Merged master into mixer unit tests branch

23 files changed, 949 insertions, 151 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 0357542f0..add7312de 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -107,14 +107,9 @@ static const int ERROR = -1;
 
 extern struct system_load_s system_load;
 
-#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
-#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
-
 /* Decouple update interval and hysteris counters, all depends on intervals */
 #define COMMANDER_MONITORING_INTERVAL 50000
 #define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
-#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
-#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
 #define MAVLINK_OPEN_INTERVAL 50000
 
@@ -666,8 +661,6 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* Start monitoring loop */
 	unsigned counter = 0;
-	unsigned low_voltage_counter = 0;
-	unsigned critical_voltage_counter = 0;
 	unsigned stick_off_counter = 0;
 	unsigned stick_on_counter = 0;
 
@@ -745,7 +738,6 @@ int commander_thread_main(int argc, char *argv[])
 	int battery_sub = orb_subscribe(ORB_ID(battery_status));
 	struct battery_status_s battery;
 	memset(&battery, 0, sizeof(battery));
-	battery.voltage_v = 0.0f;
 
 	/* Subscribe to subsystem info topic */
 	int subsys_sub = orb_subscribe(ORB_ID(subsystem_info));
@@ -890,14 +882,12 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (updated) {
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
-
-			// warnx("bat v: %2.2f", battery.voltage_v);
-
-			/* only consider battery voltage if system has been running 2s and battery voltage is higher than 4V */
-			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_v > 4.0f) {
-				status.battery_voltage = battery.voltage_v;
+			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
+			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;
-				status.battery_remaining = battery_remaining_estimate_voltage(status.battery_voltage);
+				status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah);
 			}
 		}
 
@@ -950,46 +940,29 @@ int commander_thread_main(int argc, char *argv[])
 			//on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
 		}
 
-		// XXX remove later
-		//warnx("bat remaining: %2.2f", status.battery_remaining);
-
 		/* if battery voltage is getting lower, warn using buzzer, etc. */
 		if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
-			//TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS
-			if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) {
-				low_battery_voltage_actions_done = true;
-				mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
-				status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
-				status_changed = true;
-				battery_tune_played = false;
-			}
-
-			low_voltage_counter++;
+			low_battery_voltage_actions_done = true;
+			mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
+			status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
+			status_changed = true;
+			battery_tune_played = false;
 
 		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
 			/* critical battery voltage, this is rather an emergency, change state machine */
-			if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) {
-				critical_battery_voltage_actions_done = true;
-				mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
-				status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
-				battery_tune_played = false;
-
-				if (armed.armed) {
-					arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed);
+			critical_battery_voltage_actions_done = true;
+			mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
+			status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
+			battery_tune_played = false;
 
-				} else {
-					arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed);
-				}
+			if (armed.armed) {
+				arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed);
 
-				status_changed = true;
+			} else {
+				arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed);
 			}
 
-			critical_voltage_counter++;
-
-		} else {
-
-			low_voltage_counter = 0;
-			critical_voltage_counter = 0;
+			status_changed = true;
 		}
 
 		/* End battery voltage check */
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 565b4b66a..21a1c4c2c 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -44,6 +44,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <fcntl.h>
+#include <math.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
@@ -251,36 +252,47 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern)
 		ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
 }
 
-float battery_remaining_estimate_voltage(float voltage)
+float battery_remaining_estimate_voltage(float voltage, float discharged)
 {
 	float ret = 0;
-	static param_t bat_volt_empty;
-	static param_t bat_volt_full;
-	static param_t bat_n_cells;
+	static param_t bat_v_empty_h;
+	static param_t bat_v_full_h;
+	static param_t bat_n_cells_h;
+	static param_t bat_capacity_h;
+	static float bat_v_empty = 3.2f;
+	static float bat_v_full = 4.0f;
+	static int bat_n_cells = 3;
+	static float bat_capacity = -1.0f;
 	static bool initialized = false;
 	static unsigned int counter = 0;
-	static float ncells = 3;
-	// XXX change cells to int (and param to INT32)
 
 	if (!initialized) {
-		bat_volt_empty = param_find("BAT_V_EMPTY");
-		bat_volt_full = param_find("BAT_V_FULL");
-		bat_n_cells = param_find("BAT_N_CELLS");
+		bat_v_empty_h = param_find("BAT_V_EMPTY");
+		bat_v_full_h = param_find("BAT_V_FULL");
+		bat_n_cells_h = param_find("BAT_N_CELLS");
+		bat_capacity_h = param_find("BAT_CAPACITY");
 		initialized = true;
 	}
 
-	static float chemistry_voltage_empty = 3.2f;
-	static float chemistry_voltage_full = 4.05f;
-
 	if (counter % 100 == 0) {
-		param_get(bat_volt_empty, &chemistry_voltage_empty);
-		param_get(bat_volt_full, &chemistry_voltage_full);
-		param_get(bat_n_cells, &ncells);
+		param_get(bat_v_empty_h, &bat_v_empty);
+		param_get(bat_v_full_h, &bat_v_full);
+		param_get(bat_n_cells_h, &bat_n_cells);
+		param_get(bat_capacity_h, &bat_capacity);
 	}
 
 	counter++;
 
-	ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
+	/* remaining charge estimate based on voltage */
+	float remaining_voltage = (voltage - bat_n_cells * bat_v_empty) / (bat_n_cells * (bat_v_full - bat_v_empty));
+
+	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;
+	}
 
 	/* limit to sane values */
 	ret = (ret < 0.0f) ? 0.0f : ret;
diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
index e9514446c..d0393f45a 100644
--- a/src/modules/commander/commander_helper.h
+++ b/src/modules/commander/commander_helper.h
@@ -75,12 +75,13 @@ void rgbled_set_mode(rgbled_mode_t mode);
 void rgbled_set_pattern(rgbled_pattern_t *pattern);
 
 /**
- * Provides a coarse estimate of remaining battery power.
+ * Estimate remaining battery charge.
  *
- * The estimate is very basic and based on decharging voltage curves.
+ * Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
+ * else use simple estimate based on voltage.
  *
  * @return the estimated remaining capacity in 0..1
  */
-float battery_remaining_estimate_voltage(float voltage);
+float battery_remaining_estimate_voltage(float voltage, float discharged);
 
 #endif /* COMMANDER_HELPER_H_ */
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 40d0386d5..e10b7f18d 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -50,6 +50,7 @@ PARAM_DEFINE_FLOAT(NAV_TAKEOFF_GAP, 3.0f);
 PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
 PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
 PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
-PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
-PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
-PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
+PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
+PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
+PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
+PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
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 3bb872405..31a9cdefa 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
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -49,21 +48,75 @@
  *
  */
 
+/**
+ * L1 period
+ *
+ * This is the L1 distance and defines the tracking
+ * point ahead of the aircraft its following.
+ * A value of 25 meters works for most aircraft. Shorten
+ * slowly during tuning until response is sharp without oscillation.
+ *
+ * @min 1.0
+ * @max 100.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
 
-
+/**
+ * L1 damping
+ *
+ * Damping factor for L1 control.
+ *
+ * @min 0.6
+ * @max 0.9
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
 
-
+/**
+ * Default Loiter Radius
+ *
+ * This radius is used when no other loiter radius is set.
+ *
+ * @min 10.0
+ * @max 100.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
 
-
+/**
+ * Cruise throttle
+ *
+ * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
 
-
+/**
+ * Negative pitch limit
+ *
+ * The minimum negative pitch the controller will output.
+ *
+ * @unit degrees
+ * @min -60.0
+ * @max 0.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
 
-
+/**
+ * Positive pitch limit
+ *
+ * The maximum positive pitch the controller will output.
+ *
+ * @unit degrees
+ * @min 0.0
+ * @max 60.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
 
 
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 7c10e297b..20853379d 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -677,8 +677,8 @@ int mavlink_thread_main(int argc, char *argv[])
 						    v_status.onboard_control_sensors_health,
 						    v_status.load * 1000.0f,
 						    v_status.battery_voltage * 1000.0f,
-						    v_status.battery_current * 1000.0f,
-						    v_status.battery_remaining,
+						    v_status.battery_current * 100.0f,
+						    v_status.battery_remaining * 100.0f,
 						    v_status.drop_rate_comm,
 						    v_status.errors_comm,
 						    v_status.errors_count1,
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index 4d306d6d0..60eda2319 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
 int
 dsm_init(const char *device)
 {
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+	// enable power on DSM connector
+	POWER_SPEKTRUM(true);
+#endif
+
 	if (dsm_fd < 0)
 		dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
 
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 745bd5705..0b8c4a6a8 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -125,6 +125,25 @@ heartbeat_blink(void)
 	LED_BLUE(heartbeat = !heartbeat);
 }
 
+static uint64_t reboot_time;
+
+/**
+   schedule a reboot in time_delta_usec microseconds
+ */
+void schedule_reboot(uint32_t time_delta_usec)
+{
+    reboot_time = hrt_absolute_time() + time_delta_usec;
+}
+
+/**
+   check for a scheduled reboot
+ */
+static void check_reboot(void)
+{
+    if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
+        up_systemreset();
+    }
+}
 
 static void
 calculate_fw_crc(void)
@@ -249,6 +268,8 @@ user_start(int argc, char *argv[])
                     heartbeat_blink();
                 }
 
+                check_reboot();
+
 #if 0
 		/* check for debug activity */
 		show_debug_messages();
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index dea04a663..a0daa97ea 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -220,3 +220,7 @@ extern volatile uint8_t debug_level;
 
 /** send a debug message to the console */
 extern void	isr_debug(uint8_t level, const char *fmt, ...);
+
+/** schedule a reboot */
+extern void schedule_reboot(uint32_t time_delta_usec);
+
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 0358725db..ad4473073 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -518,16 +518,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			// check the magic value
 			if (value != PX4IO_REBOOT_BL_MAGIC)
 				break;
-                        
-                        // note that we don't set BL_WAIT_MAGIC in
-                        // BKP_DR1 as that is not necessary given the
-                        // timing of the forceupdate command. The
-                        // bootloader on px4io waits for enough time
-                        // anyway, and this method works with older
-                        // bootloader versions (tested with both
-                        // revision 3 and revision 4).
-
-			up_systemreset();
+
+                        // we schedule a reboot rather than rebooting
+                        // immediately to allow the IO board to ACK
+                        // the reboot command
+                        schedule_reboot(100000);
 			break;
 
 		case PX4IO_P_SETUP_DSM:
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index e94b1e13c..06b1eddaa 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *           Anton Babushkin <anton.babushkin@me.com>
  *
@@ -702,6 +702,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct airspeed_s airspeed;
 		struct esc_status_s esc;
 		struct vehicle_global_velocity_setpoint_s global_vel_sp;
+		struct battery_status_s battery;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -726,6 +727,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int airspeed_sub;
 		int esc_sub;
 		int global_vel_sp_sub;
+		int battery_sub;
 	} subs;
 
 	/* log message buffer: header + body */
@@ -752,6 +754,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GPSP_s log_GPSP;
 			struct log_ESC_s log_ESC;
 			struct log_GVSP_s log_GVSP;
+			struct log_BATT_s log_BATT;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -760,9 +763,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 	memset(&log_msg.body, 0, sizeof(log_msg.body));
 
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
-	/* number of subscriptions */
-	const ssize_t fdsc = 19;
-	/* sanity check variable and index */
+	/* 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];
@@ -881,6 +884,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- BATTERY --- */
+	subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
+	fds[fdsc_count].fd = subs.battery_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.
@@ -971,8 +980,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
 				log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state;
 				log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
-				log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
-				log_msg.body.log_STAT.battery_current = buf_status.battery_current;
 				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;
@@ -1238,6 +1245,17 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(GVSP);
 			}
 
+			/* --- BATTERY --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery);
+				log_msg.msg_type = LOG_BATT_MSG;
+				log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
+				log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
+				log_msg.body.log_BATT.current = buf.battery.current_a;
+				log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
+				LOGBUFFER_WRITE_AND_COUNT(BATT);
+			}
+
 			/* 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 ab4dc9b00..a784a1f30 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -148,8 +148,6 @@ struct log_STAT_s {
 	uint8_t main_state;
 	uint8_t navigation_state;
 	uint8_t arming_state;
-	float battery_voltage;
-	float battery_current;
 	float battery_remaining;
 	uint8_t battery_warning;
 	uint8_t landed;
@@ -248,6 +246,15 @@ struct log_GVSP_s {
 	float vz;
 };
 
+/* --- BATT - BATTERY --- */
+#define LOG_BATT_MSG 20
+struct log_BATT_s {
+	float voltage;
+	float voltage_filtered;
+	float current;
+	float discharged;
+};
+
 /* --- TIME - TIME STAMP --- */
 #define LOG_TIME_MSG 129
 struct log_TIME_s {
@@ -281,7 +288,7 @@ static const struct log_format_s log_formats[] = {
 	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, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"),
+	LOG_FORMAT(STAT, "BBBfBB", "MainState,NavState,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"),
@@ -291,6 +298,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
 	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"),
 	/* system-level messages, ID >= 0x80 */
 	// FMT: don't write format of format message, it's useless
 	LOG_FORMAT(TIME, "Q", "StartTime"),
diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk
index ebbc580e1..aa538fd6b 100644
--- a/src/modules/sensors/module.mk
+++ b/src/modules/sensors/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   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
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 763723554..bbc84ef93 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@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
@@ -38,6 +35,10 @@
  * @file sensor_params.c
  *
  * Parameters defined by the sensors task.
+ *
+ * @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>
@@ -45,41 +46,98 @@
 #include <systemlib/param/param.h>
 
 /**
- * Gyro X offset FIXME
+ * Gyro X offset
  *
- * This is an X-axis offset for the gyro.
- * Adjust it according to the calibration data.
+ * This is an X-axis offset for the gyro. Adjust it according to the calibration data.
  *
  * @min -10.0
  * @max 10.0
- * @group Gyro Config
+ * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
 
 /**
- * Gyro Y offset FIXME with dot.
+ * Gyro Y offset
  *
  * @min -10.0
  * @max 10.0
- * @group Gyro Config
+ * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
 
 /**
- * Gyro Z offset FIXME
+ * Gyro Z offset
  *
  * @min -5.0
  * @max 5.0
- * @group Gyro Config
+ * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
 
+/**
+ * Gyro X scaling
+ *
+ * X-axis scaling.
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
+
+/**
+ * Gyro Y scaling
+ *
+ * Y-axis scaling.
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
+
+/**
+ * Gyro Z scaling
+ *
+ * Z-axis scaling.
+ *
+ * @min -1.5
+ * @max 1.5
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
 
+/**
+ * Magnetometer X offset
+ *
+ * This is an X-axis offset for the magnetometer.
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y offset
+ *
+ * This is an Y-axis offset for the magnetometer.
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z offset
+ *
+ * This is an Z-axis offset for the magnetometer.
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
 
 PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
@@ -100,16 +158,114 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
 
+/**
+ * RC Channel 1 Minimum
+ *
+ * Minimum value for RC channel 1
+ *
+ * @min 800.0
+ * @max 1500.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
+
+/**
+ * RC Channel 1 Trim
+ *
+ * Mid point value (same as min for throttle)
+ *
+ * @min 800.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
+
+/**
+ * RC Channel 1 Maximum
+ *
+ * Maximum value for RC channel 1
+ *
+ * @min 1500.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
+
+/**
+ * RC Channel 1 Reverse
+ *
+ * Set to -1 to reverse channel.
+ *
+ * @min -1.0
+ * @max 1.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
+
+/**
+ * RC Channel 1 dead zone
+ *
+ * The +- range of this value around the trim value will be considered as zero.
+ *
+ * @min 0.0
+ * @max 100.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
 
-PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
-PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
-PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
+/**
+ * RC Channel 2 Minimum
+ *
+ * Minimum value for RC channel 2
+ *
+ * @min 800.0
+ * @max 1500.0
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
+
+/**
+ * RC Channel 2 Trim
+ *
+ * Mid point value (same as min for throttle)
+ *
+ * @min 800.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);
+
+/**
+ * RC Channel 2 Maximum
+ *
+ * Maximum value for RC channel 2
+ *
+ * @min 1500.0
+ * @max 2200.0
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
+
+/**
+ * RC Channel 2 Reverse
+ *
+ * Set to -1 to reverse channel.
+ *
+ * @min -1.0
+ * @max 1.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
+
+/**
+ * RC Channel 2 dead zone
+ *
+ * The +- range of this value around the trim value will be considered as zero.
+ *
+ * @min 0.0
+ * @max 100.0
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
@@ -223,6 +379,7 @@ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
 /* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
 #endif
+PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124);	/* scaling for 3DR power brick */
 
 PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index d9f037c27..ff6c5882e 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -114,6 +114,7 @@
 
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 #define ADC_BATTERY_VOLTAGE_CHANNEL	10
+#define ADC_BATTERY_CURRENT_CHANNEL	-1
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	11
 #endif
 
@@ -124,10 +125,8 @@
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 #endif
 
-#define BAT_VOL_INITIAL 0.f
-#define BAT_VOL_LOWPASS_1 0.99f
-#define BAT_VOL_LOWPASS_2 0.01f
-#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f
+#define BATT_V_LOWPASS 0.001f
+#define BATT_V_IGNORE_THRESHOLD 3.5f
 
 /**
  * HACK - true temperature is much less than indicated temperature in baro,
@@ -215,6 +214,9 @@ private:
 	math::Matrix	_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 */
+	hrt_abstime _battery_current_timestamp;	/**< timestamp of last battery current reading */
+
 	struct {
 		float min[_rc_max_chan_count];
 		float trim[_rc_max_chan_count];
@@ -265,6 +267,7 @@ private:
 		float rc_fs_thr;
 
 		float battery_voltage_scaling;
+		float battery_current_scaling;
 
 	}		_parameters;			/**< local copies of interesting parameters */
 
@@ -314,6 +317,7 @@ private:
 		param_t rc_fs_thr;
 
 		param_t battery_voltage_scaling;
+		param_t battery_current_scaling;
 
 		param_t board_rotation;
 		param_t external_mag_rotation;
@@ -467,7 +471,9 @@ Sensors::Sensors() :
 
 	_board_rotation(3, 3),
 	_external_mag_rotation(3, 3),
-	_mag_is_external(false)
+	_mag_is_external(false),
+	_battery_discharged(0),
+	_battery_current_timestamp(0)
 {
 
 	/* basic r/c parameters */
@@ -560,6 +566,7 @@ Sensors::Sensors() :
 	_parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA");
 
 	_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
+	_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
 
 	/* rotations */
 	_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
@@ -740,6 +747,11 @@ Sensors::parameters_update()
 		warnx("Failed updating voltage scaling param");
 	}
 
+	/* scaling of ADC ticks to battery current */
+	if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
+		warnx("Failed updating current scaling param");
+	}
+
 	param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
 	param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation));
 
@@ -1157,17 +1169,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 	if (!_publishing)
 		return;
 
+	hrt_abstime t = hrt_absolute_time();
 	/* rate limit to 100 Hz */
-	if (hrt_absolute_time() - _last_adc >= 10000) {
+	if (t - _last_adc >= 10000) {
 		/* make space for a maximum of eight channels */
 		struct adc_msg_s buf_adc[8];
 		/* read all channels available */
 		int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
 
-		for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
-
-			if (ret >= (int)sizeof(buf_adc[0])) {
-
+		if (ret >= (int)sizeof(buf_adc[0])) {
+			for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
 				/* Save raw voltage values */
 				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);
@@ -1178,27 +1189,40 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 					/* Voltage in volts */
 					float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
 
-					if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
-
+					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_v < 3.0f) {
-							_battery_status.voltage_v = voltage;
+						if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) {
+							_battery_status.voltage_filtered_v = voltage;
 						}
 
-						_battery_status.timestamp = hrt_absolute_time();
-						_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
-						/* current and discharge are unknown */
-						_battery_status.current_a = -1.0f;
-						_battery_status.discharged_mah = -1.0f;
+						_battery_status.timestamp = t;
+						_battery_status.voltage_filtered_v += (voltage - _battery_status.voltage_filtered_v) * BATT_V_LOWPASS;
 
-						/* announce the battery voltage if needed, just publish else */
-						if (_battery_pub > 0) {
-							orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
+					} else {
+						/* mark status as invalid */
+						_battery_status.voltage_v = -1.0f;
+						_battery_status.voltage_filtered_v = -1.0f;
+					}
 
-						} else {
-							_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
+				} else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) {
+					/* 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)
+									_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) {
 
@@ -1214,7 +1238,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 
 						float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
 
-						_diff_pres.timestamp = hrt_absolute_time();
+						_diff_pres.timestamp = t;
 						_diff_pres.differential_pressure_pa = diff_pres_pa;
 						_diff_pres.voltage = voltage;
 
@@ -1227,8 +1251,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 						}
 					}
 				}
-
-				_last_adc = hrt_absolute_time();
+			}
+			_last_adc = t;
+			if (_battery_status.voltage_v > 0.0f) {
+				/* announce the battery status if needed, just publish else */
+				if (_battery_pub > 0) {
+					orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
+
+				} else {
+					_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
+				}
 			}
 		}
 	}
@@ -1516,7 +1548,10 @@ Sensors::task_main()
 	raw.adc_voltage_v[3] = 0.0f;
 
 	memset(&_battery_status, 0, sizeof(_battery_status));
-	_battery_status.voltage_v = BAT_VOL_INITIAL;
+	_battery_status.voltage_v = 0.0f;
+	_battery_status.voltage_filtered_v = 0.0f;
+	_battery_status.current_a = -1.0f;
+	_battery_status.discharged_mah = -1.0f;
 
 	/* get a set of initial values */
 	accel_poll(raw);
diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c
new file mode 100644
index 000000000..ad8c2bf83
--- /dev/null
+++ b/src/modules/systemlib/board_serial.c
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include "otp.h"
+#include "board_config.h"
+#include "board_serial.h"
+
+int get_board_serial(char *serialid)
+{
+	const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
+	union udid id;
+	val_read((unsigned *)&id, udid_ptr, sizeof(id));
+
+
+	/* Copy the serial from the chips non-write memory and swap endianess */
+	serialid[0] = id.data[3];   serialid[1] = id.data[2];  serialid[2] = id.data[1];  serialid[3] = id.data[0];
+	serialid[4] = id.data[7];   serialid[5] = id.data[6];  serialid[6] = id.data[5];  serialid[7] = id.data[4];
+	serialid[8] = id.data[11];   serialid[9] = id.data[10];  serialid[10] = id.data[9];  serialid[11] = id.data[8];
+
+	return 0;
+}
\ No newline at end of file
diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h
new file mode 100644
index 000000000..b14bb4376
--- /dev/null
+++ b/src/modules/systemlib/board_serial.h
@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 board_serial.h
+ * Read off the board serial
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT int get_board_serial(char *serialid);
+
+__END_DECLS
diff --git a/src/modules/systemlib/bson/tinybson.c b/src/modules/systemlib/bson/tinybson.c
index 8aca6a25d..49403c98b 100644
--- a/src/modules/systemlib/bson/tinybson.c
+++ b/src/modules/systemlib/bson/tinybson.c
@@ -407,6 +407,9 @@ bson_encoder_fini(bson_encoder_t encoder)
 		memcpy(encoder->buf, &len, sizeof(len));
 	}
 
+	/* sync file */
+	fsync(encoder->fd);
+
 	return 0;
 }
 
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 843cda722..8c6c300d6 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -49,4 +49,7 @@ SRCS		 = err.c \
 		   airspeed.c \
 		   system_params.c \
 		   mavlink_log.c \
-		   rc_check.c
+		   rc_check.c \
+		   otp.c \
+		   board_serial.c
+
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
new file mode 100644
index 000000000..695574fdc
--- /dev/null
+++ b/src/modules/systemlib/otp.c
@@ -0,0 +1,224 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Authors:
+ *      Lorenz Meier <lm@inf.ethz.ch>
+ *      David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ * 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 otp.c
+ * otp estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#include <nuttx/config.h>
+#include <board_config.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <string.h>  // memset
+#include "conversions.h"
+#include "otp.h"
+#include "err.h"   // warnx 
+#include <assert.h>
+
+
+int val_read(void *dest, volatile const void *src, int bytes)
+{
+
+	int i;
+
+	for (i = 0; i < bytes / 4; i++) {
+		*(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i);
+	}
+
+	return i * 4;
+}
+
+
+int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
+{
+
+	warnx("write_otp: PX4 / %02X / %02X / %02X  / ... etc  \n", id_type, vid, pid);
+
+	int errors = 0;
+
+	// descriptor
+	if (F_write_byte(ADDR_OTP_START, 'P'))
+		errors++;
+	  //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 1, 'X'))
+		errors++; //  write the 'P' from PX4. to first byte in OTP
+	if (F_write_byte(ADDR_OTP_START + 2, '4'))
+		errors++;
+	if (F_write_byte(ADDR_OTP_START + 3, '\0'))
+		errors++;
+	//id_type
+	if (F_write_byte(ADDR_OTP_START + 4, id_type))
+		errors++;
+	// vid and pid are 4 bytes each
+	if (F_write_word(ADDR_OTP_START + 5, vid))
+		errors++;
+	if (F_write_word(ADDR_OTP_START + 9, pid))
+		errors++;
+
+	// leave some 19 bytes of space, and go to the next block...
+	// then the auth sig starts
+	for (int i = 0 ; i < 128 ; i++) {
+		if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i]))
+			errors++;
+	}
+
+	return errors;
+}
+
+int lock_otp(void)
+{
+	//determine the required locking size - can only write full lock bytes */
+//	int size = sizeof(struct otp) / 32;
+//
+//	struct otp_lock otp_lock_mem;
+//
+//	memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem));
+//	for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++)
+//		otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED;
+	//XXX add the actual call here to write the OTP_LOCK bytes only at final stage
+	// val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem));
+
+	int locksize = 5;
+
+	int errors = 0;
+
+	// or just realise it's exctly 5x 32byte blocks we need to lock.  1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes.
+	for (int i = 0 ; i < locksize ; i++) {
+		if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED))
+			errors++;
+	}
+
+	return errors;
+}
+
+
+
+// COMPLETE, BUSY, or other flash error?
+int F_GetStatus(void)
+{
+	int fs = F_COMPLETE;
+
+	if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else {
+
+		if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else {
+
+			if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else {
+
+				if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else {
+					fs = F_COMPLETE;
+				}
+			}
+		}
+	}
+
+	return fs;
+}
+
+
+// enable FLASH Registers
+void F_unlock(void)
+{
+	if ((FLASH->control & F_CR_LOCK) != 0) {
+		FLASH->key = F_KEY1;
+		FLASH->key = F_KEY2;
+	}
+}
+
+//  lock the FLASH Registers
+void F_lock(void)
+{
+	FLASH->control |= F_CR_LOCK;
+}
+
+// flash write word.
+int F_write_word(uint32_t Address, uint32_t Data)
+{
+	unsigned char octet[4] = {0, 0, 0, 0};
+
+	int ret = 0;
+
+	for (int i = 0; i < 4; i++) {
+		octet[i] = (Data >> (i * 8)) & 0xFF;
+		ret = F_write_byte(Address + i, octet[i]);
+	}
+
+	return ret;
+}
+
+// flash write byte
+int F_write_byte(uint32_t Address, uint8_t Data)
+{
+	volatile int status = F_COMPLETE;
+
+	//warnx("F_write_byte: %08X %02d", Address , Data ) ;
+
+	//Check the parameters
+	assert(IS_F_ADDRESS(Address));
+
+	//Wait for FLASH operation to complete by polling on BUSY flag.
+	status = F_GetStatus();
+
+	while (status == F_BUSY) { status = F_GetStatus();}
+
+	if (status == F_COMPLETE) {
+		//if the previous operation is completed, proceed to program the new data
+		FLASH->control &= CR_PSIZE_MASK;
+		FLASH->control |= F_PSIZE_BYTE;
+		FLASH->control |= F_CR_PG;
+
+		*(volatile uint8_t *)Address = Data;
+
+		//Wait for FLASH operation to complete by polling on BUSY flag.
+		status = F_GetStatus();
+
+		while (status == F_BUSY) { status = F_GetStatus();}
+
+		//if the program operation is completed, disable the PG Bit
+		FLASH->control &= (~F_CR_PG);
+	}
+
+	//Return the Program Status
+	return !(status == F_COMPLETE);
+}
+
+
+
diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h
new file mode 100644
index 000000000..f10e129d8
--- /dev/null
+++ b/src/modules/systemlib/otp.h
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 otp.h
+ * One TIme Programmable ( OTP ) Flash routine/s.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com>
+ *
+ */
+
+#ifndef OTP_H_
+#define OTP_H_
+
+__BEGIN_DECLS
+
+#define ADDR_OTP_START			0x1FFF7800
+#define ADDR_OTP_LOCK_START		0x1FFF7A00
+
+#define OTP_LOCK_LOCKED			0x00
+#define OTP_LOCK_UNLOCKED		0xFF
+
+
+
+#include <unistd.h>
+#include <stdio.h>
+
+// possible flash statuses
+#define F_BUSY 1
+#define F_ERROR_WRP 2
+#define F_ERROR_PROGRAM 3
+#define F_ERROR_OPERATION 4
+#define F_COMPLETE 5
+
+typedef struct {
+	volatile uint32_t accesscontrol;      // 0x00
+	volatile uint32_t key;     //  0x04
+	volatile uint32_t optionkey;  //  0x08
+	volatile uint32_t status;       // 0x0C
+	volatile uint32_t control;       // 0x10
+	volatile uint32_t optioncontrol;    //0x14
+} flash_registers;
+
+#define PERIPH_BASE           ((uint32_t)0x40000000) //Peripheral base address
+#define AHB1PERIPH_BASE       (PERIPH_BASE + 0x00020000)
+#define F_R_BASE          (AHB1PERIPH_BASE + 0x3C00)
+#define FLASH               ((flash_registers *) F_R_BASE)
+
+#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit
+#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit
+#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit
+#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF)
+#define F_PSIZE_WORD ((uint32_t)0x00000200)
+#define F_PSIZE_BYTE ((uint32_t)0x00000000)
+#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register
+#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit.
+
+#define F_KEY1 ((uint32_t)0x45670123)
+#define F_KEY2 ((uint32_t)0xCDEF89AB)
+#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F)))
+
+
+
+#pragma pack(push, 1)
+
+/*
+ * The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes.
+ * The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15)
+ * to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed
+ * until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only
+ * contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly.
+ */
+
+struct otp {
+	// first 32 bytes =  the '0' Block
+	char		id[4];		///4 bytes < 'P' 'X' '4' '\n'
+	uint8_t		id_type;	///1 byte < 0 for USB VID, 1 for generic VID
+	uint32_t	vid;        ///4 bytes
+	uint32_t	pid;        ///4 bytes
+	char        unused[19];  ///19 bytes
+	// Cert-of-Auth is next 4 blocks ie 1-4  ( where zero is first block )
+	char        signature[128];
+	// insert extras here
+	uint32_t	lock_bytes[4];
+};
+
+struct otp_lock {
+	uint8_t		lock_bytes[16];
+};
+#pragma pack(pop)
+
+#define ADDR_F_SIZE		0x1FFF7A22
+
+#pragma pack(push, 1)
+union udid {
+	uint32_t	serial[3];
+	char  data[12];
+};
+#pragma pack(pop)
+
+
+/**
+ *   s
+ */
+//__EXPORT float calc_indicated_airspeed(float differential_pressure);
+
+__EXPORT void F_unlock(void);
+__EXPORT void F_lock(void);
+__EXPORT int val_read(void *dest, volatile const void *src, int bytes);
+__EXPORT int val_write(volatile void *dest, const void *src, int bytes);
+__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature);
+__EXPORT int lock_otp(void);
+
+
+__EXPORT int F_write_byte(uint32_t Address, uint8_t Data);
+__EXPORT int F_write_word(uint32_t Address, uint32_t Data);
+
+__END_DECLS
+
+#endif
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 398657dd7..2d773fd25 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -61,7 +61,7 @@
 #include "uORB/uORB.h"
 #include "uORB/topics/parameter_update.h"
 
-#if 1
+#if 0
 # define debug(fmt, args...)		do { warnx(fmt, ##args); } while(0)
 #else
 # define debug(fmt, args...)		do { } while(0)
@@ -512,6 +512,28 @@ param_save_default(void)
 	int fd;
 
 	const char *filename = param_get_default_file();
+
+	/* write parameters to temp file */
+	fd = open(filename, O_WRONLY | O_CREAT);
+
+	if (fd < 0) {
+		warn("failed to open param file: %s", filename);
+		return ERROR;
+	}
+
+	if (res == OK) {
+		res = param_export(fd, false);
+
+	        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);
 
@@ -565,6 +587,7 @@ param_save_default(void)
 	free(filename_tmp);
 
 	return res;
+#endif
 }
 
 /**
@@ -573,9 +596,9 @@ param_save_default(void)
 int
 param_load_default(void)
 {
-	int fd = open(param_get_default_file(), O_RDONLY);
+	int fd_load = open(param_get_default_file(), O_RDONLY);
 
-	if (fd < 0) {
+	if (fd_load < 0) {
 		/* no parameter file is OK, otherwise this is an error */
 		if (errno != ENOENT) {
 			warn("open '%s' for reading failed", param_get_default_file());
@@ -584,8 +607,8 @@ param_load_default(void)
 		return 1;
 	}
 
-	int result = param_load(fd);
-	close(fd);
+	int result = param_load(fd_load);
+	close(fd_load);
 
 	if (result != 0) {
 		warn("error reading parameters from '%s'", param_get_default_file());
diff --git a/src/modules/uORB/topics/battery_status.h b/src/modules/uORB/topics/battery_status.h
index c40d0d4e5..d473dff3f 100644
--- a/src/modules/uORB/topics/battery_status.h
+++ b/src/modules/uORB/topics/battery_status.h
@@ -53,9 +53,10 @@
  */
 struct battery_status_s {
 	uint64_t	timestamp;		/**< microseconds since system boot, needed to integrate */
-	float   	voltage_v;		/**< Battery voltage in volts, filtered           	 */
-	float		current_a;		/**< Battery current in amperes, filtered, -1 if unknown */
-	float		discharged_mah;		/**< Discharged amount in mAh, filtered, -1 if unknown	 */
+	float   	voltage_v;		/**< Battery voltage in volts, 0 if unknown           	 */
+	float   	voltage_filtered_v;		/**< Battery voltage in volts, filtered, 0 if unknown  	 */
+	float		current_a;		/**< Battery current in amperes, -1 if unknown */
+	float		discharged_mah;		/**< Discharged amount in mAh, -1 if unknown	 */
 };
 
 /**
@@ -65,4 +66,4 @@ struct battery_status_s {
 /* register this as object request broker structure */
 ORB_DECLARE(battery_status);
 
-#endif
\ No newline at end of file
+#endif