORB/topics/estimator_status.h>
+#include <uORB/topics/system_power.h>
+#include <uORB/topics/servorail_status.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -223,11 +226,11 @@ sdlog2_usage(const char *reason)
 	}
 
 	errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
-	     "\t-r\tLog rate in Hz, 0 means unlimited rate\n"
-	     "\t-b\tLog buffer size in KiB, default is 8\n"
-	     "\t-e\tEnable logging by default (if not, can be started by command)\n"
-	     "\t-a\tLog only when armed (can be still overriden by command)\n"
-	     "\t-t\tUse date/time for naming log directories and files\n");
+		 "\t-r\tLog rate in Hz, 0 means unlimited rate\n"
+		 "\t-b\tLog buffer size in KiB, default is 8\n"
+		 "\t-e\tEnable logging by default (if not, can be started by command)\n"
+		 "\t-a\tLog only when armed (can be still overriden by command)\n"
+		 "\t-t\tUse date/time for naming log directories and files\n");
 }
 
 /**
@@ -254,11 +257,11 @@ int sdlog2_main(int argc, char *argv[])
 
 		main_thread_should_exit = false;
 		deamon_task = task_spawn_cmd("sdlog2",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_DEFAULT - 30,
-					     3000,
-					     sdlog2_thread_main,
-					     (const char **)argv);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_DEFAULT - 30,
+						 3000,
+						 sdlog2_thread_main,
+						 (const char **)argv);
 		exit(0);
 	}
 
@@ -681,7 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		case 'r': {
 				unsigned long r = strtoul(optarg, NULL, 10);
 
-				if (r <= 0) {
+				if (r == 0) {
 					r = 1;
 				}
 
@@ -794,6 +797,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct battery_status_s battery;
 		struct telemetry_status_s telemetry;
 		struct range_finder_report range_finder;
+		struct estimator_status_report estimator_status;
+		struct system_power_s system_power;
+		struct servorail_status_s servorail_status;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -825,6 +831,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_BATT_s log_BATT;
 			struct log_DIST_s log_DIST;
 			struct log_TELE_s log_TELE;
+			struct log_ESTM_s log_ESTM;
+			struct log_PWR_s log_PWR;
+			struct log_VICN_s log_VICN;
+			struct log_GSN0_s log_GSN0;
+			struct log_GSN1_s log_GSN1;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -855,6 +866,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int battery_sub;
 		int telemetry_sub;
 		int range_finder_sub;
+		int estimator_status_sub;
+		int system_power_sub;
+		int servorail_status_sub;
 	} subs;
 
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -879,6 +893,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
 	subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
 	subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
+	subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
+	subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
+	subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
 
 	thread_running = true;
 
@@ -893,9 +910,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 	hrt_abstime barometer_timestamp = 0;
 	hrt_abstime differential_pressure_timestamp = 0;
 
-	/* track changes in distance status */
-	bool dist_bottom_present = false;
-
 	/* enable logging on start if needed */
 	if (log_on_start) {
 		/* check GPS topic to get GPS time */
@@ -948,6 +962,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_STAT_MSG;
 			log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
 			log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
+			log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe_state;
 			log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
 			log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
 			log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
@@ -969,6 +984,18 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
 			log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
 			LOGBUFFER_WRITE_AND_COUNT(GPS);
+
+			/* log the SNR of each satellite for a detailed view of signal quality */
+			log_msg.msg_type = LOG_GSN0_MSG;
+			/* pick the smaller number so we do not overflow any of the arrays */
+			unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
+			unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]);
+			unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr;
+
+			for (unsigned i = 0; i < sat_max_snr; i++) {
+				log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
+			}
+			LOGBUFFER_WRITE_AND_COUNT(GSN0);
 		}
 
 		/* --- SENSOR COMBINED --- */
@@ -1084,28 +1111,19 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.x = buf.local_pos.x;
 			log_msg.body.log_LPOS.y = buf.local_pos.y;
 			log_msg.body.log_LPOS.z = buf.local_pos.z;
+			log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom;
+			log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate;
 			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);
 			log_msg.body.log_LPOS.landed = buf.local_pos.landed;
+			log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
 			LOGBUFFER_WRITE_AND_COUNT(LPOS);
-
-			if (buf.local_pos.dist_bottom_valid) {
-				dist_bottom_present = true;
-			}
-
-			if (dist_bottom_present) {
-				log_msg.msg_type = LOG_DIST_MSG;
-				log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
-				log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
-				log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
-				LOGBUFFER_WRITE_AND_COUNT(DIST);
-			}
 		}
 
 		/* --- LOCAL POSITION SETPOINT --- */
@@ -1127,8 +1145,8 @@ 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);
 		}
 
@@ -1149,7 +1167,14 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- VICON POSITION --- */
 		if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
-			// TODO not implemented yet
+			log_msg.msg_type = LOG_VICN_MSG;
+			log_msg.body.log_VICN.x = buf.vicon_pos.x;
+			log_msg.body.log_VICN.y = buf.vicon_pos.y;
+			log_msg.body.log_VICN.z = buf.vicon_pos.z;
+			log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch;
+			log_msg.body.log_VICN.roll = buf.vicon_pos.roll;
+			log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
+			LOGBUFFER_WRITE_AND_COUNT(VICN);
 		}
 
 		/* --- FLOW --- */
@@ -1171,6 +1196,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			/* Copy only the first 8 channels of 14 */
 			memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
 			log_msg.body.log_RC.channel_count = buf.rc.chan_count;
+			log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
 			LOGBUFFER_WRITE_AND_COUNT(RC);
 		}
 
@@ -1179,6 +1205,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_AIRS_MSG;
 			log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
 			log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
+			log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
 			LOGBUFFER_WRITE_AND_COUNT(AIRS);
 		}
 
@@ -1221,6 +1248,24 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(BATT);
 		}
 
+		/* --- SYSTEM POWER RAILS --- */
+		if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) {
+			log_msg.msg_type = LOG_PWR_MSG;
+			log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v;
+			log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected;
+			log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid;
+			log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid;
+			log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC;
+			log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC;
+
+			/* copy servo rail status topic here too */
+			orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status);
+			log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v;
+			log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v;
+
+			LOGBUFFER_WRITE_AND_COUNT(PWR);
+		}
+
 		/* --- TELEMETRY --- */
 		if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
 			log_msg.msg_type = LOG_TELE_MSG;
@@ -1243,6 +1288,19 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(DIST);
 		}
 
+		/* --- ESTIMATOR STATUS --- */
+		if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
+			log_msg.msg_type = LOG_ESTM_MSG;
+			unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
+			memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
+			memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
+			log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
+			log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
+			log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
+			log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
+			LOGBUFFER_WRITE_AND_COUNT(ESTM);
+		}
+
 		/* signal the other thread new data, but not yet unlock */
 		if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 			/* only request write if several packets can be written at once */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index fe500ad5f..0c6188657 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -101,6 +101,8 @@ struct log_LPOS_s {
 	float x;
 	float y;
 	float z;
+	float ground_dist;
+	float ground_dist_rate;
 	float vx;
 	float vy;
 	float vz;
@@ -110,6 +112,7 @@ struct log_LPOS_s {
 	uint8_t xy_flags;
 	uint8_t z_flags;
 	uint8_t landed;
+	uint8_t ground_dist_flags;
 };
 
 /* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -151,6 +154,7 @@ struct log_ATTC_s {
 struct log_STAT_s {
 	uint8_t main_state;
 	uint8_t arming_state;
+	uint8_t failsafe_state;
 	float battery_remaining;
 	uint8_t battery_warning;
 	uint8_t landed;
@@ -161,6 +165,7 @@ struct log_STAT_s {
 struct log_RC_s {
 	float channel[8];
 	uint8_t channel_count;
+	uint8_t signal_lost;
 };
 
 /* --- OUT0 - ACTUATOR_0 OUTPUT --- */
@@ -174,6 +179,7 @@ struct log_OUT0_s {
 struct log_AIRS_s {
 	float indicated_airspeed;
 	float true_airspeed;
+	float air_temperature_celsius;
 };
 
 /* --- ARSP - ATTITUDE RATE SET POINT --- */
@@ -205,8 +211,8 @@ 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 --- */
@@ -277,6 +283,52 @@ struct log_TELE_s {
 	uint8_t txbuf;
 };
 
+/* --- ESTM - ESTIMATOR STATUS --- */
+#define LOG_ESTM_MSG 23
+struct log_ESTM_s {
+	float s[10];
+	uint8_t n_states;
+	uint8_t states_nan;
+	uint8_t covariance_nan;
+	uint8_t kalman_gain_nan;
+};
+
+/* --- PWR - ONBOARD POWER SYSTEM --- */
+#define LOG_PWR_MSG 24
+struct log_PWR_s {
+	float peripherals_5v;
+	float servo_rail_5v;
+	float servo_rssi;
+	uint8_t usb_ok;
+	uint8_t brick_ok;
+	uint8_t servo_ok;
+	uint8_t low_power_rail_overcurrent;
+	uint8_t high_power_rail_overcurrent;
+};
+
+/* --- VICN - VICON POSITION --- */
+#define LOG_VICN_MSG 25
+struct log_VICN_s {
+	float x;
+	float y;
+	float z;
+	float roll;
+	float pitch;
+	float yaw;
+};
+
+/* --- GSN0 - GPS SNR #0 --- */
+#define LOG_GSN0_MSG 26
+struct log_GSN0_s {
+	uint8_t satellite_snr[16];			/**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
+};
+
+/* --- GSN1 - GPS SNR #1 --- */
+#define LOG_GSN1_MSG 27
+struct log_GSN1_s {
+	uint8_t satellite_snr[16];			/**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
+};
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -304,35 +356,40 @@ struct log_PARM_s {
 /* construct list of all message formats */
 static const struct log_format_s log_formats[] = {
 	/* business-level messages, ID < 0x80 */
-	LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
-	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
-	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
-	LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
-	LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
-	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
-	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
-	LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
-	LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"),
-	LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
-	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
-	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
-	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(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"),
-	LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
-	LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
-	LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
+	LOG_FORMAT(ATT, "fffffffff",		"Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
+	LOG_FORMAT(ATSP, "ffff",		"RollSP,PitchSP,YawSP,ThrustSP"),
+	LOG_FORMAT(IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	LOG_FORMAT(SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
+	LOG_FORMAT(LPOS, "ffffffffLLfBBBB",	"X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"),
+	LOG_FORMAT(LPSP, "ffff",		"X,Y,Z,Yaw"),
+	LOG_FORMAT(GPS, "QBffLLfffff",		"GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
+	LOG_FORMAT(ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
+	LOG_FORMAT(STAT, "BBBfBB",		"MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"),
+	LOG_FORMAT(RC, "ffffffffBB",		"Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
+	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+	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, "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",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
+	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
+	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
+	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
+	LOG_FORMAT(TELE, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
+	LOG_FORMAT(ESTM, "ffffffffffBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
+	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
+	LOG_FORMAT(VICN, "ffffff",		"X,Y,Z,Roll,Pitch,Yaw"),
+	LOG_FORMAT(GSN0, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+	LOG_FORMAT(GSN1, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 
 	/* system-level messages, ID >= 0x80 */
-	// FMT: don't write format of format message, it's useless
+	/* FMT: don't write format of format message, it's useless */
 	LOG_FORMAT(TIME, "Q", "StartTime"),
 	LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
-	LOG_FORMAT(PARM, "Nf", "Name,Value"),
+	LOG_FORMAT(PARM, "Nf", "Name,Value")
 };
 
-static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
+static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]);
 
 #endif /* SDLOG2_MESSAGES_H_ */
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index 96a443c6e..91230a37c 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -35,8 +35,8 @@ void BlockSegwayController::update() {
 
 	// handle autopilot modes
 	if (_status.main_state == MAIN_STATE_AUTO ||
-	    _status.main_state == MAIN_STATE_SEATBELT ||
-	    _status.main_state == MAIN_STATE_EASY) {
+	    _status.main_state == MAIN_STATE_ALTCTL ||
+	    _status.main_state == MAIN_STATE_POSCTL) {
 		_actuators.control[0] = spdCmd;
 		_actuators.control[1] = spdCmd;
 
diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk
index aa538fd6b..5b1bc5e86 100644
--- a/src/modules/sensors/module.mk
+++ b/src/modules/sensors/module.mk
@@ -40,3 +40,5 @@ MODULE_PRIORITY	= "SCHED_PRIORITY_MAX-5"
 
 SRCS		= sensors.cpp \
 		  sensor_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 0823f9e70..ae0ff625b 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
  * @group Battery Calibration
  */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
+#elif CONFIG_ARCH_BOARD_AEROCORE
+/**
+ * Scaling factor for battery voltage sensor on AeroCore.
+ *
+ * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
 #else
 /**
  * Scaling factor for battery voltage sensor on FMU v1.
@@ -536,6 +545,20 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
 
 /**
+ * Failsafe channel mapping.
+ *
+ * The RC mapping index indicates which channel is used for failsafe
+ * If 0, whichever channel is mapped to throttle is used
+ * otherwise the value indicates the specific rc channel to use
+ *
+ * @min 0
+ * @max 18
+ *
+ *
+ */
+PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0);  //Default to throttle function
+
+/**
  * Throttle control channel mapping.
  *
  * The channel index (starting from 1 for channel 1) indicates
@@ -585,22 +608,30 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 
 /**
- * Assist switch channel mapping.
+ * Posctl switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
+
+/**
+ * Loiter switch channel mapping.
  *
  * @min 0
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 
 /**
- * Mission switch channel mapping.
+ * Offboard switch channel mapping.
  *
  * @min 0
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 
 /**
@@ -647,53 +678,106 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
 
 
 /**
- * Roll scaling factor
+ * Failsafe channel PWM threshold.
  *
+ * @min 800
+ * @max 2200
  * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
+PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
 
 /**
- * Pitch scaling factor
+ * Threshold for selecting assist mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
+PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
 
 /**
- * Yaw scaling factor
+ * Threshold for selecting auto mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
+PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
 
+/**
+ * Threshold for selecting posctl mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
 
 /**
- * Failsafe channel mapping.
+ * Threshold for selecting return to launch mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 18
- * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_FS_CH, 0);
+PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
 
 /**
- * Failsafe channel mode.
+ * Threshold for selecting loiter mode
  *
- * 0 = too low means signal loss,
- * 1 = too high means signal loss
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 1
- * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_FS_MODE, 0);
+PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
 
 /**
- * Failsafe channel PWM threshold.
+ * Threshold for selecting offboard mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 1
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_FS_THR, 800);
+PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 45e7035de..f34263a96 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -36,6 +36,8 @@
  * Sensor readout process.
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -124,6 +126,12 @@
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+#define ADC_BATTERY_VOLTAGE_CHANNEL	10
+#define ADC_BATTERY_CURRENT_CHANNEL	-1
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	-1
+#endif
+
 #define BATT_V_LOWPASS 0.001f
 #define BATT_V_IGNORE_THRESHOLD 3.5f
 
@@ -133,7 +141,7 @@
  */
 #define PCB_TEMP_ESTIMATE_DEG 5.0f
 
-#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
+#define STICK_ON_OFF_LIMIT 0.75f
 
 /**
  * Sensor app start / stop handling function
@@ -165,7 +173,16 @@ public:
 private:
 	static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS;	/**< maximum number of r/c channels we handle */
 
-	hrt_abstime	_rc_last_valid;		/**< last time we got a valid RC signal */
+	/**
+	 * Get and limit value for specified RC function. Returns NAN if not mapped.
+	 */
+	float		get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value);
+
+	/**
+	 * Get switch position for specified function.
+	 */
+	switch_pos_t	get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
+	switch_pos_t	get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
 
 	/**
 	 * Gather and publish RC input data.
@@ -209,8 +226,8 @@ private:
 	struct differential_pressure_s _diff_pres;
 	struct airspeed_s _airspeed;
 
-	math::Matrix<3,3>	_board_rotation;		/**< rotation matrix for the orientation that the board is mounted */
-	math::Matrix<3,3>	_external_mag_rotation;		/**< rotation matrix for the orientation that an external mag is mounted */
+	math::Matrix<3, 3>	_board_rotation;		/**< rotation matrix for the orientation that the board is mounted */
+	math::Matrix<3, 3>	_external_mag_rotation;		/**< rotation matrix for the orientation that an external mag is mounted */
 	bool		_mag_is_external;		/**< true if the active mag is on an external board */
 
 	uint64_t _battery_discharged;			/**< battery discharged current in mA*ms */
@@ -240,11 +257,12 @@ private:
 		int rc_map_pitch;
 		int rc_map_yaw;
 		int rc_map_throttle;
+		int rc_map_failsafe;
 
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
-		int rc_map_assisted_sw;
-		int rc_map_mission_sw;
+		int rc_map_posctl_sw;
+		int rc_map_loiter_sw;
 		int rc_map_offboard_sw;
 
 		int rc_map_flaps;
@@ -255,14 +273,19 @@ private:
 		int rc_map_aux4;
 		int rc_map_aux5;
 
-		float rc_scale_roll;
-		float rc_scale_pitch;
-		float rc_scale_yaw;
-		float rc_scale_flaps;
-
-		int rc_fs_ch;
-		int rc_fs_mode;
-		float rc_fs_thr;
+		int32_t rc_fails_thr;
+		float rc_assist_th;
+		float rc_auto_th;
+		float rc_posctl_th;
+		float rc_return_th;
+		float rc_loiter_th;
+		float rc_offboard_th;
+		bool rc_assist_inv;
+		bool rc_auto_inv;
+		bool rc_posctl_inv;
+		bool rc_return_inv;
+		bool rc_loiter_inv;
+		bool rc_offboard_inv;
 
 		float battery_voltage_scaling;
 		float battery_current_scaling;
@@ -289,11 +312,12 @@ private:
 		param_t rc_map_pitch;
 		param_t rc_map_yaw;
 		param_t rc_map_throttle;
+		param_t rc_map_failsafe;
 
 		param_t rc_map_mode_sw;
 		param_t rc_map_return_sw;
-		param_t rc_map_assisted_sw;
-		param_t rc_map_mission_sw;
+		param_t rc_map_posctl_sw;
+		param_t rc_map_loiter_sw;
 		param_t rc_map_offboard_sw;
 
 		param_t rc_map_flaps;
@@ -304,14 +328,13 @@ private:
 		param_t rc_map_aux4;
 		param_t rc_map_aux5;
 
-		param_t rc_scale_roll;
-		param_t rc_scale_pitch;
-		param_t rc_scale_yaw;
-		param_t rc_scale_flaps;
-
-		param_t rc_fs_ch;
-		param_t rc_fs_mode;
-		param_t rc_fs_thr;
+		param_t rc_fails_thr;
+		param_t rc_assist_th;
+		param_t rc_auto_th;
+		param_t rc_posctl_th;
+		param_t rc_return_th;
+		param_t rc_loiter_th;
+		param_t rc_offboard_th;
 
 		param_t battery_voltage_scaling;
 		param_t battery_current_scaling;
@@ -418,7 +441,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 };
 
 namespace sensors
@@ -434,8 +457,6 @@ Sensors	*g_sensors = nullptr;
 }
 
 Sensors::Sensors() :
-	_rc_last_valid(0),
-
 	_fd_adc(-1),
 	_last_adc(0),
 
@@ -470,6 +491,7 @@ Sensors::Sensors() :
 	_battery_discharged(0),
 	_battery_current_timestamp(0)
 {
+	memset(&_rc, 0, sizeof(_rc));
 
 	/* basic r/c parameters */
 	for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@@ -502,6 +524,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
 	_parameter_handles.rc_map_yaw 	= param_find("RC_MAP_YAW");
 	_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
+	_parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
 
 	/* mandatory mode switches, mapped to channel 5 and 6 per default */
 	_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
@@ -510,8 +533,8 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
 
 	/* optional mode switches, not mapped per default */
-	_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
-	_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
+	_parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
+	_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
 	_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
 
 	_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
@@ -520,15 +543,14 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
 	_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
 
-	_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
-	_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
-	_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
-	_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
-
-	/* RC failsafe */
-	_parameter_handles.rc_fs_ch = param_find("RC_FS_CH");
-	_parameter_handles.rc_fs_mode = param_find("RC_FS_MODE");
-	_parameter_handles.rc_fs_thr = param_find("RC_FS_THR");
+	/* RC thresholds */
+	_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
+	_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
+	_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
+	_parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
+	_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
+	_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
+	_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
 
 	/* gyro offsets */
 	_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@@ -629,50 +651,55 @@ Sensors::parameters_update()
 	}
 
 	/* handle wrong values */
-	if (!rc_valid)
+	if (!rc_valid) {
 		warnx("WARNING     WARNING     WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
+	}
 
 	const char *paramerr = "FAIL PARM LOAD";
 
 	/* channel mapping */
 	if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
+	}
+
+	if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
-		warnx(paramerr);
+	if (param_get(_parameter_handles.rc_map_posctl_sw, &(_parameters.rc_map_posctl_sw)) != OK) {
+		warnx("%s", paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
-		warnx(paramerr);
+	if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) {
-		warnx("Failed getting offboard sw chan index");
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
@@ -680,13 +707,25 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
 	param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
 	param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
-	param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
-	param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
-	param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
-	param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
-	param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch));
-	param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode));
-	param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
+	param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
+	param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
+	_parameters.rc_assist_inv = (_parameters.rc_assist_th < 0);
+	_parameters.rc_assist_th = fabs(_parameters.rc_assist_th);
+	param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
+	_parameters.rc_auto_inv = (_parameters.rc_auto_th < 0);
+	_parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
+	param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th));
+	_parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0);
+	_parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th);
+	param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
+	_parameters.rc_return_inv = (_parameters.rc_return_th < 0);
+	_parameters.rc_return_th = fabs(_parameters.rc_return_th);
+	param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th));
+	_parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0);
+	_parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th);
+	param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th));
+	_parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0);
+	_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
 
 	/* update RC function mappings */
 	_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -696,9 +735,9 @@ Sensors::parameters_update()
 
 	_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
 	_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
-	_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
-	_rc.function[MISSION] = _parameters.rc_map_mission_sw - 1;
-	_rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_sw - 1;
+	_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
+	_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
+	_rc.function[OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
 
@@ -739,12 +778,12 @@ Sensors::parameters_update()
 
 	/* scaling of ADC ticks to battery voltage */
 	if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	/* scaling of ADC ticks to battery current */
 	if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
@@ -779,7 +818,7 @@ Sensors::accel_init()
 		/* set the driver to poll at 1000Hz */
 		ioctl(fd, SENSORIOCSPOLLRATE, 1000);
 
-#elif CONFIG_ARCH_BOARD_PX4FMU_V2
+#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE
 
 		/* set the accel internal sampling rate up to at leat 800Hz */
 		ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@@ -788,7 +827,7 @@ Sensors::accel_init()
 		ioctl(fd, SENSORIOCSPOLLRATE, 800);
 
 #else
-#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
+#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE
 
 #endif
 
@@ -814,12 +853,14 @@ Sensors::gyro_init()
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 
 		/* set the gyro internal sampling rate up to at least 1000Hz */
-		if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
+		if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) {
 			ioctl(fd, GYROIOCSSAMPLERATE, 800);
+		}
 
 		/* set the driver to poll at 1000Hz */
-		if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
+		if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) {
 			ioctl(fd, SENSORIOCSPOLLRATE, 800);
+		}
 
 #else
 
@@ -874,12 +915,15 @@ Sensors::mag_init()
 
 	ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
 
-	if (ret < 0)
+	if (ret < 0) {
 		errx(1, "FATAL: unknown if magnetometer is external or onboard");
-	else if (ret == 1)
+
+	} else if (ret == 1) {
 		_mag_is_external = true;
-	else
+
+	} else {
 		_mag_is_external = false;
+	}
 
 	close(fd);
 }
@@ -979,10 +1023,12 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 
 		math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
 
-		if (_mag_is_external)
+		if (_mag_is_external) {
 			vect = _external_mag_rotation * vect;
-		else
+
+		} else {
 			vect = _board_rotation * vect;
+		}
 
 		raw.magnetometer_ga[0] = vect(0);
 		raw.magnetometer_ga[1] = vect(1);
@@ -1027,10 +1073,13 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 		raw.differential_pressure_timestamp = _diff_pres.timestamp;
 		raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
 
+		float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
+
 		_airspeed.timestamp = _diff_pres.timestamp;
 		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
 		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
-					      raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
+					      raw.baro_pres_mbar * 1e2f, air_temperature_celsius);
+		_airspeed.air_temperature_celsius = air_temperature_celsius;
 
 		/* announce the airspeed if needed, just publish else */
 		if (_airspeed_pub > 0) {
@@ -1097,8 +1146,9 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.gyro_scale[2],
 		};
 
-		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
+		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) {
 			warn("WARNING: failed to set scale / offsets for gyro");
+		}
 
 		close(fd);
 
@@ -1112,8 +1162,9 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.accel_scale[2],
 		};
 
-		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
+		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) {
 			warn("WARNING: failed to set scale / offsets for accel");
+		}
 
 		close(fd);
 
@@ -1127,8 +1178,9 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.mag_scale[2],
 		};
 
-		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
+		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) {
 			warn("WARNING: failed to set scale / offsets for mag");
+		}
 
 		close(fd);
 
@@ -1142,8 +1194,10 @@ Sensors::parameter_update_poll(bool forced)
 				1.0f,
 			};
 
-			if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale))
+			if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 				warn("WARNING: failed to set scale / offsets for airspeed sensor");
+			}
+
 			close(fd);
 		}
 
@@ -1161,22 +1215,27 @@ void
 Sensors::adc_poll(struct sensor_combined_s &raw)
 {
 	/* only read if publishing */
-	if (!_publishing)
+	if (!_publishing) {
 		return;
+	}
 
 	hrt_abstime t = hrt_absolute_time();
+
 	/* rate limit to 100 Hz */
 	if (t - _last_adc >= 10000) {
-		/* make space for a maximum of eight channels */
-		struct adc_msg_s buf_adc[8];
+		/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
+		struct adc_msg_s buf_adc[12];
 		/* read all channels available */
 		int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
 
 		if (ret >= (int)sizeof(buf_adc[0])) {
-			for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
+
+			/* Read add channels we got */
+			for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) {
 				/* Save raw voltage values */
-				if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) {
+				if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) {
 					raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
+					raw.adc_mapping[i] = buf_adc[i].am_channel;
 				}
 
 				/* look for specific channels and process the raw voltage to measurement data */
@@ -1186,6 +1245,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 
 					if (voltage > BATT_V_IGNORE_THRESHOLD) {
 						_battery_status.voltage_v = voltage;
+
 						/* one-time initialization of low-pass value to avoid long init delays */
 						if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) {
 							_battery_status.voltage_filtered_v = voltage;
@@ -1204,19 +1264,24 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 					/* handle current only if voltage is valid */
 					if (_battery_status.voltage_v > 0.0f) {
 						float current = (buf_adc[i].am_data * _parameters.battery_current_scaling);
+
 						/* check measured current value */
 						if (current >= 0.0f) {
 							_battery_status.timestamp = t;
 							_battery_status.current_a = current;
+
 							if (_battery_current_timestamp != 0) {
 								/* initialize discharged value */
-								if (_battery_status.discharged_mah < 0.0f)
+								if (_battery_status.discharged_mah < 0.0f) {
 									_battery_status.discharged_mah = 0.0f;
+								}
+
 								_battery_discharged += current * (t - _battery_current_timestamp);
 								_battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f;
 							}
 						}
 					}
+
 					_battery_current_timestamp = t;
 
 				} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
@@ -1235,6 +1300,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 
 						_diff_pres.timestamp = t;
 						_diff_pres.differential_pressure_pa = diff_pres_pa;
+						_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
+						_diff_pres.temperature = -1000.0f;
 						_diff_pres.voltage = voltage;
 
 						/* announce the airspeed if needed, just publish else */
@@ -1247,8 +1314,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 					}
 				}
 			}
+
 			_last_adc = t;
-			if (_battery_status.voltage_v > 0.0f) {
+
+			if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
 				/* announce the battery status if needed, just publish else */
 				if (_battery_pub > 0) {
 					orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
@@ -1261,6 +1330,66 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 	}
 }
 
+float
+Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
+{
+	if (_rc.function[func] >= 0) {
+		float value = _rc.chan[_rc.function[func]].scaled;
+
+		if (value < min_value) {
+			return min_value;
+
+		} else if (value > max_value) {
+			return max_value;
+
+		} else {
+			return value;
+		}
+
+	} else {
+		return 0.0f;
+	}
+}
+
+switch_pos_t
+Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
+{
+	if (_rc.function[func] >= 0) {
+		float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
+
+		if (on_inv ? value < on_th : value > on_th) {
+			return SWITCH_POS_ON;
+
+		} else if (mid_inv ? value < mid_th : value > mid_th) {
+			return SWITCH_POS_MIDDLE;
+
+		} else {
+			return SWITCH_POS_OFF;
+		}
+
+	} else {
+		return SWITCH_POS_NONE;
+	}
+}
+
+switch_pos_t
+Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
+{
+	if (_rc.function[func] >= 0) {
+		float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
+
+		if (on_inv ? value < on_th : value > on_th) {
+			return SWITCH_POS_ON;
+
+		} else {
+			return SWITCH_POS_OFF;
+		}
+
+	} else {
+		return SWITCH_POS_NONE;
+	}
+}
+
 void
 Sensors::rc_poll()
 {
@@ -1269,70 +1398,58 @@ Sensors::rc_poll()
 
 	if (rc_updated) {
 		/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
-		struct rc_input_values	rc_input;
+		struct rc_input_values rc_input;
 
 		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
 
-		if (rc_input.rc_lost)
-			return;
-
-		struct manual_control_setpoint_s manual_control;
-		struct actuator_controls_s actuator_group_3;
-
-		/* initialize to default values */
-		manual_control.roll = NAN;
-		manual_control.pitch = NAN;
-		manual_control.yaw = NAN;
-		manual_control.throttle = NAN;
-
-		manual_control.mode_switch = NAN;
-		manual_control.return_switch = NAN;
-		manual_control.assisted_switch = NAN;
-		manual_control.mission_switch = NAN;
-		manual_control.offboard_switch = NAN;
-
-		manual_control.flaps = NAN;
-		manual_control.aux1 = NAN;
-		manual_control.aux2 = NAN;
-		manual_control.aux3 = NAN;
-		manual_control.aux4 = NAN;
-		manual_control.aux5 = NAN;
-
-		/* require at least four channels to consider the signal valid */
-		if (rc_input.channel_count < 4)
-			return;
-
-		/* failsafe check */
-		if (_parameters.rc_fs_ch != 0) {
-			if (_parameters.rc_fs_mode == 0) {
-				if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr)
-					return;
-
-			} else if (_parameters.rc_fs_mode == 1) {
-				if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
-					return;
+		/* detect RC signal loss */
+		bool signal_lost;
+
+		/* check flags and require at least four channels to consider the signal valid */
+		if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) {
+			/* signal is lost or no enough channels */
+			signal_lost = true;
+
+		} else {
+			/* signal looks good */
+			signal_lost = false;
+
+			/* check failsafe */
+			int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
+
+			if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
+				fs_ch = _parameters.rc_map_failsafe - 1;
+			}
+
+			if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
+				/* failsafe configured */
+				if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
+				    (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
+					/* failsafe triggered, signal is lost by receiver */
+					signal_lost = true;
+				}
 			}
 		}
 
 		unsigned channel_limit = rc_input.channel_count;
 
-		if (channel_limit > _rc_max_chan_count)
+		if (channel_limit > _rc_max_chan_count) {
 			channel_limit = _rc_max_chan_count;
+		}
 
-		/* we are accepting this message */
-		_rc_last_valid = rc_input.timestamp_last_signal;
-
-		/* Read out values from raw message */
+		/* read out and scale values from raw message even if signal is invalid */
 		for (unsigned int i = 0; i < channel_limit; i++) {
 
 			/*
 			 * 1) Constrain to min/max values, as later processing depends on bounds.
 			 */
-			if (rc_input.values[i] < _parameters.min[i])
+			if (rc_input.values[i] < _parameters.min[i]) {
 				rc_input.values[i] = _parameters.min[i];
+			}
 
-			if (rc_input.values[i] > _parameters.max[i])
+			if (rc_input.values[i] > _parameters.max[i]) {
 				rc_input.values[i] = _parameters.max[i];
+			}
 
 			/*
 			 * 2) Scale around the mid point differently for lower and upper range.
@@ -1364,136 +1481,82 @@ Sensors::rc_poll()
 			_rc.chan[i].scaled *= _parameters.rev[i];
 
 			/* handle any parameter-induced blowups */
-			if (!isfinite(_rc.chan[i].scaled))
+			if (!isfinite(_rc.chan[i].scaled)) {
 				_rc.chan[i].scaled = 0.0f;
+			}
 		}
 
 		_rc.chan_count = rc_input.channel_count;
+		_rc.rssi = rc_input.rssi;
+		_rc.signal_lost = signal_lost;
 		_rc.timestamp = rc_input.timestamp_last_signal;
 
-		manual_control.timestamp = rc_input.timestamp_last_signal;
-
-		/* roll input - rolling right is stick-wise and rotation-wise positive */
-		manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
-		/*
-		 * pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
-		 * so reverse sign.
-		 */
-		manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled);
-		/* yaw input - stick right is positive and positive rotation */
-		manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
-		/* throttle input */
-		manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
-
-		if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
-
-		if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
-
-		/* scale output */
-		if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) {
-			manual_control.roll *= _parameters.rc_scale_roll;
-		}
-
-		if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
-			manual_control.pitch *= _parameters.rc_scale_pitch;
-		}
-
-		if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
-			manual_control.yaw *= _parameters.rc_scale_yaw;
-		}
-
-		/* flaps */
-		if (_rc.function[FLAPS] >= 0) {
-
-			manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
-
-			if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
-				manual_control.flaps *= _parameters.rc_scale_flaps;
-			}
-		}
-
-		/* mode switch input */
-		if (_rc.function[MODE] >= 0) {
-			manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
-		}
-
-		/* assisted switch input */
-		if (_rc.function[ASSISTED] >= 0) {
-			manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
-		}
-
-		/* mission switch input */
-		if (_rc.function[MISSION] >= 0) {
-			manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
-		}
-
-		/* return switch input */
-		if (_rc.function[RETURN] >= 0) {
-			manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
-		}
-
-		/* offboard switch input */
-		if (_rc.function[OFFBOARD_MODE] >= 0) {
-			manual_control.offboard_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
-		}
-
-		/* aux functions, only assign if valid mapping is present */
-		if (_rc.function[AUX_1] >= 0) {
-			manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled);
-		}
-
-		if (_rc.function[AUX_2] >= 0) {
-			manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled);
-		}
-
-		if (_rc.function[AUX_3] >= 0) {
-			manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled);
-		}
-
-		if (_rc.function[AUX_4] >= 0) {
-			manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
-		}
-
-		if (_rc.function[AUX_5] >= 0) {
-			manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
-		}
-
-		/* copy from mapped manual control to control group 3 */
-		actuator_group_3.control[0] = manual_control.roll;
-		actuator_group_3.control[1] = manual_control.pitch;
-		actuator_group_3.control[2] = manual_control.yaw;
-		actuator_group_3.control[3] = manual_control.throttle;
-		actuator_group_3.control[4] = manual_control.flaps;
-		actuator_group_3.control[5] = manual_control.aux1;
-		actuator_group_3.control[6] = manual_control.aux2;
-		actuator_group_3.control[7] = manual_control.aux3;
-
-		/* check if ready for publishing */
+		/* publish rc_channels topic even if signal is invalid, for debug */
 		if (_rc_pub > 0) {
 			orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
 
 		} else {
-			/* advertise the rc topic */
 			_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
 		}
 
-		/* check if ready for publishing */
-		if (_manual_control_pub > 0) {
-			orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
+		if (!signal_lost) {
+			struct manual_control_setpoint_s manual;
+			memset(&manual, 0 , sizeof(manual));
+
+			/* fill values in manual_control_setpoint topic only if signal is valid */
+			manual.timestamp = rc_input.timestamp_last_signal;
+
+			/* limit controls */
+			manual.y = get_rc_value(ROLL, -1.0, 1.0);
+			manual.x = get_rc_value(PITCH, -1.0, 1.0);
+			manual.r = get_rc_value(YAW, -1.0, 1.0);
+			manual.z = get_rc_value(THROTTLE, 0.0, 1.0);
+			manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
+			manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
+			manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
+			manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
+			manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
+			manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
+
+			/* mode switches */
+			manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
+			manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
+			manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
+			manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
+			manual.offboard_switch = get_rc_sw2pos_position(OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
+
+			/* publish manual_control_setpoint topic */
+			if (_manual_control_pub > 0) {
+				orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual);
 
-		} else {
-			_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
-		}
+			} else {
+				_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
+			}
 
-		/* check if ready for publishing */
-		if (_actuator_group_3_pub > 0) {
-			orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
+			/* copy from mapped manual control to control group 3 */
+			struct actuator_controls_s actuator_group_3;
+			memset(&actuator_group_3, 0 , sizeof(actuator_group_3));
 
-		} else {
-			_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
+			actuator_group_3.timestamp = rc_input.timestamp_last_signal;
+
+			actuator_group_3.control[0] = manual.y;
+			actuator_group_3.control[1] = manual.x;
+			actuator_group_3.control[2] = manual.r;
+			actuator_group_3.control[3] = manual.z;
+			actuator_group_3.control[4] = manual.flaps;
+			actuator_group_3.control[5] = manual.aux1;
+			actuator_group_3.control[6] = manual.aux2;
+			actuator_group_3.control[7] = manual.aux3;
+
+			/* publish actuator_controls_3 topic */
+			if (_actuator_group_3_pub > 0) {
+				orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
+
+			} else {
+				_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
+			}
 		}
 	}
-
 }
 
 void
@@ -1570,12 +1633,10 @@ Sensors::task_main()
 
 	while (!_task_should_exit) {
 
-		/* wait for up to 100ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		/* wait for up to 50ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
 
-		/* timed out - periodic check for _task_should_exit, etc. */
-		if (pret == 0)
-			continue;
+		/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -1605,8 +1666,9 @@ Sensors::task_main()
 		diff_pres_poll(raw);
 
 		/* Inform other processes that new data is available to copy */
-		if (_publishing)
+		if (_publishing) {
 			orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
+		}
 
 		/* Look for new r/c input data */
 		rc_poll();
@@ -1614,7 +1676,7 @@ Sensors::task_main()
 		perf_end(_loop_perf);
 	}
 
-	printf("[sensors] exiting.\n");
+	warnx("[sensors] exiting.");
 
 	_sensors_task = -1;
 	_exit(0);
@@ -1629,7 +1691,7 @@ Sensors::start()
 	_sensors_task = task_spawn_cmd("sensors_task",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&Sensors::task_main_trampoline,
 				       nullptr);
 
@@ -1643,18 +1705,21 @@ Sensors::start()
 
 int sensors_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		errx(1, "usage: sensors {start|stop|status}");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (sensors::g_sensors != nullptr)
+		if (sensors::g_sensors != nullptr) {
 			errx(0, "already running");
+		}
 
 		sensors::g_sensors = new Sensors;
 
-		if (sensors::g_sensors == nullptr)
+		if (sensors::g_sensors == nullptr) {
 			errx(1, "alloc failed");
+		}
 
 		if (OK != sensors::g_sensors->start()) {
 			delete sensors::g_sensors;
@@ -1666,8 +1731,9 @@ int sensors_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		if (sensors::g_sensors == nullptr)
+		if (sensors::g_sensors == nullptr) {
 			errx(1, "not running");
+		}
 
 		delete sensors::g_sensors;
 		sensors::g_sensors = nullptr;
@@ -1686,4 +1752,3 @@ int sensors_main(int argc, char *argv[])
 	warnx("unrecognized command");
 	return 1;
 }
-
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"
 
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 2d773fd25..7a499ca72 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -521,73 +521,15 @@ param_save_default(void)
 		return ERROR;
 	}
 
-	if (res == OK) {
-		res = param_export(fd, false);
+	res = param_export(fd, false);
 
-	        if (res != OK) {
-	            warnx("failed to write parameters to file: %s", filename);
-	        }
+	if (res != OK) {
+		warnx("failed to write parameters to file: %s", filename);
 	}
 
 	close(fd);
 
 	return res;
-
-#if 0
-	const char *filename_tmp = malloc(strlen(filename) + 5);
-	sprintf(filename_tmp, "%s.tmp", filename);
-
-	/* delete temp file if exist */
-	res = unlink(filename_tmp);
-
-	if (res != OK && errno == ENOENT)
-		res = OK;
-
-	if (res != OK)
-		warn("failed to delete temp file: %s", filename_tmp);
-
-	if (res == OK) {
-		/* write parameters to temp file */
-		fd = open(filename_tmp, O_WRONLY | O_CREAT | O_EXCL);
-
-		if (fd < 0) {
-			warn("failed to open temp file: %s", filename_tmp);
-			res = ERROR;
-		}
-
-		if (res == OK) {
-			res = param_export(fd, false);
-
-			if (res != OK)
-				warnx("failed to write parameters to file: %s", filename_tmp);
-		}
-
-		close(fd);
-	}
-
-	if (res == OK) {
-		/* delete parameters file */
-		res = unlink(filename);
-
-		if (res != OK && errno == ENOENT)
-			res = OK;
-
-		if (res != OK)
-			warn("failed to delete parameters file: %s", filename);
-	}
-
-	if (res == OK) {
-		/* rename temp file to parameters */
-		res = rename(filename_tmp, filename);
-
-		if (res != OK)
-			warn("failed to rename %s to %s", filename_tmp, filename);
-	}
-
-	free(filename_tmp);
-
-	return res;
-#endif
 }
 
 /**
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c
index 6a4e9392a..45f218a5b 100644
--- a/src/modules/systemlib/pid/pid.c
+++ b/src/modules/systemlib/pid/pid.c
@@ -53,7 +53,7 @@
 
 #define SIGMA 0.000001f
 
-__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min)
+__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min)
 {
 	pid->mode = mode;
 	pid->dt_min = dt_min;
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index 21e15ec56..c0c1a5cb4 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -140,7 +140,7 @@ int rc_calibration_check(int mavlink_fd) {
 		/* sanity checks pass, enable channel */
 		if (count) {
 			mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
+			warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
 			usleep(100000);
 		}
 
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index ec2bc3a9a..702e435ac 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -62,12 +62,23 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
 PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
 
 /**
- * Set usage of IO board
- *
- * Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
- *
- * @min 0
- * @max 1
- * @group System
- */
+* Set usage of IO board
+*
+* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
+*
+* @min 0
+* @max 1
+* @group System
+*/
 PARAM_DEFINE_INT32(SYS_USE_IO, 1);
+
+/**
+* Set restart type
+*
+* Set by px4io to indicate type of restart
+*
+* @min 0
+* @max 2
+* @group System
+*/
+PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index fb24de8d1..90675bb2e 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -90,6 +90,9 @@ ORB_DEFINE(battery_status, struct battery_status_s);
 #include "topics/servorail_status.h"
 ORB_DEFINE(servorail_status, struct servorail_status_s);
 
+#include "topics/system_power.h"
+ORB_DEFINE(system_power, struct system_power_s);
+
 #include "topics/vehicle_global_position.h"
 ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 
@@ -124,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
 ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
 
 #include "topics/mission.h"
-ORB_DEFINE(mission, struct mission_s);
+ORB_DEFINE(offboard_mission, struct mission_s);
 ORB_DEFINE(onboard_mission, struct mission_s);
 
 #include "topics/mission_result.h"
@@ -193,3 +196,6 @@ ORB_DEFINE(esc_status, struct esc_status_s);
 
 #include "topics/encoders.h"
 ORB_DEFINE(encoders, struct encoders_s);
+
+#include "topics/estimator_status.h"
+ORB_DEFINE(estimator_status, struct estimator_status_report);
diff --git a/src/modules/uORB/topics/airspeed.h b/src/modules/uORB/topics/airspeed.h
index a3da3758f..d2ee754cd 100644
--- a/src/modules/uORB/topics/airspeed.h
+++ b/src/modules/uORB/topics/airspeed.h
@@ -52,9 +52,10 @@
  * Airspeed
  */
 struct airspeed_s {
-	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
+	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
 	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
-	float		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
+	float		true_airspeed_m_s;		/**< true airspeed in meters per second, -1 if unknown */
+	float		air_temperature_celsius;	/**< air temperature in degrees celsius, -1000 if unknown */
 };
 
 /**
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index 3592c023c..01e14cda9 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -52,13 +52,14 @@
  * Differential pressure.
  */
 struct differential_pressure_s {
-	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
-	uint64_t	error_count;
+	uint64_t	timestamp;			/**< Microseconds since system boot, needed to integrate */
+	uint64_t	error_count;			/**< Number of errors detected by driver */
 	float	differential_pressure_pa;		/**< Differential pressure reading */
+	float	differential_pressure_raw_pa;		/**< Raw differential pressure reading (may be negative) */
 	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
 	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */
-	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
-	float		temperature;			/**< Temperature provided by sensor */
+	float	voltage;				/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
+	float	temperature;				/**< Temperature provided by sensor, -1000.0f if unknown */
 
 };
 
diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
index 11332d7a7..628824efa 100644
--- a/src/modules/uORB/topics/esc_status.h
+++ b/src/modules/uORB/topics/esc_status.h
@@ -60,7 +60,7 @@
 enum ESC_VENDOR {
 	ESC_VENDOR_GENERIC = 0,					/**< generic ESC */
 	ESC_VENDOR_MIKROKOPTER,					/**< Mikrokopter */
-	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */	
+	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */
 };
 
 enum ESC_CONNECTION_TYPE {
@@ -79,16 +79,15 @@ enum ESC_CONNECTION_TYPE {
 /**
  * Electronic speed controller status.
  */
-struct esc_status_s
-{
+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 */
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/uORB/topics/estimator_status.h
index 500e3e197..5530cdb21 100644
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
+++ b/src/modules/uORB/topics/estimator_status.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
+ *   Copyright (c) 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
@@ -33,16 +31,50 @@
  *
  ****************************************************************************/
 
-/* @file Fixed Wing Attitude Rate Control */
+/**
+ * @file estimator_status.h
+ * Definition of the estimator_status_report uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef ESTIMATOR_STATUS_H_
+#define ESTIMATOR_STATUS_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Estimator status report.
+ *
+ * This is a generic status report struct which allows any of the onboard estimators
+ * to write the internal state to the system log.
+ *
+ */
+struct estimator_status_report {
+
+	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only   */
+
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot */
+	float states[32];			/**< Internal filter states */
+	float n_states;				/**< Number of states effectively used */
+	bool states_nan;			/**< If set to true, one of the states is NaN */
+	bool covariance_nan;			/**< If set to true, the covariance matrix went NaN */
+	bool kalman_gain_nan;			/**< If set to true, the Kalman gain matrix went NaN */
 
-#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
-#define FIXEDWING_ATT_CONTROL_RATE_H_
+};
 
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
+/**
+ * @}
+ */
 
-int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-				const float rates[],
-				struct actuator_controls_s *actuators);
+/* register this as object request broker structure */
+ORB_DECLARE(estimator_status);
 
-#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
+#endif
diff --git a/src/modules/uORB/topics/filtered_bottom_flow.h b/src/modules/uORB/topics/filtered_bottom_flow.h
index ab6de2613..c5d545542 100644
--- a/src/modules/uORB/topics/filtered_bottom_flow.h
+++ b/src/modules/uORB/topics/filtered_bottom_flow.h
@@ -53,8 +53,7 @@
 /**
  * Filtered bottom flow in bodyframe.
  */
-struct filtered_bottom_flow_s
-{
+struct filtered_bottom_flow_s {
 	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
 
 	float sumx;				/**< Integrated bodyframe x flow in meters					   */
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index ab0c7a411..e4dd67fab 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -44,6 +44,16 @@
 #include "../uORB.h"
 
 /**
+ * Switch position
+ */
+typedef enum {
+	SWITCH_POS_NONE = 0,	/**< switch is not mapped */
+	SWITCH_POS_ON,			/**< switch activated (value = 1) */
+	SWITCH_POS_MIDDLE,		/**< middle position (value = 0) */
+	SWITCH_POS_OFF			/**< switch not activated (value = -1) */
+} switch_pos_t;
+
+/**
  * @addtogroup topics
  * @{
  */
@@ -51,30 +61,43 @@
 struct manual_control_setpoint_s {
 	uint64_t timestamp;
 
-	float roll;			 	/**< ailerons roll / roll rate input */
-	float pitch;				/**< elevator / pitch / pitch rate */
-	float yaw;				/**< rudder / yaw rate / yaw */
-	float throttle;				/**< throttle / collective thrust / altitude */
-
-	float mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
-	float return_switch;			/**< land 2 position switch (mandatory): land, no effect */
-	float assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
-	float mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
-	float offboard_switch;		/**< offboard switch (optional): offboard, onboard */
-
 	/**
-	 * Any of the channels below may not be available and be set to NaN
+	 * Any of the channels may not be available and be set to NaN
 	 * to indicate that it does not contain valid data.
+	 * The variable names follow the definition of the
+	 * MANUAL_CONTROL mavlink message.
+	 * The default range is from -1 to 1 (mavlink message -1000 to 1000)
+	 * The range for the z variable is defined from 0 to 1. (The z field of
+	 * the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
 	 */
+	float x;			/**< stick position in x direction -1..1
+					  in general corresponds to forward/back motion or pitch of vehicle,
+					  in general a positive value means forward or negative pitch and
+					  a negative value means backward or positive pitch */
+	float y;			/**< stick position in y direction -1..1
+					  in general corresponds to right/left motion or roll of vehicle,
+					  in general a positive value means right or positive roll and
+					  a negative value means left or negative roll */
+	float z;			/**< throttle stick position 0..1
+					  in general corresponds to up/down motion or thrust of vehicle,
+					  in general the value corresponds to the demanded throttle by the user,
+					  if the input is used for setting the setpoint of a vertical position
+					  controller any value > 0.5 means up and any value < 0.5 means down */
+	float r;			/**< yaw stick/twist positon, -1..1
+					  in general corresponds to the righthand rotation around the vertical
+					  (downwards) axis of the vehicle */
+	float flaps;			/**< flap position */
+	float aux1;			/**< default function: camera yaw / azimuth */
+	float aux2;			/**< default function: camera pitch / tilt */
+	float aux3;			/**< default function: camera trigger */
+	float aux4;			/**< default function: camera roll */
+	float aux5;			/**< default function: payload drop */
 
-	float flaps;				/**< flap position */
-
-	float aux1;				/**< default function: camera yaw / azimuth */
-	float aux2;				/**< default function: camera pitch / tilt */
-	float aux3;				/**< default function: camera trigger */
-	float aux4;				/**< default function: camera roll */
-	float aux5;				/**< default function: payload drop */
-
+	switch_pos_t mode_switch;			/**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
+	switch_pos_t return_switch;			/**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
+	switch_pos_t posctl_switch;			/**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
+	switch_pos_t loiter_switch;			/**< loiter 2 position switch (optional): _MISSION_, LOITER */
+	switch_pos_t offboard_switch;		/**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
 }; /**< manual control inputs */
 
 /**
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index 194e2ed0c..ef4bc1def 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -77,8 +77,7 @@ enum ORIGIN {
  * This is the position the MAV is heading towards. If it of type loiter,
  * the MAV is circling around it with the given loiter radius in meters.
  */
-struct mission_item_s
-{
+struct mission_item_s {
 	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
 	double lat;			/**< latitude in degrees				*/
 	double lon;			/**< longitude in degrees				*/
@@ -106,7 +105,7 @@ struct mission_s
  */
 
 /* register this as object request broker structure */
-ORB_DECLARE(mission);
+ORB_DECLARE(offboard_mission);
 ORB_DECLARE(onboard_mission);
 
 #endif
diff --git a/src/modules/uORB/topics/navigation_capabilities.h b/src/modules/uORB/topics/navigation_capabilities.h
index 391756f99..7a5ae9891 100644
--- a/src/modules/uORB/topics/navigation_capabilities.h
+++ b/src/modules/uORB/topics/navigation_capabilities.h
@@ -52,12 +52,12 @@
  * Airspeed
  */
 struct navigation_capabilities_s {
-    float turn_distance;    /**< the optimal distance to a waypoint to switch to the next */
+	float turn_distance;		/**< the optimal distance to a waypoint to switch to the next */
 
-    /* Landing parameters: see fw_pos_control_l1/landingslope.h */
-    float landing_horizontal_slope_displacement;
-    float landing_slope_angle_rad;
-    float landing_flare_length;
+	/* Landing parameters: see fw_pos_control_l1/landingslope.h */
+	float landing_horizontal_slope_displacement;
+	float landing_slope_angle_rad;
+	float landing_flare_length;
 };
 
 /**
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 7901b930a..68d3e494b 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -45,12 +45,11 @@
 
 /**
  * Off-board control inputs.
- * 
+ *
  * Typically sent by a ground control station / joystick or by
  * some off-board controller via C or SIMULINK.
  */
-enum OFFBOARD_CONTROL_MODE
-{
+enum OFFBOARD_CONTROL_MODE {
 	OFFBOARD_CONTROL_MODE_DIRECT = 0,
 	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
 	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
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/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index cf1ddfc38..34aaa30dd 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -54,24 +54,24 @@
 
 enum SETPOINT_TYPE
 {
-	SETPOINT_TYPE_NORMAL = 0,	/**< normal setpoint */
-	SETPOINT_TYPE_LOITER,		/**< loiter setpoint */
-	SETPOINT_TYPE_TAKEOFF,		/**< takeoff setpoint */
+	SETPOINT_TYPE_NORMAL = 0,		/**< normal setpoint */
+	SETPOINT_TYPE_LOITER,			/**< loiter setpoint */
+	SETPOINT_TYPE_TAKEOFF,			/**< takeoff setpoint */
 	SETPOINT_TYPE_LAND,			/**< land setpoint, altitude must be ignored, vehicle must descend until landing */
 	SETPOINT_TYPE_IDLE,			/**< do nothing, switch off motors or keep at idle speed (MC) */
 };
 
 struct position_setpoint_s
 {
-	bool valid;					/**< true if setpoint is valid */
+	bool valid;			/**< true if setpoint is valid */
 	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
-	double lat;					/**< latitude, in deg */
-	double lon;					/**< longitude, in deg */
-	float alt;					/**< altitude AMSL, in m */
-	float yaw;					/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
+	double lat;			/**< latitude, in deg */
+	double lon;			/**< longitude, in deg */
+	float alt;			/**< altitude AMSL, in m */
+	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
 	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
 	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
-	float pitch_min;			/**< minimal pitch angle for fixed wing takeoff waypoints */
+	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
 };
 
 /**
@@ -85,7 +85,7 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
 
-	nav_state_t nav_state;		/**< navigation state */
+	nav_state_t nav_state;			/**< navigation state */
 };
 
 /**
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 086b2ef15..3fdf421be 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -52,29 +52,28 @@
  */
 #define RC_CHANNELS_MAPPED_MAX   15
 
-/** 
+/**
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
  * the channel array chan[].
  */
-enum RC_CHANNELS_FUNCTION
-{
-  THROTTLE = 0,
-  ROLL     = 1,
-  PITCH    = 2,
-  YAW      = 3,
-  MODE = 4,
-  RETURN = 5,
-  ASSISTED = 6,
-  MISSION = 7,
-  OFFBOARD_MODE = 8,
-  FLAPS   = 9,
-  AUX_1   = 10,
-  AUX_2   = 11,
-  AUX_3   = 12,
-  AUX_4   = 13,
-  AUX_5   = 14,
-  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+enum RC_CHANNELS_FUNCTION {
+	THROTTLE = 0,
+	ROLL     = 1,
+	PITCH    = 2,
+	YAW      = 3,
+	MODE = 4,
+	RETURN = 5,
+	POSCTL = 6,
+	LOITER = 7,
+	OFFBOARD = 8,
+	FLAPS   = 9,
+	AUX_1   = 10,
+	AUX_2   = 11,
+	AUX_3   = 12,
+	AUX_4   = 13,
+	AUX_5   = 14,
+	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
 /**
@@ -85,16 +84,17 @@ enum RC_CHANNELS_FUNCTION
 struct rc_channels_s {
 
 	uint64_t timestamp;                 /**< In microseconds since boot time. */
-  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
-  struct {
-    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_MAPPED_MAX];
-  uint8_t chan_count;                 /**< number of valid channels */
+	uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+	struct {
+		float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
+	} chan[RC_CHANNELS_MAPPED_MAX];
+	uint8_t chan_count;                 /**< number of valid channels */
 
-  /*String array to store the names of the functions*/
-  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-  int8_t function[RC_CHANNELS_FUNCTION_MAX];
-  uint8_t rssi;                       /**< Overall receive signal strength */
+	/*String array to store the names of the functions*/
+	char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+	int8_t function[RC_CHANNELS_FUNCTION_MAX];
+	uint8_t rssi;                       /**< Overall receive signal strength */
+	bool signal_lost;		/**< control signal lost, should be checked together with topic timeout */
 }; /**< radio control channels. */
 
 /**
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index cc25a83c3..fa3367de9 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -98,7 +98,8 @@ struct sensor_combined_s {
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	float adc_voltage_v[10];		/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	unsigned adc_mapping[10];		/**< Channel indices of each of these values */
 	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
 	uint64_t baro_timestamp;		/**< Barometer timestamp        */
 
diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
index cfe0bf69e..d3a7ce10d 100644
--- a/src/modules/uORB/topics/subsystem_info.h
+++ b/src/modules/uORB/topics/subsystem_info.h
@@ -50,8 +50,7 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-enum SUBSYSTEM_TYPE
-{
+enum SUBSYSTEM_TYPE {
 	SUBSYSTEM_TYPE_GYRO = 1,
 	SUBSYSTEM_TYPE_ACC = 2,
 	SUBSYSTEM_TYPE_MAG = 4,
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/uORB/topics/system_power.h
index c4c95f7b4..7763b6004 100755..100644
--- a/src/modules/position_estimator_mc/position_estimator_mc_params.h
+++ b/src/modules/uORB/topics/system_power.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
- *				Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2012-2013 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
@@ -34,36 +31,41 @@
  *
  ****************************************************************************/
 
-/*
- * @file position_estimator_mc_params.h
- * 
- * Parameters for Position Estimator
+/**
+ * @file system_power.h
+ *
+ * Definition of the system_power voltage and power status uORB topic.
  */
 
-#include <systemlib/param/param.h>
+#ifndef SYSTEM_POWER_H_
+#define SYSTEM_POWER_H_
 
-struct position_estimator_mc_params {
-	float addNoise;
-	float sigma;
-	float R;
-	int baro; /* consider barometer */
-};
+#include "../uORB.h"
+#include <stdint.h>
 
-struct position_estimator_mc_param_handles {
-	param_t addNoise;
-	param_t sigma;
-	param_t r;
-	param_t baro_param_handle;
-};
+/**
+ * @addtogroup topics
+ * @{
+ */
 
 /**
- * Initialize all parameter handles and values
- *
+ * voltage and power supply status
  */
-int parameters_init(struct position_estimator_mc_param_handles *h);
+struct system_power_s {
+	uint64_t	timestamp;		/**< microseconds since system boot */
+	float   	voltage5V_v;		/**< peripheral 5V rail voltage */
+	uint8_t         usb_connected:1;        /**< USB is connected when 1 */
+	uint8_t         brick_valid:1;          /**< brick power is good when 1 */
+	uint8_t         servo_valid:1;          /**< servo power is good when 1 */
+	uint8_t		periph_5V_OC:1;         /**< peripheral overcurrent when 1 */
+	uint8_t		hipower_5V_OC:1;        /**< hi power peripheral overcurrent when 1 */
+};
 
 /**
- * Update all parameters
- *
+ * @}
  */
-int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p);
+
+/* register this as object request broker structure */
+ORB_DECLARE(system_power);
+
+#endif
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 5192d4d58..76693c46e 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -44,10 +44,10 @@
 #include "../uORB.h"
 
 enum TELEMETRY_STATUS_RADIO_TYPE {
-    TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
-    TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
-    TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
-    TELEMETRY_STATUS_RADIO_TYPE_WIRE
+	TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
+	TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
+	TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
+	TELEMETRY_STATUS_RADIO_TYPE_WIRE
 };
 
 /**
@@ -57,14 +57,14 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 
 struct telemetry_status_s {
 	uint64_t timestamp;
-    enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
-    uint8_t rssi;              /**< local signal strength                      */
-    uint8_t remote_rssi;       /**< remote signal strength                     */
-    uint16_t rxerrors;          /**< receive errors                             */
-    uint16_t fixed;             /**< count of error corrected packets           */
-    uint8_t noise;              /**< background noise level                     */
-    uint8_t remote_noise;       /**< remote background noise level              */
-    uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
+	enum TELEMETRY_STATUS_RADIO_TYPE type;	/**< type of the radio hardware     */
+	uint8_t rssi;				/**< local signal strength                      */
+	uint8_t remote_rssi;			/**< remote signal strength                     */
+	uint16_t rxerrors;			/**< receive errors                             */
+	uint16_t fixed;				/**< count of error corrected packets           */
+	uint8_t noise;				/**< background noise level                     */
+	uint8_t remote_noise;			/**< remote background noise level              */
+	uint8_t txbuf;				/**< how full the tx buffer is as a percentage  */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
index 7596f944f..d526a8ff2 100644
--- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
@@ -52,8 +52,7 @@
 /**
  * vehicle attitude setpoint.
  */
-struct vehicle_attitude_setpoint_s
-{
+struct vehicle_attitude_setpoint_s {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	float roll_body;				/**< body angle in NED frame		*/
diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
index fbfab09f3..fd1ade671 100644
--- a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
@@ -48,8 +48,7 @@
  * @{
  */
 
-struct vehicle_bodyframe_speed_setpoint_s
-{
+struct vehicle_bodyframe_speed_setpoint_s {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	float vx;		/**< in m/s				  		*/
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index e6e4743c6..c21a29b13 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -51,43 +51,42 @@
  * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
  * but can contain additional ones.
  */
-enum VEHICLE_CMD
-{
-	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	VEHICLE_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	VEHICLE_CMD_ENUM_END=501, /*  | */
+enum VEHICLE_CMD {
+	VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME = 19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND = 21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE = 114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW = 115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST = 159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE = 176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP = 177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED = 178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME = 179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER = 180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY = 181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE = 245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO = 252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
+	VEHICLE_CMD_ENUM_END = 501, /*  | */
 };
 
 /**
@@ -96,14 +95,13 @@ enum VEHICLE_CMD
  * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
  * but can contain additional ones.
  */
-enum VEHICLE_CMD_RESULT
-{
-	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
-	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
-	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
-	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
-	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
-	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
+enum VEHICLE_CMD_RESULT {
+	VEHICLE_CMD_RESULT_ACCEPTED = 0, /* Command ACCEPTED and EXECUTED | */
+	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1, /* Command TEMPORARY REJECTED/DENIED | */
+	VEHICLE_CMD_RESULT_DENIED = 2, /* Command PERMANENTLY DENIED | */
+	VEHICLE_CMD_RESULT_UNSUPPORTED = 3, /* Command UNKNOWN/UNSUPPORTED | */
+	VEHICLE_CMD_RESULT_FAILED = 4, /* Command executed, but failed | */
+	VEHICLE_CMD_RESULT_ENUM_END = 5, /*  | */
 };
 
 /**
@@ -111,8 +109,7 @@ enum VEHICLE_CMD_RESULT
  * @{
  */
 
-struct vehicle_command_s
-{
+struct vehicle_command_s {
 	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
diff --git a/src/modules/uORB/topics/vehicle_control_debug.h b/src/modules/uORB/topics/vehicle_control_debug.h
index 6184284a4..2a45eaccc 100644
--- a/src/modules/uORB/topics/vehicle_control_debug.h
+++ b/src/modules/uORB/topics/vehicle_control_debug.h
@@ -47,8 +47,7 @@
  * @addtogroup topics
  * @{
  */
-struct vehicle_control_debug_s
-{
+struct vehicle_control_debug_s {
 	uint64_t timestamp; /**< in microseconds since system start */
 
 	float roll_p;		/**< roll P control part		*/
@@ -77,9 +76,9 @@ struct vehicle_control_debug_s
 
 }; /**< vehicle_control_debug */
 
- /**
- * @}
- */
+/**
+* @}
+*/
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_control_debug);
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index 5444c4ebf..49e2ba4b5 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2012-2014 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
@@ -38,8 +34,13 @@
 /**
  * @file vehicle_control_mode.h
  * Definition of the vehicle_control_mode uORB topic.
- * 
+ *
  * All control apps should depend their actions based on the flags set here.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef VEHICLE_CONTROL_MODE
@@ -61,8 +62,7 @@
  * Encodes the complete system state and is set by the commander app.
  */
 
-struct vehicle_control_mode_s
-{
+struct vehicle_control_mode_s {
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	bool flag_armed;
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index ff9e98e1c..4897ca737 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 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
@@ -37,6 +34,10 @@
 /**
  * @file vehicle_global_position.h
  * Definition of the global fused WGS84 position uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef VEHICLE_GLOBAL_POSITION_T_H_
@@ -59,13 +60,9 @@
  * estimator, which will take more sources of information into account than just GPS,
  * e.g. control inputs of the vehicle in a Kalman-filter implementation.
  */
-struct vehicle_global_position_s
-{
+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_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
index 73961cdfe..5dac877d0 100644
--- a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
@@ -47,8 +47,7 @@
  * @{
  */
 
-struct vehicle_global_velocity_setpoint_s
-{
+struct vehicle_global_velocity_setpoint_s {
 	float vx;		/**< in m/s NED			  		*/
 	float vy;		/**< in m/s NED			  		*/
 	float vz;		/**< in m/s NED			  		*/
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 1639a08c2..794c3f8bc 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -53,13 +53,12 @@
 /**
  * GPS position in WGS84 coordinates.
  */
-struct vehicle_gps_position_s
-{
+struct vehicle_gps_position_s {
 	uint64_t timestamp_position;			/**< Timestamp for position information */
 	int32_t lat;					/**< Latitude in 1E-7 degrees */
 	int32_t lon;					/**< Longitude in 1E-7 degrees */
 	int32_t alt;					/**< Altitude in 1E-3 meters (millimeters) above MSL  */
-	
+
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
 	float p_variance_m;				/**< position accuracy estimate m */
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index d567f2e02..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_
@@ -52,8 +54,7 @@
 /**
  * Fused local position in NED.
  */
-struct vehicle_local_position_s
-{
+struct vehicle_local_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
 	bool xy_valid;			/**< true if x and y are valid */
 	bool z_valid;			/**< true if z is valid */
@@ -73,8 +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 */
diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
index d24d81e3a..8988a0330 100644
--- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
@@ -49,8 +49,7 @@
  * @{
  */
 
-struct vehicle_local_position_setpoint_s
-{
+struct vehicle_local_position_setpoint_s {
 	float x;		/**< in meters NED			  		*/
 	float y;		/**< in meters NED			  		*/
 	float z;		/**< in meters NED			  		*/
diff --git a/src/modules/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h
index 46e62c4b7..9f8b412a7 100644
--- a/src/modules/uORB/topics/vehicle_rates_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h
@@ -47,8 +47,7 @@
  * @addtogroup topics
  * @{
  */
-struct vehicle_rates_setpoint_s
-{
+struct vehicle_rates_setpoint_s {
 	uint64_t timestamp; /**< in microseconds since system start */
 
 	float roll;	/**< body angular rates in NED frame		*/
@@ -58,9 +57,9 @@ struct vehicle_rates_setpoint_s
 
 }; /**< vehicle_rates_setpoint */
 
- /**
- * @}
- */
+/**
+* @}
+*/
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_rates_setpoint);
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 318f66a4f..8d58bb4b9 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -63,13 +63,15 @@
 /* main state machine */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_SEATBELT,
-	MAIN_STATE_EASY,
+	MAIN_STATE_ALTCTL,
+	MAIN_STATE_POSCTL,
 	MAIN_STATE_AUTO,
 	MAIN_STATE_OFFBOARD,
 	MAIN_STATE_MAX
 } main_state_t;
 
+// If you change the order, add or remove arming_state_t states make sure to update the arrays
+// in state_machine_helper.cpp as well.
 typedef enum {
 	ARMING_STATE_INIT = 0,
 	ARMING_STATE_STANDBY,
@@ -94,35 +96,6 @@ typedef enum {
 	FAILSAFE_STATE_MAX
 } failsafe_state_t;
 
-typedef enum {
-	MODE_SWITCH_MANUAL = 0,
-	MODE_SWITCH_ASSISTED,
-	MODE_SWITCH_AUTO
-} mode_switch_pos_t;
-
-typedef enum {
-	ASSISTED_SWITCH_SEATBELT = 0,
-	ASSISTED_SWITCH_EASY
-} assisted_switch_pos_t;
-
-typedef enum {
-	RETURN_SWITCH_NONE = 0,
-	RETURN_SWITCH_NORMAL,
-	RETURN_SWITCH_RETURN
-} return_switch_pos_t;
-
-typedef enum {
-	MISSION_SWITCH_NONE = 0,
-	MISSION_SWITCH_LOITER,
-	MISSION_SWITCH_MISSION
-} mission_switch_pos_t;
-
-typedef enum {
-	OFFBOARD_SWITCH_NONE = 0,
-	OFFBOARD_SWITCH_OFFBOARD,
-	OFFBOARD_SWITCH_ONBOARD
-} offboard_switch_pos_t;
-
 enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
 	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
@@ -138,31 +111,31 @@ enum VEHICLE_MODE_FLAG {
  * Should match 1:1 MAVLink's MAV_TYPE ENUM
  */
 enum VEHICLE_TYPE {
-	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
-	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
-	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
-	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
-	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
-	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
-	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
-	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
-	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
-	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
-	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
-	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
-	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
-	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
-	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
-	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
-	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
-	VEHICLE_TYPE_KITE=17, /* Kite | */
-	VEHICLE_TYPE_ENUM_END=18, /*  | */
+	VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */
+	VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */
+	VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */
+	VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */
+	VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */
+	VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */
+	VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */
+	VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */
+	VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */
+	VEHICLE_TYPE_ROCKET = 9, /* Rocket | */
+	VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */
+	VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */
+	VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */
+	VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */
+	VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */
+	VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
+	VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
+	VEHICLE_TYPE_KITE = 17, /* Kite | */
+	VEHICLE_TYPE_ENUM_END = 18, /*  | */
 };
 
 enum VEHICLE_BATTERY_WARNING {
-    VEHICLE_BATTERY_WARNING_NONE = 0,	/**< no battery low voltage warning active */
-    VEHICLE_BATTERY_WARNING_LOW,	/**< warning of low voltage */
-    VEHICLE_BATTERY_WARNING_CRITICAL	/**< alerting of critical voltage */
+	VEHICLE_BATTERY_WARNING_NONE = 0,	/**< no battery low voltage warning active */
+	VEHICLE_BATTERY_WARNING_LOW,	/**< warning of low voltage */
+	VEHICLE_BATTERY_WARNING_CRITICAL	/**< alerting of critical voltage */
 };
 
 /**
@@ -175,8 +148,7 @@ enum VEHICLE_BATTERY_WARNING {
  *
  * Encodes the complete system state and is set by the commander app.
  */
-struct vehicle_status_s
-{
+struct vehicle_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 */
@@ -195,12 +167,6 @@ struct vehicle_status_s
 
 	bool is_rotary_wing;
 
-	mode_switch_pos_t mode_switch;
-	return_switch_pos_t return_switch;
-	assisted_switch_pos_t assisted_switch;
-	mission_switch_pos_t mission_switch;
-	offboard_switch_pos_t offboard_switch;
-
 	bool condition_battery_voltage_valid;
 	bool condition_system_in_air_restore;	/**< true if we can restore in mid air */
 	bool condition_system_sensors_initialized;
@@ -227,7 +193,7 @@ struct vehicle_status_s
 	uint32_t onboard_control_sensors_present;
 	uint32_t onboard_control_sensors_enabled;
 	uint32_t onboard_control_sensors_health;
-	
+
 	float load;					/**< processor load from 0 to 1 */
 	float battery_voltage;
 	float battery_current;
diff --git a/src/modules/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h
index 0822fa89a..e19a34a5d 100644
--- a/src/modules/uORB/topics/vehicle_vicon_position.h
+++ b/src/modules/uORB/topics/vehicle_vicon_position.h
@@ -52,8 +52,7 @@
 /**
  * Fused local position in NED.
  */
-struct vehicle_vicon_position_s
-{
+struct vehicle_vicon_position_s {
 	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
 	bool valid;				/**< true if position satisfies validity criteria of estimator */
 
diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp
index 64ee544a2..02d1af481 100644
--- a/src/modules/unit_test/unit_test.cpp
+++ b/src/modules/unit_test/unit_test.cpp
@@ -32,17 +32,10 @@
  *
  ****************************************************************************/
 
-/**
- * @file unit_test.cpp
- * A unit test library.
- *
- */
-
 #include "unit_test.h"
 
 #include <systemlib/err.h>
 
-
 UnitTest::UnitTest()
 {
 }
@@ -51,15 +44,15 @@ UnitTest::~UnitTest()
 {
 }
 
-void
-UnitTest::print_results(const char* result)
+void UnitTest::printResults(void)
+{
+    warnx(mu_tests_failed() ? "SOME TESTS FAILED" : "ALL TESTS PASSED");
+    warnx("  Tests passed : %d", mu_tests_passed());
+    warnx("  Tests failed : %d", mu_tests_failed());
+    warnx("  Assertions : %d", mu_assertion());
+}
+
+void UnitTest::printAssert(const char* msg, const char* test, const char* file, int line)
 {
-	if (result != 0) {
-        	warnx("Failed: %s:%d", mu_last_test(), mu_line());
-        	warnx("%s", result);
-    	} else {
-        	warnx("ALL TESTS PASSED");
-        	warnx("  Tests run : %d", mu_tests_run());
-        	warnx("  Assertion : %d", mu_assertion());
-    	}
+    warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
 }
diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h
index 3020734f4..32eb8c308 100644
--- a/src/modules/unit_test/unit_test.h
+++ b/src/modules/unit_test/unit_test.h
@@ -32,62 +32,55 @@
  *
  ****************************************************************************/
 
-/**
- * @file unit_test.h
- * A unit test library based on MinUnit (http://www.jera.com/techinfo/jtns/jtn002.html).
- *
- */
-
 #ifndef UNIT_TEST_H_
-#define UNIT_TEST_
+#define UNIT_TEST_H_
 
 #include <systemlib/err.h>
 
-
 class __EXPORT UnitTest
 {
 
 public:
-#define xstr(s) str(s)
-#define str(s) #s
 #define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; }
 
 INLINE_GLOBAL(int, mu_tests_run)
+INLINE_GLOBAL(int, mu_tests_failed)
+INLINE_GLOBAL(int, mu_tests_passed)
 INLINE_GLOBAL(int, mu_assertion)
 INLINE_GLOBAL(int, mu_line)
 INLINE_GLOBAL(const char*, mu_last_test)
 
-#define mu_assert(message, test)                                           \
-    do                                                                     \
-    {                                                                      \
-        if (!(test))                                                       \
-            return __FILE__ ":" xstr(__LINE__) " " message " (" #test ")"; \
-        else                                                               \
-            mu_assertion()++;                                              \
-    } while (0)
-
-
-#define mu_run_test(test)                                                  \
-do                                                                         \
-{                                                                          \
-    const char *message;                                                   \
-    mu_last_test() = #test;                                                \
-    mu_line() = __LINE__;                                                  \
-    message = test();                                                      \
-    mu_tests_run()++;                                                      \
-    if (message)                                                           \
-        return message;                                                    \
-} while (0)
-
-
-public:
 	UnitTest();
     virtual ~UnitTest();
 
-    virtual const char*     run_tests() = 0;
-    virtual void            print_results(const char* result);
-};
-
+    virtual void runTests(void) = 0;
+    void printResults(void);
+    
+    void printAssert(const char* msg, const char* test, const char* file, int line);
+    
+#define ut_assert(message, test)                                \
+    do {                                                        \
+        if (!(test)) {                                          \
+            printAssert(message, #test, __FILE__, __LINE__);    \
+            return false;                                       \
+        } else {                                                \
+            mu_assertion()++;                                   \
+        }                                                       \
+    } while (0)
+    
+#define ut_run_test(test)                       \
+    do {                                        \
+        warnx("RUNNING TEST: %s", #test);       \
+        mu_tests_run()++;                       \
+        if (!test()) {                          \
+            warnx("TEST FAILED: %s", #test);    \
+            mu_tests_failed()++;                \
+        } else {                                \
+            warnx("TEST PASSED: %s", #test);    \
+            mu_tests_passed()++;                \
+        }                                       \
+    } while (0)
 
+};
 
 #endif /* UNIT_TEST_H_ */