Merge branch 'master' into ekf_auto_mag_decl

18 files changed, 173 insertions, 132 deletions

diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index c41d8f242..5c502f682 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -194,6 +194,26 @@ private:
 
 	bool systemstate_run;
 
+	int vehicle_status_sub_fd;
+	int vehicle_control_mode_sub_fd;
+	int vehicle_gps_position_sub_fd;
+	int actuator_armed_sub_fd;
+	int safety_sub_fd;
+
+	int num_of_cells;
+	int detected_cells_runcount;
+
+	int t_led_color[8];
+	int t_led_blink;
+	int led_thread_runcount;
+	int led_interval;
+
+	bool topic_initialized;
+	bool detected_cells_blinked;
+	bool led_thread_ready;
+
+	int num_of_used_sats;
+
 	void 			setLEDColor(int ledcolor);
 	static void		led_trampoline(void *arg);
 	void			led();
@@ -265,7 +285,22 @@ BlinkM::BlinkM(int bus, int blinkm) :
 	led_color_7(LED_OFF),
 	led_color_8(LED_OFF),
 	led_blink(LED_NOBLINK),
-	systemstate_run(false)
+	systemstate_run(false),
+	vehicle_status_sub_fd(-1),
+	vehicle_control_mode_sub_fd(-1),
+	vehicle_gps_position_sub_fd(-1),
+	actuator_armed_sub_fd(-1),
+	safety_sub_fd(-1),
+	num_of_cells(0),
+	detected_cells_runcount(0),
+	t_led_color({0}),
+	t_led_blink(0),
+	led_thread_runcount(0),
+	led_interval(1000),
+	topic_initialized(false),
+	detected_cells_blinked(false),
+	led_thread_ready(true),
+	num_of_used_sats(0)
 {
 	memset(&_work, 0, sizeof(_work));
 }
@@ -382,31 +417,6 @@ void
 BlinkM::led()
 {
 
-	static int vehicle_status_sub_fd;
-	static int vehicle_control_mode_sub_fd;
-	static int vehicle_gps_position_sub_fd;
-	static int actuator_armed_sub_fd;
-	static int safety_sub_fd;
-
-	static int num_of_cells = 0;
-	static int detected_cells_runcount = 0;
-
-	static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
-	static int t_led_blink = 0;
-	static int led_thread_runcount=0;
-	static int led_interval = 1000;
-
-	static int no_data_vehicle_status = 0;
-	static int no_data_vehicle_control_mode = 0;
-	static int no_data_actuator_armed = 0;
-	static int no_data_vehicle_gps_position = 0;
-
-	static bool topic_initialized = false;
-	static bool detected_cells_blinked = false;
-	static bool led_thread_ready = true;
-
-	int num_of_used_sats = 0;
-
 	if(!topic_initialized) {
 		vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
 		orb_set_interval(vehicle_status_sub_fd, 250);
@@ -494,6 +504,11 @@ BlinkM::led()
 
 		orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
 
+		int no_data_vehicle_status = 0;
+		int no_data_vehicle_control_mode = 0;
+		int no_data_actuator_armed = 0;
+		int no_data_vehicle_gps_position = 0;
+
 		if (new_data_vehicle_status) {
 			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
 			no_data_vehicle_status = 0;
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index cdc9d3106..fddba806e 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -158,6 +158,7 @@ private:
 	int			_class_instance;
 
 	orb_advert_t		_mag_topic;
+	orb_advert_t		_subsystem_pub;
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
@@ -324,7 +325,9 @@ HMC5883::HMC5883(int bus) :
 	_reports(nullptr),
 	_range_scale(0), /* default range scale from counts to gauss */
 	_range_ga(1.3f),
+	_collect_phase(false),
 	_mag_topic(-1),
+	_subsystem_pub(-1),
 	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
@@ -1137,13 +1140,12 @@ int HMC5883::check_calibration()
 			true,
 			_calibrated,
 			SUBSYSTEM_TYPE_MAG};
-		static orb_advert_t pub = -1;
 
 		if (!(_pub_blocked)) {
-			if (pub > 0) {
-				orb_publish(ORB_ID(subsystem_info), pub, &info);
+			if (_subsystem_pub > 0) {
+				orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
 			} else {
-				pub = orb_advertise(ORB_ID(subsystem_info), &info);
+				_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
 			}
 		}
 	}
diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp
index 90a744015..1e779e8dc 100644
--- a/src/drivers/hott/messages.cpp
+++ b/src/drivers/hott/messages.cpp
@@ -51,6 +51,8 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_gps_position.h>
 
+#include <drivers/drv_hrt.h>
+
 /* The board is very roughly 5 deg warmer than the surrounding air */
 #define BOARD_TEMP_OFFSET_DEG 5
 
@@ -62,7 +64,6 @@ static int _airspeed_sub = -1;
 static int _esc_sub = -1;
 
 static orb_advert_t _esc_pub;
-struct esc_status_s _esc;
 
 static bool _home_position_set = false;
 static double _home_lat = 0.0d;
@@ -82,8 +83,6 @@ init_sub_messages(void)
 void 
 init_pub_messages(void)
 {
-	memset(&_esc, 0, sizeof(_esc));
-	_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
 }
 
 void
@@ -106,23 +105,26 @@ publish_gam_message(const uint8_t *buffer)
 	size_t size = sizeof(msg);
 	memset(&msg, 0, size);
 	memcpy(&msg, buffer, size);
+	struct esc_status_s esc;
+	memset(&esc, 0, sizeof(esc));
+
+	// Publish it.
+	esc.timestamp = hrt_absolute_time();
+	esc.esc_count = 1;
+	esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
+
+	esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
+	esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
+	esc.esc[0].esc_temperature = msg.temperature1 - 20; 
+	esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
+	esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
 
 	/* announce the esc if needed, just publish else */
 	if (_esc_pub > 0) {
-		orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
+		orb_publish(ORB_ID(esc_status), _esc_pub, &esc);
 	} else {
-		_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
+		_esc_pub = orb_advertise(ORB_ID(esc_status), &esc);
 	}
-
-	// Publish it.
-	_esc.esc_count = 1;
-	_esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
-
-	_esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
-	_esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
-	_esc.esc[0].esc_temperature = msg.temperature1 - 20; 
-	_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
-	_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
 }
 
 void 
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 0915c122b..5954c40da 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -92,8 +92,20 @@
 #define MOTOR_SPINUP_COUNTER			30
 #define ESC_UORB_PUBLISH_DELAY		500000
 
-
-
+struct MotorData_t {
+	unsigned int Version;                        // the version of the BL (0 = old)
+	unsigned int SetPoint;                       // written by attitude controller
+	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+	float SetPoint_PX4; 			     // Values from PX4
+	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
+	unsigned int ReadMode;                       // select data to read
+	unsigned short RawPwmValue;							// length of PWM pulse
+	// the following bytes must be exactly in that order!
+	unsigned int Current;                        // in 0.1 A steps, read back from BL
+	unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
+	unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
+	unsigned int RoundCount;
+};
 
 class MK : public device::I2C
 {
@@ -154,6 +166,8 @@ private:
 
 	actuator_controls_s _controls;
 
+	MotorData_t Motor[MAX_MOTORS];
+
 	static void	task_main_trampoline(int argc, char *argv[]);
 	void		task_main();
 
@@ -195,24 +209,6 @@ const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
 
 int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0};
 
-struct MotorData_t {
-	unsigned int Version;                        // the version of the BL (0 = old)
-	unsigned int SetPoint;                       // written by attitude controller
-	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
-	float SetPoint_PX4; 			     // Values from PX4
-	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
-	unsigned int ReadMode;                       // select data to read
-	unsigned short RawPwmValue;							// length of PWM pulse
-	// the following bytes must be exactly in that order!
-	unsigned int Current;                        // in 0.1 A steps, read back from BL
-	unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
-	unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
-	unsigned int RoundCount;
-};
-
-MotorData_t Motor[MAX_MOTORS];
-
-
 namespace
 {
 
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index f324b341e..5bb550279 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -354,6 +354,9 @@ __EXPORT uint16_t ppm_frame_length = 0;
 __EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
 
+#define PPM_DEBUG 0
+
+#if PPM_DEBUG
 /* PPM edge history */
 __EXPORT uint16_t ppm_edge_history[32];
 unsigned ppm_edge_next;
@@ -361,6 +364,7 @@ unsigned ppm_edge_next;
 /* PPM pulse history */
 __EXPORT uint16_t ppm_pulse_history[32];
 unsigned ppm_pulse_next;
+#endif
 
 static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
 
@@ -455,10 +459,12 @@ hrt_ppm_decode(uint32_t status)
 	/* how long since the last edge? - this handles counter wrapping implicitely. */
 	width = count - ppm.last_edge;
 
+#if PPM_DEBUG
 	ppm_edge_history[ppm_edge_next++] = width;
 
 	if (ppm_edge_next >= 32)
 		ppm_edge_next = 0;
+#endif
 
 	/*
 	 * if this looks like a start pulse, then push the last set of values
@@ -546,10 +552,12 @@ hrt_ppm_decode(uint32_t status)
 		interval = count - ppm.last_mark;
 		ppm.last_mark = count;
 
+#if PPM_DEBUG
 		ppm_pulse_history[ppm_pulse_next++] = interval;
 
 		if (ppm_pulse_next >= 32)
 			ppm_pulse_next = 0;
+#endif
 
 		/* if the mark-mark timing is out of bounds, abandon the frame */
 		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 22504642f..17d3d3dcd 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1188,7 +1188,7 @@ int commander_thread_main(int argc, char *argv[])
 			if (status.is_rotary_wing &&
 			    (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
 			    (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
-			    sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) {
+			    sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
 
 				if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 					/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
@@ -1206,7 +1206,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
 			if (status.arming_state == ARMING_STATE_STANDBY &&
-			    sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) {
+			    sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
 				if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 					if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
 						print_reject_arm("NOT ARMING: Press safety switch first.");
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index 41f3ca0aa..0776894fb 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd)
 	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
 
 	/* set parameters */
-	float p = sp.roll;
+	float p = sp.y;
 	param_set(param_find("TRIM_ROLL"), &p);
-	p = sp.pitch;
+	p = sp.x;
 	param_set(param_find("TRIM_PITCH"), &p);
-	p = sp.yaw;
+	p = sp.r;
 	param_set(param_find("TRIM_YAW"), &p);
 
 	/* store to permanent storage */
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index a40c402d6..1c411fa06 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -706,20 +706,21 @@ FixedwingAttitudeControl::task_main()
 				} else {
 					/*
 					 * Scale down roll and pitch as the setpoints are radians
-					 * and a typical remote can only do 45 degrees, the mapping is
-					 * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
+					 * and a typical remote can only do around 45 degrees, the mapping is
+					 * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
 					 *
 					 * With this mapping the stick angle is a 1:1 representation of
-					 * the commanded attitude. If more than 45 degrees are desired,
-					 * a scaling parameter can be applied to the remote.
+					 * the commanded attitude.
 					 *
 					 * The trim gets subtracted here from the manual setpoint to get
 					 * the intended attitude setpoint. Later, after the rate control step the
 					 * trim is added again to the control signal.
 					 */
-					roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
-					pitch_sp = (-_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
-					throttle_sp = _manual.throttle;
+					roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+						+ _parameters.rollsp_offset_rad;
+					pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+						+ _parameters.pitchsp_offset_rad;
+					throttle_sp = _manual.z;
 					_actuators.control[4] = _manual.flaps;
 
 					/*
@@ -825,10 +826,10 @@ FixedwingAttitudeControl::task_main()
 
 			} else {
 				/* manual/direct control */
-				_actuators.control[0] = _manual.roll;
-				_actuators.control[1] = -_manual.pitch;
-				_actuators.control[2] = _manual.yaw;
-				_actuators.control[3] = _manual.throttle;
+				_actuators.control[0] = _manual.y;
+				_actuators.control[1] = -_manual.x;
+				_actuators.control[2] = _manual.r;
+				_actuators.control[3] = _manual.z;
 				_actuators.control[4] = _manual.flaps;
 			}
 
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index c62a2d4f3..9cbc26efe 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1114,7 +1114,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 
 		if (0/* posctrl on and manual control yaw non-zero */) {
-			_altctrl_hold_heading = _att.yaw + _manual.yaw;
+			_altctrl_hold_heading = _att.yaw + _manual.r;
 		}
 
 		//XXX not used
@@ -1132,12 +1132,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		// XXX check if ground speed undershoot should be applied here
 		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.throttle;
+					  _manual.z;
 
 		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body = _l1_control.nav_roll();
 		_att_sp.yaw_body = _l1_control.nav_bearing();
-		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
+		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
 					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    false, _parameters.pitch_limit_min,
@@ -1153,7 +1153,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 
 		if (0/* altctrl on and manual control yaw non-zero */) {
-			_altctrl_hold_heading = _att.yaw + _manual.yaw;
+			_altctrl_hold_heading = _att.yaw + _manual.r;
 		}
 
 		/* if in altctrl mode, set airspeed based on manual control */
@@ -1161,10 +1161,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		// XXX check if ground speed undershoot should be applied here
 		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.throttle;
+					  _manual.z;
 
 		/* user switched off throttle */
-		if (_manual.throttle < 0.1f) {
+		if (_manual.z < 0.1f) {
 			throttle_max = 0.0f;
 			/* switch to pure pitch based altitude control, give up speed */
 			_tecs.set_speed_weight(0.0f);
@@ -1174,14 +1174,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		bool climb_out = false;
 
 		/* user wants to climb out */
-		if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
+		if (_manual.x > 0.3f && _manual.z > 0.8f) {
 			climb_out = true;
 		}
 
 		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
-		_att_sp.roll_body =	_manual.roll;
-		_att_sp.yaw_body =	_manual.yaw;
-		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
+		_att_sp.roll_body =	_manual.y;
+		_att_sp.yaw_body =	_manual.r;
+		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
 					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    climb_out, _parameters.pitch_limit_min,
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 833de5a3d..dd88b0949 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -727,9 +727,9 @@ int Mavlink::mavlink_pm_send_param(param_t param)
 	if (param == PARAM_INVALID) { return 1; }
 
 	/* buffers for param transmission */
-	static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
+	char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
 	float val_buf;
-	static mavlink_message_t tx_msg;
+	mavlink_message_t tx_msg;
 
 	/* query parameter type */
 	param_type_t type = param_type(param);
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index b8879157e..79dd88657 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1138,10 +1138,10 @@ protected:
 		if (manual_sub->update(t)) {
 			mavlink_msg_manual_control_send(_channel,
 							mavlink_system.sysid,
-							manual->roll * 1000,
-							manual->pitch * 1000,
-							manual->yaw * 1000,
-							manual->throttle * 1000,
+							manual->x * 1000,
+							manual->y * 1000,
+							manual->z * 1000,
+							manual->r * 1000,
 							0);
 		}
 	}
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 64fc41838..b03a68c07 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -191,7 +191,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		}
 
 	}
-	
+
     /* If we've received a valid message, mark the flag indicating so.
 	   This is used in the '-w' command-line flag. */
 	_mavlink->set_has_received_messages(true);
@@ -438,10 +438,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	memset(&manual, 0, sizeof(manual));
 
 	manual.timestamp = hrt_absolute_time();
-	manual.pitch = man.x / 1000.0f;
-	manual.roll = man.y / 1000.0f;
-	manual.yaw = man.r / 1000.0f;
-	manual.throttle = man.z / 1000.0f;
+	manual.x = man.x / 1000.0f;
+	manual.y = man.y / 1000.0f;
+	manual.r = man.r / 1000.0f;
+	manual.z = man.z / 1000.0f;
 
 	if (_manual_pub < 0) {
 		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 57450cf39..a69153bf0 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -486,7 +486,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
 
 		if (!_v_control_mode.flag_control_climb_rate_enabled) {
 			/* pass throttle directly if not in altitude stabilized mode */
-			_v_att_sp.thrust = _manual_control_sp.throttle;
+			_v_att_sp.thrust = _manual_control_sp.z;
 			publish_att_sp = true;
 		}
 
@@ -504,7 +504,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
 			//}
 		} else {
 			/* move yaw setpoint */
-			yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max;
+			yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
 			_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
 			_v_att_sp.R_valid = false;
 			publish_att_sp = true;
@@ -520,8 +520,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
 
 		if (!_v_control_mode.flag_control_velocity_enabled) {
 			/* update attitude setpoint if not in position control mode */
-			_v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max;
-			_v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max;
+			_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
+			_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
 			_v_att_sp.R_valid = false;
 			publish_att_sp = true;
 		}
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 45ff8c3c0..6e611d4ab 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -617,7 +617,7 @@ MulticopterPositionControl::task_main()
 					reset_alt_sp();
 
 					/* move altitude setpoint with throttle stick */
-					sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
+					sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
 				}
 
 				if (_control_mode.flag_control_position_enabled) {
@@ -625,8 +625,8 @@ MulticopterPositionControl::task_main()
 					reset_pos_sp();
 
 					/* move position setpoint with roll/pitch stick */
-					sp_move_rate(0) = _manual.pitch;
-					sp_move_rate(1) = _manual.roll;
+					sp_move_rate(0) = _manual.x;
+					sp_move_rate(1) = _manual.y;
 				}
 
 				/* limit setpoint move rate */
@@ -782,7 +782,7 @@ MulticopterPositionControl::task_main()
 							float i = _params.thr_min;
 
 							if (reset_int_z_manual) {
-								i = _manual.throttle;
+								i = _manual.z;
 
 								if (i < _params.thr_min) {
 									i = _params.thr_min;
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index eaafa217d..646ab6ab9 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -100,8 +100,8 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	/* Check if all mission items are inside the geofence (if we have a valid geofence) */
 	if (geofence.valid()) {
 		for (size_t i = 0; i < nMissionItems; i++) {
-			static struct mission_item_s missionitem;
-			const ssize_t len = sizeof(struct mission_item_s);
+			struct mission_item_s missionitem;
+			const ssize_t len = sizeof(missionitem);
 
 			if (dm_read(dm_current, i, &missionitem, len) != len) {
 				/* not supposed to happen unless the datamanager can't access the SD card, etc. */
@@ -125,8 +125,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 
 
 	for (size_t i = 0; i < nMissionItems; i++) {
-		static struct mission_item_s missionitem;
-		const ssize_t len = sizeof(struct mission_item_s);
+		struct mission_item_s missionitem;
+		const ssize_t len = sizeof(missionitem);
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return false;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 65165bbb2..18bf97f8d 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1486,10 +1486,10 @@ Sensors::rc_poll()
 			manual.timestamp = rc_input.timestamp_last_signal;
 
 			/* limit controls */
-			manual.roll = get_rc_value(ROLL, -1.0, 1.0);
-			manual.pitch = get_rc_value(PITCH, -1.0, 1.0);
-			manual.yaw = get_rc_value(YAW, -1.0, 1.0);
-			manual.throttle = get_rc_value(THROTTLE, 0.0, 1.0);
+			manual.y = get_rc_value(ROLL, -1.0, 1.0);
+			manual.x = get_rc_value(PITCH, -1.0, 1.0);
+			manual.r = get_rc_value(YAW, -1.0, 1.0);
+			manual.z = get_rc_value(THROTTLE, 0.0, 1.0);
 			manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
 			manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
 			manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
@@ -1517,10 +1517,10 @@ Sensors::rc_poll()
 
 			actuator_group_3.timestamp = rc_input.timestamp_last_signal;
 
-			actuator_group_3.control[0] = manual.roll;
-			actuator_group_3.control[1] = manual.pitch;
-			actuator_group_3.control[2] = manual.yaw;
-			actuator_group_3.control[3] = manual.throttle;
+			actuator_group_3.control[0] = manual.y;
+			actuator_group_3.control[1] = manual.x;
+			actuator_group_3.control[2] = manual.r;
+			actuator_group_3.control[3] = manual.z;
 			actuator_group_3.control[4] = manual.flaps;
 			actuator_group_3.control[5] = manual.aux1;
 			actuator_group_3.control[6] = manual.aux2;
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index 21e15ec56..c0c1a5cb4 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -140,7 +140,7 @@ int rc_calibration_check(int mavlink_fd) {
 		/* sanity checks pass, enable channel */
 		if (count) {
 			mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
+			warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
 			usleep(100000);
 		}
 
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index ee159b998..19a29635b 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -64,17 +64,34 @@ struct manual_control_setpoint_s {
 	/**
 	 * Any of the channels may not be available and be set to NaN
 	 * to indicate that it does not contain valid data.
+	 * The variable names follow the definition of the
+	 * MANUAL_CONTROL mavlink message.
+	 * The default range is from -1 to 1 (mavlink message -1000 to 1000)
+	 * The range for the z variable is defined from 0 to 1. (The z field of
+	 * the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
 	 */
-	float roll;			 	/**< ailerons roll / roll rate input, -1..1 */
-	float pitch;			/**< elevator / pitch / pitch rate, -1..1 */
-	float yaw;				/**< rudder / yaw rate / yaw, -1..1 */
-	float throttle;			/**< throttle / collective thrust / altitude, 0..1 */
+	float x;			/**< stick position in x direction -1..1
+					  in general corresponds to forward/back motion or pitch of vehicle,
+					  in general a positive value means forward or negative pitch and
+					  a negative value means backward or positive pitch */
+	float y;			/**< stick position in y direction -1..1
+					  in general corresponds to right/left motion or roll of vehicle,
+					  in general a positive value means right or positive roll and
+					  a negative value means left or negative roll */
+	float z;			/**< throttle stick position 0..1
+					  in general corresponds to up/down motion or thrust of vehicle,
+					  in general the value corresponds to the demanded throttle by the user,
+					  if the input is used for setting the setpoint of a vertical position
+					  controller any value > 0.5 means up and any value < 0.5 means down */
+	float r;			/**< yaw stick/twist positon, -1..1
+					  in general corresponds to the righthand rotation around the vertical
+					  (downwards) axis of the vehicle */
 	float flaps;			/**< flap position */
-	float aux1;				/**< default function: camera yaw / azimuth */
-	float aux2;				/**< default function: camera pitch / tilt */
-	float aux3;				/**< default function: camera trigger */
-	float aux4;				/**< default function: camera roll */
-	float aux5;				/**< default function: payload drop */
+	float aux1;			/**< default function: camera yaw / azimuth */
+	float aux2;			/**< default function: camera pitch / tilt */
+	float aux3;			/**< default function: camera trigger */
+	float aux4;			/**< default function: camera roll */
+	float aux5;			/**< default function: payload drop */
 
 	switch_pos_t mode_switch;			/**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
 	switch_pos_t return_switch;			/**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */