Merged origin/master into pubsub_cleanup

17 files changed, 852 insertions, 611 deletions

diff --git a/src/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c
deleted file mode 100644
index 2aed80e01..000000000
--- a/src/systemcmds/eeprom/eeprom.c
+++ /dev/null
@@ -1,265 +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 eeprom.c
- *
- * EEPROM service and utility app.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/mount.h>
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-
-#include <nuttx/i2c.h>
-#include <nuttx/mtd.h>
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
-#include <board_config.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
-#include "systemlib/err.h"
-
-#ifndef PX4_I2C_BUS_ONBOARD
-#  error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
-#endif
-
-__EXPORT int eeprom_main(int argc, char *argv[]);
-
-static void	eeprom_attach(void);
-static void	eeprom_start(void);
-static void	eeprom_erase(void);
-static void	eeprom_ioctl(unsigned operation);
-static void	eeprom_save(const char *name);
-static void	eeprom_load(const char *name);
-static void	eeprom_test(void);
-
-static bool attached = false;
-static bool started = false;
-static struct mtd_dev_s *eeprom_mtd;
-
-int eeprom_main(int argc, char *argv[])
-{
-	if (argc >= 2) {
-		if (!strcmp(argv[1], "start"))
-			eeprom_start();
-
-		if (!strcmp(argv[1], "save_param"))
-			eeprom_save(argv[2]);
-
-		if (!strcmp(argv[1], "load_param"))
-			eeprom_load(argv[2]);
-
-		if (!strcmp(argv[1], "erase"))
-			eeprom_erase();
-
-		if (!strcmp(argv[1], "test"))
-			eeprom_test();
-
-		if (0) {	/* these actually require a file on the filesystem... */
-
-			if (!strcmp(argv[1], "reformat"))
-				eeprom_ioctl(FIOC_REFORMAT);
-
-			if (!strcmp(argv[1], "repack"))
-				eeprom_ioctl(FIOC_OPTIMIZE);
-		}
-	}
-
-	errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n");
-}
-
-
-static void
-eeprom_attach(void)
-{
-	/* find the right I2C */
-	struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
-	/* this resets the I2C bus, set correct bus speed again */
-	I2C_SETFREQUENCY(i2c, 400000);
-
-	if (i2c == NULL)
-		errx(1, "failed to locate I2C bus");
-
-	/* start the MTD driver, attempt 5 times */
-	for (int i = 0; i < 5; i++) {
-		eeprom_mtd = at24c_initialize(i2c);
-		if (eeprom_mtd) {
-			/* abort on first valid result */
-			if (i > 0) {
-				warnx("warning: EEPROM needed %d attempts to attach", i+1);
-			}
-			break;
-		}
-	}
-
-	/* if last attempt is still unsuccessful, abort */
-	if (eeprom_mtd == NULL)
-		errx(1, "failed to initialize EEPROM driver");
-
-	attached = true;
-}
-
-static void
-eeprom_start(void)
-{
-	int ret;
-
-	if (started)
-		errx(1, "EEPROM already mounted");
-
-	if (!attached)
-		eeprom_attach();
-
-	/* start NXFFS */
-	ret = nxffs_initialize(eeprom_mtd);
-
-	if (ret < 0)
-		errx(1, "failed to initialize NXFFS - erase EEPROM to reformat");
-
-	/* mount the EEPROM */
-	ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
-
-	if (ret < 0)
-		errx(1, "failed to mount /eeprom - erase EEPROM to reformat");
-
-	started = true;
-	warnx("mounted EEPROM at /eeprom");
-	exit(0);
-}
-
-extern int at24c_nuke(void);
-
-static void
-eeprom_erase(void)
-{
-	if (!attached)
-		eeprom_attach();
-
-	if (at24c_nuke())
-		errx(1, "erase failed");
-
-	errx(0, "erase done, reboot now");
-}
-
-static void
-eeprom_ioctl(unsigned operation)
-{
-	int fd;
-
-	fd = open("/eeprom/.", 0);
-
-	if (fd < 0)
-		err(1, "open /eeprom");
-
-	if (ioctl(fd, operation, 0) < 0)
-		err(1, "ioctl");
-
-	exit(0);
-}
-
-static void
-eeprom_save(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/eeprom/parameters'");
-
-	warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
-
-	/* delete the file in case it exists */
-	unlink(name);
-
-	/* create the file */
-	int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
-
-	if (fd < 0)
-		err(1, "opening '%s' failed", name);
-
-	int result = param_export(fd, false);
-	close(fd);
-
-	if (result < 0) {
-		unlink(name);
-		errx(1, "error exporting to '%s'", name);
-	}
-
-	exit(0);
-}
-
-static void
-eeprom_load(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/eeprom/parameters'");
-
-	warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
-
-	int fd = open(name, O_RDONLY);
-
-	if (fd < 0)
-		err(1, "open '%s'", name);
-
-	int result = param_load(fd);
-	close(fd);
-
-	if (result < 0)
-		errx(1, "error importing from '%s'", name);
-
-	exit(0);
-}
-
-extern void at24c_test(void);
-
-static void
-eeprom_test(void)
-{
-	at24c_test();
-	exit(0);
-}
diff --git a/src/systemcmds/hw_ver/hw_ver.c b/src/systemcmds/hw_ver/hw_ver.c
new file mode 100644
index 000000000..4b84523cc
--- /dev/null
+++ b/src/systemcmds/hw_ver/hw_ver.c
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 hw_ver.c
+ *
+ * Show and test hardware version.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <version/version.h>
+
+__EXPORT int hw_ver_main(int argc, char *argv[]);
+
+int
+hw_ver_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "show")) {
+			printf(HW_ARCH "\n");
+			exit(0);
+		}
+
+		if (!strcmp(argv[1], "compare")) {
+			if (argc >= 3) {
+				int ret = strcmp(HW_ARCH, argv[2]) != 0;
+				if (ret == 0) {
+					printf("hw_ver match: %s\n", HW_ARCH);
+				}
+				exit(ret);
+
+			} else {
+				errx(1, "not enough arguments, try 'compare PX4FMU_1'");
+			}
+		}
+	}
+
+	errx(1, "expected a command, try 'show' or 'compare'");
+}
diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/hw_ver/module.mk
index 07f3945be..3cc08b6a1 100644
--- a/src/systemcmds/eeprom/module.mk
+++ b/src/systemcmds/hw_ver/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   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
@@ -32,8 +32,12 @@
 ############################################################################
 
 #
-# EEPROM file system driver
+# Show and test hardware version
 #
 
-MODULE_COMMAND	 = eeprom
-SRCS		 = 24xxxx_mtd.c eeprom.c
+MODULE_COMMAND	 = hw_ver
+SRCS		 = hw_ver.c
+
+MODULE_STACKSIZE = 1024
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/systemcmds/eeprom/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index e34be44e3..e34be44e3 100644
--- a/src/systemcmds/eeprom/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk
index 686656597..b3fceceb5 100644
--- a/src/systemcmds/mtd/module.mk
+++ b/src/systemcmds/mtd/module.mk
@@ -3,4 +3,4 @@
 #
 
 MODULE_COMMAND	 = mtd
-SRCS		 = mtd.c
+SRCS		 = mtd.c 24xxxx_mtd.c
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index baef9dccc..0a88d40f3 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/src/systemcmds/mtd/mtd.c
@@ -62,26 +62,43 @@
 #include "systemlib/param/param.h"
 #include "systemlib/err.h"
 
+#include <board_config.h>
+
 __EXPORT int mtd_main(int argc, char *argv[]);
 
-#ifndef CONFIG_MTD_RAMTRON
+#ifndef CONFIG_MTD
 
 /* create a fake command with decent warnx to not confuse users */
 int mtd_main(int argc, char *argv[])
 {
-	errx(1, "RAMTRON not enabled, skipping.");
+	errx(1, "MTD not enabled, skipping.");
 }
 
 #else
 
-static void	mtd_attach(void);
+#ifdef CONFIG_MTD_RAMTRON
+static void	ramtron_attach(void);
+#else
+
+#ifndef PX4_I2C_BUS_ONBOARD
+#  error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
+#endif
+
+static void	at24xxx_attach(void);
+#endif
 static void	mtd_start(char *partition_names[], unsigned n_partitions);
 static void	mtd_test(void);
 static void	mtd_erase(char *partition_names[], unsigned n_partitions);
+static void	mtd_readtest(char *partition_names[], unsigned n_partitions);
+static void	mtd_rwtest(char *partition_names[], unsigned n_partitions);
+static void	mtd_print_info();
+static int	mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
+	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
 
 static bool attached = false;
 static bool started = false;
 static struct mtd_dev_s *mtd_dev;
+static unsigned n_partitions_current = 0;
 
 /* note, these will be equally sized */
 static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
@@ -93,9 +110,8 @@ int mtd_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "start")) {
 
 			/* start mapping according to user request */
-			if (argc > 3) {
+			if (argc >= 3) {
 				mtd_start(argv + 2, argc - 2);
-
 			} else {
 				mtd_start(partition_names_default, n_partitions_default);
 			}
@@ -104,28 +120,49 @@ int mtd_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "test"))
 			mtd_test();
 
+		if (!strcmp(argv[1], "readtest")) {
+			if (argc >= 3) {
+				mtd_readtest(argv + 2, argc - 2);
+			} else {
+				mtd_readtest(partition_names_default, n_partitions_default);
+			}
+                }
+
+		if (!strcmp(argv[1], "rwtest")) {
+			if (argc >= 3) {
+				mtd_rwtest(argv + 2, argc - 2);
+			} else {
+				mtd_rwtest(partition_names_default, n_partitions_default);
+			}
+                }
+
+		if (!strcmp(argv[1], "status"))
+			mtd_status();
+
 		if (!strcmp(argv[1], "erase")) {
-			if (argc < 3) {
-				errx(1, "usage: mtd erase <PARTITION_PATH..>");
+			if (argc >= 3) {
+				mtd_erase(argv + 2, argc - 2);
+			} else {
+				mtd_erase(partition_names_default, n_partitions_default);
 			}
-			mtd_erase(argv + 2, argc - 2);
                 }
 	}
 
-	errx(1, "expected a command, try 'start', 'erase' or 'test'");
+	errx(1, "expected a command, try 'start', 'erase', 'status', 'readtest', 'rwtest' or 'test'");
 }
 
 struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
 struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd,
                                     off_t firstblock, off_t nblocks);
 
+#ifdef CONFIG_MTD_RAMTRON
 static void
-mtd_attach(void)
+ramtron_attach(void)
 {
 	/* find the right spi */
 	struct spi_dev_s *spi = up_spiinitialize(2);
 	/* this resets the spi bus, set correct bus speed again */
-	SPI_SETFREQUENCY(spi, 40 * 1000 * 1000);
+	SPI_SETFREQUENCY(spi, 10 * 1000 * 1000);
 	SPI_SETBITS(spi, 8);
 	SPI_SETMODE(spi, SPIDEV_MODE3);
 	SPI_SELECT(spi, SPIDEV_FLASH, false);
@@ -133,7 +170,7 @@ mtd_attach(void)
 	if (spi == NULL)
 		errx(1, "failed to locate spi bus");
 
-	/* start the MTD driver, attempt 5 times */
+	/* start the RAMTRON driver, attempt 5 times */
 	for (int i = 0; i < 5; i++) {
 		mtd_dev = ramtron_initialize(spi);
 
@@ -151,8 +188,44 @@ mtd_attach(void)
 	if (mtd_dev == NULL)
 		errx(1, "failed to initialize mtd driver");
 
+	int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_SETSPEED, (unsigned long)10*1000*1000);
+        if (ret != OK)
+            warnx(1, "failed to set bus speed");
+
 	attached = true;
 }
+#else
+
+static void
+at24xxx_attach(void)
+{
+	/* find the right I2C */
+	struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
+	/* this resets the I2C bus, set correct bus speed again */
+	I2C_SETFREQUENCY(i2c, 400000);
+
+	if (i2c == NULL)
+		errx(1, "failed to locate I2C bus");
+
+	/* start the MTD driver, attempt 5 times */
+	for (int i = 0; i < 5; i++) {
+		mtd_dev = at24c_initialize(i2c);
+		if (mtd_dev) {
+			/* abort on first valid result */
+			if (i > 0) {
+				warnx("warning: EEPROM needed %d attempts to attach", i+1);
+			}
+			break;
+		}
+	}
+
+	/* if last attempt is still unsuccessful, abort */
+	if (mtd_dev == NULL)
+		errx(1, "failed to initialize EEPROM driver");
+
+	attached = true;
+}
+#endif
 
 static void
 mtd_start(char *partition_names[], unsigned n_partitions)
@@ -162,46 +235,28 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 	if (started)
 		errx(1, "mtd already mounted");
 
-	if (!attached)
-		mtd_attach();
+	if (!attached) {
+		#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+		at24xxx_attach();
+		#else
+		ramtron_attach();
+		#endif
+	}
 
 	if (!mtd_dev) {
 		warnx("ERROR: Failed to create RAMTRON FRAM MTD instance");
 		exit(1);
 	}
 
+	unsigned long blocksize, erasesize, neraseblocks;
+	unsigned blkpererase, nblocks, partsize;
 
-	/* Get the geometry of the FLASH device */
-
-	FAR struct mtd_geometry_s geo;
-
-	ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
-
-	if (ret < 0) {
-		warnx("ERROR: mtd->ioctl failed: %d", ret);
+	ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions);
+	if (ret)
 		exit(3);
-	}
-
-	warnx("Flash Geometry:");
-	warnx("  blocksize:      %lu", (unsigned long)geo.blocksize);
-	warnx("  erasesize:      %lu", (unsigned long)geo.erasesize);
-	warnx("  neraseblocks:   %lu", (unsigned long)geo.neraseblocks);
-
-	/* Determine the size of each partition.  Make each partition an even
-	 * multiple of the erase block size (perhaps not using some space at the
-	 * end of the FLASH).
-	 */
-
-	unsigned blkpererase = geo.erasesize / geo.blocksize;
-	unsigned nblocks     = (geo.neraseblocks / n_partitions) * blkpererase;
-	unsigned partsize    = nblocks * geo.blocksize;
-
-	warnx("  No. partitions: %u", n_partitions);
-	warnx("  Partition size: %lu Blocks (%lu bytes)", (unsigned long)nblocks, (unsigned long)partsize);
 
 	/* Now create MTD FLASH partitions */
 
-	warnx("Creating partitions");
 	FAR struct mtd_dev_s *part[n_partitions];
 	char blockname[32];
 
@@ -210,9 +265,6 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 
 	for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) {
 
-		warnx("  Partition %d. Block offset=%lu, size=%lu",
-		      i, (unsigned long)offset, (unsigned long)nblocks);
-
 		/* Create the partition */
 
 		part[i] = mtd_partition(mtd_dev, offset, nblocks);
@@ -244,18 +296,98 @@ mtd_start(char *partition_names[], unsigned n_partitions)
 		}
 	}
 
+	n_partitions_current = n_partitions;
+
 	started = true;
 	exit(0);
 }
 
-static void
+int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
+	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions)
+{
+		/* Get the geometry of the FLASH device */
+
+	FAR struct mtd_geometry_s geo;
+
+	int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo));
+
+	if (ret < 0) {
+		warnx("ERROR: mtd->ioctl failed: %d", ret);
+		return ret;
+	}
+
+	*blocksize = geo.blocksize;
+	*erasesize = geo.blocksize;
+	*neraseblocks = geo.neraseblocks;
+
+	/* Determine the size of each partition.  Make each partition an even
+	 * multiple of the erase block size (perhaps not using some space at the
+	 * end of the FLASH).
+	 */
+
+	*blkpererase = geo.erasesize / geo.blocksize;
+	*nblocks     = (geo.neraseblocks / n_partitions) * *blkpererase;
+	*partsize    = *nblocks * geo.blocksize;
+
+	return ret;
+}
+
+/*
+  get partition size in bytes
+ */
+static ssize_t mtd_get_partition_size(void)
+{
+	unsigned long blocksize, erasesize, neraseblocks;
+	unsigned blkpererase, nblocks, partsize = 0;
+
+	int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
+	if (ret != OK) {
+		errx(1, "Failed to get geometry");
+	}
+	return partsize;
+}
+
+void mtd_print_info()
+{
+	if (!attached)
+		exit(1);
+
+	unsigned long blocksize, erasesize, neraseblocks;
+	unsigned blkpererase, nblocks, partsize;
+
+	int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current);
+	if (ret)
+		exit(3);
+
+	warnx("Flash Geometry:");
+
+	printf("  blocksize:      %lu\n", blocksize);
+	printf("  erasesize:      %lu\n", erasesize);
+	printf("  neraseblocks:   %lu\n", neraseblocks);
+	printf("  No. partitions: %u\n", n_partitions_current);
+	printf("  Partition size: %u Blocks (%u bytes)\n", nblocks, partsize);
+	printf("  TOTAL SIZE: %u KiB\n", neraseblocks * erasesize / 1024);
+
+}
+
+void
 mtd_test(void)
 {
 	warnx("This test routine does not test anything yet!");
 	exit(1);
 }
 
-static void
+void
+mtd_status(void)
+{
+	if (!attached)
+		errx(1, "MTD driver not started");
+
+	mtd_print_info();
+	exit(0);
+}
+
+void
 mtd_erase(char *partition_names[], unsigned n_partitions)
 {
 	uint8_t v[64];
@@ -267,7 +399,7 @@ mtd_erase(char *partition_names[], unsigned n_partitions)
 		if (fd == -1) {
 			errx(1, "Failed to open partition");
 		}
-		while (write(fd, &v, sizeof(v)) == sizeof(v)) {
+		while (write(fd, v, sizeof(v)) == sizeof(v)) {
 			count += sizeof(v);
 		}
 		printf("Erased %lu bytes\n", (unsigned long)count);
@@ -276,4 +408,82 @@ mtd_erase(char *partition_names[], unsigned n_partitions)
 	exit(0);
 }
 
+/*
+  readtest is useful during startup to validate the device is
+  responding on the bus. It relies on the driver returning an error on
+  bad reads (the ramtron driver does return an error)
+ */
+void
+mtd_readtest(char *partition_names[], unsigned n_partitions)
+{
+	ssize_t expected_size = mtd_get_partition_size();
+
+	uint8_t v[128];
+	for (uint8_t i = 0; i < n_partitions; i++) {
+		uint32_t count = 0;
+		printf("reading %s expecting %u bytes\n", partition_names[i], expected_size);
+		int fd = open(partition_names[i], O_RDONLY);
+		if (fd == -1) {
+			errx(1, "Failed to open partition");
+		}
+		while (read(fd, v, sizeof(v)) == sizeof(v)) {
+			count += sizeof(v);
+		}
+		if (count != expected_size) {
+			errx(1,"Failed to read partition - got %u/%u bytes", count, expected_size);
+		}
+		close(fd);
+	}
+	printf("readtest OK\n");
+	exit(0);
+}
+
+/*
+  rwtest is useful during startup to validate the device is
+  responding on the bus for both reads and writes. It reads data in
+  blocks and writes the data back, then reads it again, failing if the
+  data isn't the same
+ */
+void
+mtd_rwtest(char *partition_names[], unsigned n_partitions)
+{
+	ssize_t expected_size = mtd_get_partition_size();
+
+	uint8_t v[128], v2[128];
+	for (uint8_t i = 0; i < n_partitions; i++) {
+		uint32_t count = 0;
+                off_t offset = 0;
+		printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size);
+		int fd = open(partition_names[i], O_RDWR);
+		if (fd == -1) {
+			errx(1, "Failed to open partition");
+		}
+		while (read(fd, v, sizeof(v)) == sizeof(v)) {
+			count += sizeof(v);
+                        if (lseek(fd, offset, SEEK_SET) != offset) {
+                            errx(1, "seek failed");                            
+                        }
+                        if (write(fd, v, sizeof(v)) != sizeof(v)) {
+                            errx(1, "write failed");
+                        }
+                        if (lseek(fd, offset, SEEK_SET) != offset) {
+                            errx(1, "seek failed");                            
+                        }
+                        if (read(fd, v2, sizeof(v2)) != sizeof(v2)) {
+                            errx(1, "read failed");
+                        }
+                        if (memcmp(v, v2, sizeof(v2)) != 0) {
+                            errx(1, "memcmp failed");
+                        }
+                        offset += sizeof(v);
+		}
+		if (count != expected_size) {
+			errx(1,"Failed to read partition - got %u/%u bytes", count, expected_size);
+		}
+		close(fd);
+	}
+	printf("rwtest OK\n");
+	exit(0);
+}
+
 #endif
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 580fdc62f..0cbba0a37 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -320,7 +320,7 @@ do_set(const char* name, const char* val)
 			char* end;
 			f = strtod(val,&end);
 			param_set(param, &f);
-			printf(" -> new: %f\n", f);
+			printf(" -> new: %4.4f\n", (double)f);
 
 		}
 
diff --git a/src/systemcmds/ramtron/module.mk b/src/systemcmds/ramtron/module.mk
deleted file mode 100644
index e4eb1d143..000000000
--- a/src/systemcmds/ramtron/module.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-#
-# RAMTRON file system driver
-#
-
-MODULE_COMMAND	 = ramtron
-SRCS		 = ramtron.c
diff --git a/src/systemcmds/ramtron/ramtron.c b/src/systemcmds/ramtron/ramtron.c
deleted file mode 100644
index 03c713987..000000000
--- a/src/systemcmds/ramtron/ramtron.c
+++ /dev/null
@@ -1,279 +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 ramtron.c
- *
- * ramtron service and utility app.
- */
-
-#include <nuttx/config.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/mount.h>
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-
-#include <nuttx/spi.h>
-#include <nuttx/mtd.h>
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
-#include <arch/board/board.h>
-
-#include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
-#include "systemlib/err.h"
-
-__EXPORT int ramtron_main(int argc, char *argv[]);
-
-#ifndef CONFIG_MTD_RAMTRON
-
-/* create a fake command with decent message to not confuse users */
-int ramtron_main(int argc, char *argv[])
-{
-	errx(1, "RAMTRON not enabled, skipping.");
-}
-#else
-
-static void	ramtron_attach(void);
-static void	ramtron_start(void);
-static void	ramtron_erase(void);
-static void	ramtron_ioctl(unsigned operation);
-static void	ramtron_save(const char *name);
-static void	ramtron_load(const char *name);
-static void	ramtron_test(void);
-
-static bool attached = false;
-static bool started = false;
-static struct mtd_dev_s *ramtron_mtd;
-
-int ramtron_main(int argc, char *argv[])
-{
-	if (argc >= 2) {
-		if (!strcmp(argv[1], "start"))
-			ramtron_start();
-
-		if (!strcmp(argv[1], "save_param"))
-			ramtron_save(argv[2]);
-
-		if (!strcmp(argv[1], "load_param"))
-			ramtron_load(argv[2]);
-
-		if (!strcmp(argv[1], "erase"))
-			ramtron_erase();
-
-		if (!strcmp(argv[1], "test"))
-			ramtron_test();
-
-		if (0) {	/* these actually require a file on the filesystem... */
-
-			if (!strcmp(argv[1], "reformat"))
-				ramtron_ioctl(FIOC_REFORMAT);
-
-			if (!strcmp(argv[1], "repack"))
-				ramtron_ioctl(FIOC_OPTIMIZE);
-		}
-	}
-
-	errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n");
-}
-
-struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev);
-
-
-static void
-ramtron_attach(void)
-{
-	/* find the right spi */
-	struct spi_dev_s *spi = up_spiinitialize(2);
-	/* this resets the spi bus, set correct bus speed again */
-    // xxx set in ramtron driver, leave this out
-//	SPI_SETFREQUENCY(spi, 4000000);
-	SPI_SETFREQUENCY(spi, 375000000);
-	SPI_SETBITS(spi, 8);
-	SPI_SETMODE(spi, SPIDEV_MODE3);
-	SPI_SELECT(spi, SPIDEV_FLASH, false);
-
-	if (spi == NULL)
-		errx(1, "failed to locate spi bus");
-
-	/* start the MTD driver, attempt 5 times */
-	for (int i = 0; i < 5; i++) {
-		ramtron_mtd = ramtron_initialize(spi);
-		if (ramtron_mtd) {
-			/* abort on first valid result */
-			if (i > 0) {
-				warnx("warning: ramtron needed %d attempts to attach", i+1);
-			}
-			break;
-		}
-	}
-
-	/* if last attempt is still unsuccessful, abort */
-	if (ramtron_mtd == NULL)
-		errx(1, "failed to initialize ramtron driver");
-
-	attached = true;
-}
-
-static void
-ramtron_start(void)
-{
-	int ret;
-
-	if (started)
-		errx(1, "ramtron already mounted");
-
-	if (!attached)
-		ramtron_attach();
-
-	/* start NXFFS */
-	ret = nxffs_initialize(ramtron_mtd);
-
-	if (ret < 0)
-		errx(1, "failed to initialize NXFFS - erase ramtron to reformat");
-
-	/* mount the ramtron */
-	ret = mount(NULL, "/ramtron", "nxffs", 0, NULL);
-
-	if (ret < 0)
-		errx(1, "failed to mount /ramtron - erase ramtron to reformat");
-
-	started = true;
-	warnx("mounted ramtron at /ramtron");
-	exit(0);
-}
-
-//extern int at24c_nuke(void);
-
-static void
-ramtron_erase(void)
-{
-	if (!attached)
-		ramtron_attach();
-
-//	if (at24c_nuke())
-		errx(1, "erase failed");
-
-	errx(0, "erase done, reboot now");
-}
-
-static void
-ramtron_ioctl(unsigned operation)
-{
-	int fd;
-
-	fd = open("/ramtron/.", 0);
-
-	if (fd < 0)
-		err(1, "open /ramtron");
-
-	if (ioctl(fd, operation, 0) < 0)
-		err(1, "ioctl");
-
-	exit(0);
-}
-
-static void
-ramtron_save(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/ramtron/parameters'");
-
-	warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead");
-
-	/* delete the file in case it exists */
-	unlink(name);
-
-	/* create the file */
-	int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
-
-	if (fd < 0)
-		err(1, "opening '%s' failed", name);
-
-	int result = param_export(fd, false);
-	close(fd);
-
-	if (result < 0) {
-		unlink(name);
-		errx(1, "error exporting to '%s'", name);
-	}
-
-	exit(0);
-}
-
-static void
-ramtron_load(const char *name)
-{
-	if (!started)
-		errx(1, "must be started first");
-
-	if (!name)
-		err(1, "missing argument for device name, try '/ramtron/parameters'");
-
-	warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead");
-
-	int fd = open(name, O_RDONLY);
-
-	if (fd < 0)
-		err(1, "open '%s'", name);
-
-	int result = param_load(fd);
-	close(fd);
-
-	if (result < 0)
-		errx(1, "error importing from '%s'", name);
-
-	exit(0);
-}
-
-//extern void at24c_test(void);
-
-static void
-ramtron_test(void)
-{
-//	at24c_test();
-	exit(0);
-}
-
-#endif
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 28e214a6c..beb9ad13d 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -29,4 +29,6 @@ SRCS			 = test_adc.c \
 			   test_param.c \
 			   test_ppm_loopback.c \
 			   test_rc.c \
-			   test_mount.c
+			   test_conv.cpp \
+			   test_mount.c \
+			   test_mtd.c
diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp
new file mode 100644
index 000000000..50dece816
--- /dev/null
+++ b/src/systemcmds/tests/test_conv.cpp
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   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 test_conv.cpp
+ * Tests conversions used across the system.
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdio.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include "tests.h"
+
+#include <math.h>
+#include <float.h>
+
+#include <systemlib/err.h>
+#include <unit_test/unit_test.h>
+#include <px4iofirmware/protocol.h>
+
+int test_conv(int argc, char *argv[])
+{
+	warnx("Testing system conversions");
+
+	for (int i = -10000; i <= 10000; i+=1) {
+		float f = i/10000.0f;
+		float fres = REG_TO_FLOAT(FLOAT_TO_REG(f));
+		if (fabsf(f - fres) > 0.0001f) {
+			warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres);
+			return 1;
+		}
+	}
+
+	warnx("All conversions clean");
+
+	return 0;
+}
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 83d09dd5e..96be1e8df 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -54,7 +54,7 @@
 
 #include "tests.h"
 
-int check_user_abort(int fd);
+static int check_user_abort(int fd);
 
 int check_user_abort(int fd) {
 	/* check if user wants to abort */
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 4da86042d..df382e2c6 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -48,9 +48,13 @@
 #include <errno.h>
 #include <string.h>
 #include <time.h>
+#include <math.h>
 
 #include <systemlib/err.h>
 #include <systemlib/mixer/mixer.h>
+#include <systemlib/pwm_limit/pwm_limit.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_pwm_output.h>
 
 #include "tests.h"
 
@@ -59,8 +63,22 @@ static int	mixer_callback(uintptr_t handle,
 			       uint8_t control_index,
 			       float &control);
 
+const unsigned output_max = 8;
+static float actuator_controls[output_max];
+
 int test_mixer(int argc, char *argv[])
 {
+	/*
+	 * PWM limit structure
+	 */
+	pwm_limit_t pwm_limit;
+	static bool should_arm = false;
+	uint16_t r_page_servo_disarmed[output_max];
+	uint16_t r_page_servo_control_min[output_max];
+	uint16_t r_page_servo_control_max[output_max];
+	uint16_t r_page_servos[output_max];
+	uint16_t servo_predicted[output_max];
+
 	warnx("testing mixer");
 
 	char *filename = "/etc/mixers/IO_pass.mix";
@@ -164,6 +182,174 @@ int test_mixer(int argc, char *argv[])
 	if (mixer_group.count() != 8)
 		return 1;
 
+	/* execute the mixer */
+	
+	float	outputs[output_max];
+	unsigned mixed;
+	const int jmax = 5;
+
+	pwm_limit_init(&pwm_limit);
+	should_arm = true;
+
+	/* run through arming phase */
+	for (int i = 0; i < output_max; i++) {
+		actuator_controls[i] = 0.1f;
+		r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
+		r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
+		r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
+	}
+
+	warnx("ARMING TEST: STARTING RAMP");
+	unsigned sleep_quantum_us = 10000;
+
+	hrt_abstime starttime = hrt_absolute_time();
+	unsigned sleepcount = 0;
+
+	while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US) {
+		
+		/* mix */
+		mixed = mixer_group.mix(&outputs[0], output_max);
+
+		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
+
+		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
+		for (int i = 0; i < mixed; i++)
+		{
+			/* check mixed outputs to be zero during init phase */
+			if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
+				r_page_servos[i] != r_page_servo_disarmed[i]) {
+				warnx("disarmed servo value mismatch");
+				return 1;
+			}
+
+			if (hrt_elapsed_time(&starttime) >= INIT_TIME_US &&
+				r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) {
+				warnx("ramp servo value mismatch");
+				return 1;
+			}
+
+			//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
+		}
+		usleep(sleep_quantum_us);
+		sleepcount++;
+
+		if (sleepcount % 10 == 0) {
+			printf(".");
+			fflush(stdout);
+		}
+	}
+	printf("\n");
+
+	warnx("ARMING TEST: NORMAL OPERATION");
+
+	for (int j = -jmax; j <= jmax; j++) {
+
+		for (int i = 0; i < output_max; i++) {
+			actuator_controls[i] = j/10.0f + 0.1f * i;
+			r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
+			r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
+			r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
+		}
+
+		/* mix */
+		mixed = mixer_group.mix(&outputs[0], output_max);
+
+		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
+
+		warnx("mixed %d outputs (max %d)", mixed, output_max);
+		for (int i = 0; i < mixed; i++)
+		{
+			servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
+			if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
+				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
+				warnx("mixer violated predicted value");
+				return 1;
+			}
+		}
+	}
+
+	warnx("ARMING TEST: DISARMING");
+
+	starttime = hrt_absolute_time();
+	sleepcount = 0;
+	should_arm = false;
+
+	while (hrt_elapsed_time(&starttime) < 600000) {
+		
+		/* mix */
+		mixed = mixer_group.mix(&outputs[0], output_max);
+
+		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
+
+		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
+		for (int i = 0; i < mixed; i++)
+		{
+			/* check mixed outputs to be zero during init phase */
+			if (r_page_servos[i] != r_page_servo_disarmed[i]) {
+				warnx("disarmed servo value mismatch");
+				return 1;
+			}
+
+			//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
+		}
+		usleep(sleep_quantum_us);
+		sleepcount++;
+
+		if (sleepcount % 10 == 0) {
+			printf(".");
+			fflush(stdout);
+		}
+	}
+	printf("\n");
+
+	warnx("ARMING TEST: REARMING: STARTING RAMP");
+
+	starttime = hrt_absolute_time();
+	sleepcount = 0;
+	should_arm = true;
+
+	while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) {
+		
+		/* mix */
+		mixed = mixer_group.mix(&outputs[0], output_max);
+
+		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
+
+		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
+		for (int i = 0; i < mixed; i++)
+		{
+			/* predict value */
+			servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
+
+			/* check ramp */
+
+			if (hrt_elapsed_time(&starttime) < RAMP_TIME_US &&
+				(r_page_servos[i] + 1 <= r_page_servo_disarmed[i] ||
+					r_page_servos[i] > servo_predicted[i])) {
+				warnx("ramp servo value mismatch");
+				return 1;
+			}
+
+			/* check post ramp phase */
+			if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
+				fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
+				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
+				warnx("mixer violated predicted value");
+				return 1;
+			}
+
+			//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
+		}
+		usleep(sleep_quantum_us);
+		sleepcount++;
+
+		if (sleepcount % 10 == 0) {
+			printf(".");
+			fflush(stdout);
+		}
+	}
+	printf("\n");
+
 	/* load multirotor at once test */
 	mixer_group.reset();
 
@@ -180,8 +366,12 @@ int test_mixer(int argc, char *argv[])
 	unsigned mc_loaded = loaded;
 	mixer_group.load_from_buf(&buf[0], mc_loaded);
 	warnx("complete buffer load: loaded %u mixers", mixer_group.count());
-	if (mixer_group.count() != 8)
+	if (mixer_group.count() != 5) {
+		warnx("FAIL: Quad W mixer load failed");
 		return 1;
+	}
+
+	warnx("SUCCESS: No errors in mixer test");
 }
 
 static int
@@ -193,7 +383,10 @@ mixer_callback(uintptr_t handle,
 	if (control_group != 0)
 		return -1;
 
-	control = 0.0f;
+	if (control_index > (sizeof(actuator_controls) / sizeof(actuator_controls[0])))
+		return -1;
+
+	control = actuator_controls[control_index];
 
 	return 0;
 }
diff --git a/src/systemcmds/tests/test_mtd.c b/src/systemcmds/tests/test_mtd.c
new file mode 100644
index 000000000..bac9efbdb
--- /dev/null
+++ b/src/systemcmds/tests/test_mtd.c
@@ -0,0 +1,229 @@
+/****************************************************************************
+ *
+ *   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 test_mtd.c
+ *
+ * Param storage / file test.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <sys/stat.h>
+#include <poll.h>
+#include <dirent.h>
+#include <stdio.h>
+#include <stddef.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <string.h>
+
+#include <drivers/drv_hrt.h>
+
+#include "tests.h"
+
+#define PARAM_FILE_NAME "/fs/mtd_params"
+
+static int check_user_abort(int fd);
+
+int check_user_abort(int fd) {
+	/* check if user wants to abort */
+	char c;
+
+	struct pollfd fds;
+	int ret;
+	fds.fd = 0; /* stdin */
+	fds.events = POLLIN;
+	ret = poll(&fds, 1, 0);
+
+	if (ret > 0) {
+
+		read(0, &c, 1);
+
+		switch (c) {
+		case 0x03: // ctrl-c
+		case 0x1b: // esc
+		case 'c':
+		case 'q':
+		{
+			warnx("Test aborted.");
+			fsync(fd);
+			close(fd);
+			return OK;
+			/* not reached */
+			}
+		}
+	}
+
+	return 1;
+}
+
+void print_fail()
+{
+	printf("<[T]: MTD: FAIL>\n");
+}
+
+void print_success()
+{
+	printf("<[T]: MTD: OK>\n");
+}
+
+int
+test_mtd(int argc, char *argv[])
+{
+	unsigned iterations= 0;
+
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat(PARAM_FILE_NAME, &buffer)) {
+		warnx("file %s not found, aborting MTD test", PARAM_FILE_NAME);
+		print_fail();
+		return 1;
+	}
+
+	// XXX get real storage space here
+	unsigned file_size = 4096;
+
+	/* perform tests for a range of chunk sizes */
+	unsigned chunk_sizes[] = {256, 512, 4096};
+
+	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
+
+		printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);
+
+		uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64)));
+
+		/* fill write buffer with known values */
+		for (int i = 0; i < sizeof(write_buf); i++) {
+			/* this will wrap, but we just need a known value with spacing */
+			write_buf[i] = i+11;
+		}
+
+		uint8_t read_buf[chunk_sizes[c]] __attribute__((aligned(64)));
+		hrt_abstime start, end;
+
+		int fd = open(PARAM_FILE_NAME, O_RDONLY);
+		int rret = read(fd, read_buf, chunk_sizes[c]);
+		close(fd);
+
+		fd = open(PARAM_FILE_NAME, O_WRONLY);
+
+		printf("printing 2 percent of the first chunk:\n");
+		for (int i = 0; i < sizeof(read_buf) / 50; i++) {
+			printf("%02X", read_buf[i]);
+		}
+		printf("\n");
+
+		iterations = file_size / chunk_sizes[c];
+
+		start = hrt_absolute_time();
+		for (unsigned i = 0; i < iterations; i++) {
+			int wret = write(fd, write_buf, chunk_sizes[c]);
+
+			if (wret != (int)chunk_sizes[c]) {
+				warn("WRITE ERROR!");
+				print_fail();
+				return 1;
+			}
+
+			fsync(fd);
+
+			if (!check_user_abort(fd))
+				return OK;
+
+		}
+		end = hrt_absolute_time();
+
+		close(fd);
+		fd = open(PARAM_FILE_NAME, O_RDONLY);
+
+		/* read back data for validation */
+		for (unsigned i = 0; i < iterations; i++) {
+			int rret = read(fd, read_buf, chunk_sizes[c]);
+
+			if (rret != chunk_sizes[c]) {
+				warnx("READ ERROR!");
+				print_fail();
+				return 1;
+			}
+			
+			/* compare value */
+			bool compare_ok = true;
+
+			for (int j = 0; j < chunk_sizes[c]; j++) {
+				if (read_buf[j] != write_buf[j]) {
+					warnx("COMPARISON ERROR: byte %d", j);
+					print_fail();
+					compare_ok = false;
+					break;
+				}
+			}
+
+			if (!compare_ok) {
+				warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
+				print_fail();
+				return 1;
+			}
+
+			if (!check_user_abort(fd))
+				return OK;
+
+		}
+
+
+		close(fd);
+
+	}
+
+	/* fill the file with 0xFF to make it look new again */
+	char ffbuf[64];
+	memset(ffbuf, 0xFF, sizeof(ffbuf));
+	int fd = open(PARAM_FILE_NAME, O_WRONLY);
+	for (int i = 0; i < file_size / sizeof(ffbuf); i++) {
+		int ret = write(fd, ffbuf, sizeof(ffbuf));
+
+		if (ret != sizeof(ffbuf)) {
+			warnx("ERROR! Could not fill file with 0xFF");
+			close(fd);
+			print_fail();
+			return 1;
+		}
+	}
+
+	(void)close(fd);
+	print_success();
+
+	return 0;
+}
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 72619fc8b..57c0e7f4c 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -32,8 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file test_ppm_loopback.c
- * Tests the PWM outputs and PPM input
+ * @file test_rc.c
+ * Tests RC input.
  *
  */
 
@@ -121,7 +121,7 @@ int test_rc(int argc, char *argv[])
 						return ERROR;
 					}
 
-					if (hrt_absolute_time() - rc_input.timestamp > 100000) {
+					if (hrt_absolute_time() - rc_input.timestamp_last_signal > 100000) {
 						warnx("TIMEOUT, less than 10 Hz updates");
 						(void)close(_rc_sub);
 						return ERROR;
diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h
index bec13bd30..82de05dff 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -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
@@ -109,7 +109,9 @@ extern int	test_bson(int argc, char *argv[]);
 extern int	test_file(int argc, char *argv[]);
 extern int	test_mixer(int argc, char *argv[]);
 extern int	test_rc(int argc, char *argv[]);
+extern int	test_conv(int argc, char *argv[]);
 extern int	test_mount(int argc, char *argv[]);
+extern int	test_mtd(int argc, char *argv[]);
 
 __END_DECLS
 
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 84535126f..77a4df618 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -106,7 +106,9 @@ const struct {
 	{"file",		test_file,	0},
 	{"mixer",		test_mixer,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"conv",		test_conv,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"mtd",			test_mtd,	0},
 	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
 	{NULL,			NULL, 		0}
 };