Merge branch 'master' of https://github.com/mstuettgen/Firmware

45 files changed, 1393 insertions, 604 deletions

diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index 604ce35c5..a958fc60d 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -452,10 +452,7 @@ BATT_SMBUS::read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_
 	uint8_t pec = get_PEC(reg, true, buff, bufflen + 1);
 
 	if (pec != buff[bufflen + 1]) {
-		// debug
-		warnx("CurrPEC:%x vs MyPec:%x", (int)buff[bufflen + 1], (int)pec);
 		return 0;
-
 	}
 
 	// copy data
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index bacafe1dc..be9604b6e 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -159,4 +159,6 @@
 
 #define GPIO_SENSOR_RAIL_RESET	GPIOC(13)
 
+#define GPIO_PERIPHERAL_RAIL_RESET	GPIOC(14)
+
 #endif /* _DRV_GPIO_H */
diff --git a/src/drivers/drv_oreoled.h b/src/drivers/drv_oreoled.h
index bc53f04a5..0dcb10a7b 100644
--- a/src/drivers/drv_oreoled.h
+++ b/src/drivers/drv_oreoled.h
@@ -58,6 +58,9 @@
 /** run macro */
 #define OREOLED_RUN_MACRO		_OREOLEDIOC(2)
 
+/** send bytes */
+#define OREOLED_SEND_BYTES		_OREOLEDIOC(3)
+
 /* Oreo LED driver supports up to 4 leds */
 #define OREOLED_NUM_LEDS		4
 
@@ -65,7 +68,7 @@
 #define OREOLED_ALL_INSTANCES	0xff
 
 /* maximum command length that can be sent to LEDs */
-#define OREOLED_CMD_LENGTH_MAX	10
+#define OREOLED_CMD_LENGTH_MAX	24
 
 /* enum passed to OREOLED_SET_MODE ioctl()
  *	defined by hardware */
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index db53b2647..d3b8d4e9d 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -296,7 +296,7 @@ MK::init(unsigned motors)
 	_task = task_spawn_cmd("mkblctrl",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_MAX - 20,
-			       2048,
+			       1500,
 			       (main_t)&MK::task_main_trampoline,
 			       nullptr);
 
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 4aa05a980..b48ea8577 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1881,6 +1881,7 @@ MPU6000	*g_dev_int; // on internal bus
 MPU6000	*g_dev_ext; // on external bus
 
 void	start(bool, enum Rotation);
+void	stop(bool);
 void	test(bool);
 void	reset(bool);
 void	info(bool);
@@ -1946,6 +1947,20 @@ fail:
 	errx(1, "driver start failed");
 }
 
+void
+stop(bool external_bus)
+{
+	MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	if (*g_dev_ptr != nullptr) {
+		delete *g_dev_ptr;
+		*g_dev_ptr = nullptr;
+	} else {
+		/* warn, but not an error */
+		warnx("already stopped.");
+	}
+	exit(0);
+}
+
 /**
  * Perform some basic functional tests on the driver;
  * make sure we can collect data from the sensor in polled
@@ -2111,7 +2126,7 @@ factorytest(bool external_bus)
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'factorytest', 'testerror'");
+	warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'factorytest', 'testerror'");
 	warnx("options:");
 	warnx("    -X    (external bus)");
 	warnx("    -R rotation");
@@ -2147,38 +2162,50 @@ mpu6000_main(int argc, char *argv[])
 	 * Start/load the driver.
 
 	 */
-	if (!strcmp(verb, "start"))
+	if (!strcmp(verb, "start")) {
 		mpu6000::start(external_bus, rotation);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		mpu6000::stop(external_bus);
+	}
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(verb, "test"))
+	if (!strcmp(verb, "test")) {
 		mpu6000::test(external_bus);
+	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(verb, "reset"))
+	if (!strcmp(verb, "reset")) {
 		mpu6000::reset(external_bus);
+	}
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(verb, "info"))
+	if (!strcmp(verb, "info")) {
 		mpu6000::info(external_bus);
+	}
 
 	/*
 	 * Print register information.
 	 */
-	if (!strcmp(verb, "regdump"))
+	if (!strcmp(verb, "regdump")) {
 		mpu6000::regdump(external_bus);
+	}
 
-	if (!strcmp(verb, "factorytest"))
+	if (!strcmp(verb, "factorytest")) {
 		mpu6000::factorytest(external_bus);
+	}
 
-	if (!strcmp(verb, "testerror"))
+	if (!strcmp(verb, "testerror")) {
 		mpu6000::testerror(external_bus);
+	}
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'regdump', 'factorytest' or 'testerror'");
+	mpu6000::usage();
+	exit(1);
 }
diff --git a/src/drivers/oreoled/oreoled.cpp b/src/drivers/oreoled/oreoled.cpp
index 2f5bf75bc..b44c4b720 100644
--- a/src/drivers/oreoled/oreoled.cpp
+++ b/src/drivers/oreoled/oreoled.cpp
@@ -368,6 +368,31 @@ OREOLED::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 		return ret;
 
+	case OREOLED_SEND_BYTES:
+		/* send bytes */
+		new_cmd = *((oreoled_cmd_t *) arg);
+
+		/* special handling for request to set all instances */
+		if (new_cmd.led_num == OREOLED_ALL_INSTANCES) {
+			for (uint8_t i = 0; i < OREOLED_NUM_LEDS; i++) {
+				/* add command to queue for all healthy leds */
+				if (_healthy[i]) {
+					new_cmd.led_num = i;
+					_cmd_queue->force(&new_cmd);
+					ret = OK;
+				}
+			}
+
+		} else if (new_cmd.led_num < OREOLED_NUM_LEDS) {
+			/* request to set individual instance's rgb value */
+			if (_healthy[new_cmd.led_num]) {
+				_cmd_queue->force(&new_cmd);
+				ret = OK;
+			}
+		}
+
+		return ret;
+
 	default:
 		/* see if the parent class can make any use of it */
 		ret = CDev::ioctl(filp, cmd, arg);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 8e7e93679..7b09a4676 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -182,6 +182,7 @@ private:
 
 	void		gpio_reset(void);
 	void		sensor_reset(int ms);
+	void		peripheral_reset(int ms);
 	void		gpio_set_function(uint32_t gpios, int function);
 	void		gpio_write(uint32_t gpios, int function);
 	uint32_t	gpio_read(void);
@@ -1376,6 +1377,29 @@ PX4FMU::sensor_reset(int ms)
 #endif
 }
 
+void
+PX4FMU::peripheral_reset(int ms)
+{
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+
+	if (ms < 1) {
+		ms = 10;
+	}
+
+	/* set the peripheral rails off */
+	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	warnx("reset done, %d ms", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
+#endif
+}
 
 void
 PX4FMU::gpio_reset(void)
@@ -1488,6 +1512,10 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
 		sensor_reset(arg);
 		break;
 
+	case GPIO_PERIPHERAL_RAIL_RESET:
+		peripheral_reset(arg);
+		break;
+
 	case GPIO_SET_OUTPUT:
 	case GPIO_SET_INPUT:
 	case GPIO_SET_ALT_1:
@@ -1675,6 +1703,24 @@ sensor_reset(int ms)
 }
 
 void
+peripheral_reset(int ms)
+{
+	int	 fd;
+
+	fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
+
+	if (fd < 0) {
+		errx(1, "open fail");
+	}
+
+	if (ioctl(fd, GPIO_PERIPHERAL_RAIL_RESET, ms) < 0) {
+		warnx("peripheral rail reset failed");
+	}
+
+	close(fd);
+}
+
+void
 test(void)
 {
 	int	 fd;
@@ -1895,6 +1941,19 @@ fmu_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(verb, "peripheral_reset")) {
+		if (argc > 2) {
+			int reset_time = strtol(argv[2], 0, 0);
+			peripheral_reset(reset_time);
+
+		} else {
+			peripheral_reset(0);
+			warnx("resettet default time");
+		}
+
+		exit(0);
+	}
+
 	if (!strcmp(verb, "i2c")) {
 		if (argc > 3) {
 			int bus = strtol(argv[2], 0, 0);
diff --git a/src/lib/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp
index 38400beef..d28966fca 100644
--- a/src/lib/mathlib/math/Quaternion.hpp
+++ b/src/lib/mathlib/math/Quaternion.hpp
@@ -116,6 +116,35 @@ public:
 	}
 
 	/**
+	 * inverse of quaternion
+	 */
+	math::Quaternion inverse() {
+		Quaternion res;
+		memcpy(res.data,data,sizeof(res.data));
+		res.data[1] = -res.data[1];
+		res.data[2] = -res.data[2];
+		res.data[3] = -res.data[3];
+		return res;
+	}
+
+
+	/**
+	* rotate vector by quaternion
+	*/
+	Vector<3> rotate(const Vector<3> &w) {
+		Quaternion q_w;	// extend vector to quaternion
+		Quaternion q = {data[0],data[1],data[2],data[3]};
+		Quaternion q_rotated;	// quaternion representation of rotated vector
+		q_w(0) = 0;
+		q_w(1) = w.data[0];
+		q_w(2) = w.data[1];
+		q_w(3) = w.data[2];
+		q_rotated = q*q_w*q.inverse();
+		Vector<3> res = {q_rotated.data[1],q_rotated.data[2],q_rotated.data[3]};
+		return res;
+	}
+
+	/**
 	 * set quaternion to rotation defined by euler angles
 	 */
 	void from_euler(float roll, float pitch, float yaw) {
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 87065b56f..d70e05000 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -358,7 +358,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float (&accel_offs)[max_se
 
 		if (orient < 0) {
 			mavlink_and_console_log_info(mavlink_fd, "invalid motion, hold still...");
-			sleep(3);
+			sleep(2);
 			continue;
 		}
 
@@ -372,6 +372,8 @@ int do_accel_calibration_measurements(int mavlink_fd, float (&accel_offs)[max_se
 		mavlink_and_console_log_info(mavlink_fd, "Hold still, starting to measure %s side", orientation_strs[orient]);
 		sleep(1);
 		read_accelerometer_avg(subs, accel_ref, orient, samples_num);
+		mavlink_and_console_log_info(mavlink_fd, "%s side done, rotate to a different side", orientation_strs[orient]);
+		usleep(100000);
 		mavlink_and_console_log_info(mavlink_fd, "result for %s side: [ %.2f %.2f %.2f ]", orientation_strs[orient],
 				 (double)accel_ref[0][orient][0],
 				 (double)accel_ref[0][orient][1],
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 242d8a486..f832f761e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -65,7 +65,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/offboard_control_mode.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
@@ -180,7 +180,7 @@ static struct vehicle_status_s status;
 static struct actuator_armed_s armed;
 static struct safety_s safety;
 static struct vehicle_control_mode_s control_mode;
-static struct offboard_control_setpoint_s sp_offboard;
+static struct offboard_control_mode_s offboard_control_mode;
 
 /* tasks waiting for low prio thread */
 typedef enum {
@@ -966,7 +966,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	pthread_attr_t commander_low_prio_attr;
 	pthread_attr_init(&commander_low_prio_attr);
-	pthread_attr_setstacksize(&commander_low_prio_attr, 2900);
+	pthread_attr_setstacksize(&commander_low_prio_attr, 2400);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
@@ -1016,8 +1016,8 @@ int commander_thread_main(int argc, char *argv[])
 	memset(&sp_man, 0, sizeof(sp_man));
 
 	/* Subscribe to offboard control data */
-	int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
-	memset(&sp_offboard, 0, sizeof(sp_offboard));
+	int offboard_control_mode_sub = orb_subscribe(ORB_ID(offboard_control_mode));
+	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));
 
 	/* Subscribe to telemetry status topics */
 	int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
@@ -1227,14 +1227,14 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man);
 		}
 
-		orb_check(sp_offboard_sub, &updated);
+		orb_check(offboard_control_mode_sub, &updated);
 
 		if (updated) {
-			orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
+			orb_copy(ORB_ID(offboard_control_mode), offboard_control_mode_sub, &offboard_control_mode);
 		}
 
-		if (sp_offboard.timestamp != 0 &&
-		    sp_offboard.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
+		if (offboard_control_mode.timestamp != 0 &&
+		    offboard_control_mode.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
 			if (status.offboard_control_signal_lost) {
 				status.offboard_control_signal_lost = false;
 				status_changed = true;
@@ -2051,7 +2051,7 @@ int commander_thread_main(int argc, char *argv[])
 	led_deinit();
 	buzzer_deinit();
 	close(sp_man_sub);
-	close(sp_offboard_sub);
+	close(offboard_control_mode_sub);
 	close(local_position_sub);
 	close(global_position_sub);
 	close(gps_sub);
@@ -2426,56 +2426,30 @@ set_control_mode()
 		control_mode.flag_control_auto_enabled = false;
 		control_mode.flag_control_offboard_enabled = true;
 
-		switch (sp_offboard.mode) {
-		case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = false;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-			break;
+		/*
+		 * The control flags depend on what is ignored according to the offboard control mode topic
+		 * Inner loop flags (e.g. attitude) also depend on outer loop ignore flags (e.g. position)
+		 */
+		control_mode.flag_control_rates_enabled = !offboard_control_mode.ignore_bodyrate ||
+			!offboard_control_mode.ignore_attitude ||
+			!offboard_control_mode.ignore_position ||
+			!offboard_control_mode.ignore_velocity ||
+			!offboard_control_mode.ignore_acceleration_force;
 
-		case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = true;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-			break;
+		control_mode.flag_control_attitude_enabled = !offboard_control_mode.ignore_attitude ||
+			!offboard_control_mode.ignore_position ||
+			!offboard_control_mode.ignore_velocity ||
+			!offboard_control_mode.ignore_acceleration_force;
 
-		case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = false;
-			control_mode.flag_control_force_enabled = true;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-			break;
+		control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity ||
+			!offboard_control_mode.ignore_position;
 
-		case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
-		case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
-		case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED:
-		case OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED:
-			control_mode.flag_control_rates_enabled = true;
-			control_mode.flag_control_attitude_enabled = true;
-			control_mode.flag_control_altitude_enabled = true;
-			control_mode.flag_control_climb_rate_enabled = true;
-			control_mode.flag_control_position_enabled = true;
-			control_mode.flag_control_velocity_enabled = true;
-			//XXX: the flags could depend on sp_offboard.ignore
-			break;
+		control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity ||
+			!offboard_control_mode.ignore_position;
 
-		default:
-			control_mode.flag_control_rates_enabled = false;
-			control_mode.flag_control_attitude_enabled = false;
-			control_mode.flag_control_altitude_enabled = false;
-			control_mode.flag_control_climb_rate_enabled = false;
-			control_mode.flag_control_position_enabled = false;
-			control_mode.flag_control_velocity_enabled = false;
-		}
+		control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position;
+
+		control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
 
 		break;
 
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index a94b478c4..e0786db79 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -137,6 +137,9 @@ int do_mag_calibration(int mavlink_fd)
 	}
 
 	if (calibrated_ok) {
+
+		mavlink_and_console_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
+		usleep(100000);
 		mavlink_and_console_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
 
 		/* auto-save to EEPROM */
@@ -155,7 +158,7 @@ int do_mag_calibration(int mavlink_fd)
 int calibrate_instance(int mavlink_fd, unsigned s, unsigned device_id)
 {
 	/* 45 seconds */
-	uint64_t calibration_interval = 45 * 1000 * 1000;
+	uint64_t calibration_interval = 25 * 1000 * 1000;
 
 	/* maximum 500 values */
 	const unsigned int calibration_maxcount = 240;
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 40aa4a2f0..0154f235f 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +35,7 @@
  * @file state_machine_helper.cpp
  * State machine helper functions implementations
  *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Thomas Gubler <thomas@px4.io>
  * @author Julian Oes <julian@oes.ch>
  */
 
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 1c79cb61d..903158129 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -457,9 +457,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
 			rep.states[i] = ekf_report.states[i];
 		}
 
-		for (size_t i = 0; i < rep.n_states; i++) {
-			rep.states[i] = ekf_report.states[i];
-		}
+
 
 		if (_estimator_status_pub > 0) {
 			orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
@@ -774,14 +772,14 @@ void AttitudePositionEstimatorEKF::publishAttitude()
 	_att.pitch = euler(1);
 	_att.yaw = euler(2);
 
-	_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
-	_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
-	_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
+	_att.rollspeed = _ekf->angRate.x - _ekf->states[10] / _ekf->dtIMU;
+	_att.pitchspeed = _ekf->angRate.y - _ekf->states[11] / _ekf->dtIMU;
+	_att.yawspeed = _ekf->angRate.z - _ekf->states[12] / _ekf->dtIMU;
 
 	// gyro offsets
-	_att.rate_offsets[0] = _ekf->states[10];
-	_att.rate_offsets[1] = _ekf->states[11];
-	_att.rate_offsets[2] = _ekf->states[12];
+	_att.rate_offsets[0] = _ekf->states[10] / _ekf->dtIMU;
+	_att.rate_offsets[1] = _ekf->states[11] / _ekf->dtIMU;
+	_att.rate_offsets[2] = _ekf->states[12] / _ekf->dtIMU;
 
 	/* lazily publish the attitude only once available */
 	if (_att_pub > 0) {
@@ -1056,7 +1054,7 @@ void AttitudePositionEstimatorEKF::print_status()
 	// 4-6: Velocity - m/sec (North, East, Down)
 	// 7-9: Position - m (North, East, Down)
 	// 10-12: Delta Angle bias - rad (X,Y,Z)
-	// 13:    Accelerometer offset
+	// 13:    Delta Velocity Bias - m/s (Z)
 	// 14-15: Wind Vector  - m/sec (North,East)
 	// 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
 	// 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
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 6e49bd1d1..5daeae477 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -520,7 +520,7 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
 	orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
 
 	if (vcontrol_mode_updated) {
-
+		
 		orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
 	}
 }
@@ -795,10 +795,10 @@ FixedwingAttitudeControl::task_main()
 			/* Simple handling of failsafe: deploy parachute if failsafe is on */
 			if (_vcontrol_mode.flag_control_termination_enabled) {
 				_actuators_airframe.control[7] = 1.0f;
-//				warnx("_actuators_airframe.control[1] = 1.0f;");
+				//warnx("_actuators_airframe.control[1] = 1.0f;");
 			} else {
 				_actuators_airframe.control[7] = 0.0f;
-//				warnx("_actuators_airframe.control[1] = -1.0f;");
+				//warnx("_actuators_airframe.control[1] = -1.0f;");
 			}
 
 			/* decide if in stabilized or full manual control */
@@ -1077,20 +1077,25 @@ FixedwingAttitudeControl::task_main()
 			_actuators_airframe.timestamp = hrt_absolute_time();
 			_actuators_airframe.timestamp_sample = _att.timestamp;
 
-			/* publish the actuator controls */
-			if (_actuators_0_pub > 0) {
-				orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
-			} else if (_actuators_id) {
-				_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
-			}
+			/* Only publish if any of the proper modes are enabled */
+			if(_vcontrol_mode.flag_control_rates_enabled ||
+			   _vcontrol_mode.flag_control_attitude_enabled)
+			{
+				/* publish the actuator controls */
+				if (_actuators_0_pub > 0) {
+					orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
+				} else if (_actuators_id) {
+					_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
+				}
 
-			if (_actuators_2_pub > 0) {
-				/* publish the actuator controls*/
-				orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
+				if (_actuators_2_pub > 0) {
+					/* publish the actuator controls*/
+					orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
 
-			} else {
-				/* advertise and publish */
-				_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
+				} else {
+					/* advertise and publish */
+					_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
+				}
 			}
 		}
 
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index a61108c4c..6ab3ddbfc 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -302,10 +302,10 @@ PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
  *
  * @unit m/s
  * @min 0.0
- * @max 30.0
+ * @max 40
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f);
+PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
 
 /**
  * Trim Airspeed
@@ -314,10 +314,10 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f);
  *
  * @unit m/s
  * @min 0.0
- * @max 30.0
+ * @max 40
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
+PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
 
 /**
  * Maximum Airspeed
@@ -327,10 +327,10 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
  *
  * @unit m/s
  * @min 0.0
- * @max 30.0
+ * @max 40
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);
+PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
 
 /**
  * Roll Setpoint Offset
diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp
index 1e43e7ad5..011567e57 100644
--- a/src/modules/land_detector/land_detector_main.cpp
+++ b/src/modules/land_detector/land_detector_main.cpp
@@ -139,7 +139,7 @@ static int land_detector_start(const char *mode)
 	_landDetectorTaskID = task_spawn_cmd("land_detector",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT,
-					     1200,
+					     1000,
 					     (main_t)&land_detector_deamon_thread,
 					     nullptr);
 
@@ -179,8 +179,7 @@ int land_detector_main(int argc, char *argv[])
 {
 
 	if (argc < 1) {
-		warnx("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'");
-		exit(0);
+		goto exiterr;
 	}
 
 	if (argc >= 2 && !strcmp(argv[1], "start")) {
@@ -209,6 +208,8 @@ int land_detector_main(int argc, char *argv[])
 		}
 	}
 
-	warn("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'");
+exiterr:
+	warnx("usage: land_detector {start|stop|status} [mode]");
+	warnx("mode can either be 'fixedwing' or 'multicopter'");
 	return 1;
 }
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 024dfd6fb..f8e819ce7 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1621,7 +1621,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2800,
+		       2400,
 		       (main_t)&Mavlink::start_helper,
 		       (char * const *)argv);
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 9711d8fc3..7d6b60e22 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -51,7 +51,6 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_vicon_position.h>
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 90c3cb47f..0c34fc58a 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -108,7 +108,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_cmd_pub(-1),
 	_flow_pub(-1),
 	_range_pub(-1),
-	_offboard_control_sp_pub(-1),
+	_offboard_control_mode_pub(-1),
+	_actuator_controls_pub(-1),
 	_global_vel_sp_pub(-1),
 	_att_sp_pub(-1),
 	_rates_sp_pub(-1),
@@ -170,6 +171,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_set_attitude_target(msg);
 		break;
 
+	case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
+		handle_message_set_actuator_control_target(msg);
+		break;
+
 	case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
 		handle_message_vision_position_estimate(msg);
 		break;
@@ -517,8 +522,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 	mavlink_set_position_target_local_ned_t set_position_target_local_ned;
 	mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned);
 
-	struct offboard_control_setpoint_s offboard_control_sp;
-	memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));//XXX breaks compatibility with multiple setpoints
+	struct offboard_control_mode_s offboard_control_mode;
+	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
 
 	/* Only accept messages which are intended for this system */
 	if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
@@ -527,64 +532,22 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 			 set_position_target_local_ned.target_component == 0)) {
 
 		/* convert mavlink type (local, NED) to uORB offboard control struct */
-		switch (set_position_target_local_ned.coordinate_frame) {
-			case MAV_FRAME_LOCAL_NED:
-				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED;
-				break;
-			case MAV_FRAME_LOCAL_OFFSET_NED:
-				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED;
-				break;
-			case MAV_FRAME_BODY_NED:
-				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED;
-				break;
-			case MAV_FRAME_BODY_OFFSET_NED:
-				offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED;
-				break;
-			default:
-				/* invalid setpoint, avoid publishing */
-				return;
-		}
-		offboard_control_sp.position[0] = set_position_target_local_ned.x;
-		offboard_control_sp.position[1] = set_position_target_local_ned.y;
-		offboard_control_sp.position[2] = set_position_target_local_ned.z;
-		offboard_control_sp.velocity[0] = set_position_target_local_ned.vx;
-		offboard_control_sp.velocity[1] = set_position_target_local_ned.vy;
-		offboard_control_sp.velocity[2] = set_position_target_local_ned.vz;
-		offboard_control_sp.acceleration[0] = set_position_target_local_ned.afx;
-		offboard_control_sp.acceleration[1] = set_position_target_local_ned.afy;
-		offboard_control_sp.acceleration[2] = set_position_target_local_ned.afz;
-		offboard_control_sp.yaw = set_position_target_local_ned.yaw;
-		offboard_control_sp.yaw_rate = set_position_target_local_ned.yaw_rate;
-		offboard_control_sp.isForceSetpoint = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
-
-		/* If we are in force control mode, for now set offboard mode to force control */
-		if (offboard_control_sp.isForceSetpoint) {
-			offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_FORCE;
-		}
-
-		/* set ignore flags */
-		for (int i = 0; i < 9; i++) {
-			offboard_control_sp.ignore &=  ~(1 << i);
-			offboard_control_sp.ignore |=  (set_position_target_local_ned.type_mask & (1 << i));
-		}
-
-		offboard_control_sp.ignore &=  ~(1 << OFB_IGN_BIT_YAW);
-		if (set_position_target_local_ned.type_mask & (1 << 10)) {
-			offboard_control_sp.ignore |=  (1 << OFB_IGN_BIT_YAW);
-		}
-
-		offboard_control_sp.ignore &=  ~(1 << OFB_IGN_BIT_YAWRATE);
-		if (set_position_target_local_ned.type_mask & (1 << 11)) {
-			offboard_control_sp.ignore |=  (1 << OFB_IGN_BIT_YAWRATE);
-		}
+		offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
+		offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
+		offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
+		bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
+		/* yaw ignore flag mapps to ignore_attitude */
+		offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
+		/* yawrate ignore flag mapps to ignore_bodyrate */
+		offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
 
-		offboard_control_sp.timestamp = hrt_absolute_time();
+		offboard_control_mode.timestamp = hrt_absolute_time();
 
-		if (_offboard_control_sp_pub < 0) {
-			_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+		if (_offboard_control_mode_pub < 0) {
+			_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
 
 		} else {
-			orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
+			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
 		}
 
 		/* If we are in offboard control mode and offboard control loop through is enabled
@@ -596,15 +559,14 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 				orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
 			}
 			if (_control_mode.flag_control_offboard_enabled) {
-				if (offboard_control_sp.isForceSetpoint &&
-						offboard_control_sp_ignore_position_all(offboard_control_sp) &&
-						offboard_control_sp_ignore_velocity_all(offboard_control_sp)) {
+				if (is_force_sp && offboard_control_mode.ignore_position &&
+						offboard_control_mode.ignore_velocity) {
 					/* The offboard setpoint is a force setpoint only, directly writing to the force
 					 * setpoint topic and not publishing the setpoint triplet topic */
 					struct vehicle_force_setpoint_s	force_sp;
-					force_sp.x = offboard_control_sp.acceleration[0];
-					force_sp.y = offboard_control_sp.acceleration[1];
-					force_sp.z = offboard_control_sp.acceleration[2];
+					force_sp.x = set_position_target_local_ned.afx;
+					force_sp.y = set_position_target_local_ned.afy;
+					force_sp.z = set_position_target_local_ned.afz;
 					//XXX: yaw
 					if (_force_sp_pub < 0) {
 						_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
@@ -619,62 +581,53 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					pos_sp_triplet.current.valid = true;
 					pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others
 
-					/* set the local pos values if the setpoint type is 'local pos' and none
-					 * of the local pos fields is set to 'ignore' */
-					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
-							!offboard_control_sp_ignore_position_some(offboard_control_sp)) {
-					pos_sp_triplet.current.position_valid = true;
-					pos_sp_triplet.current.x = offboard_control_sp.position[0];
-					pos_sp_triplet.current.y = offboard_control_sp.position[1];
-					pos_sp_triplet.current.z = offboard_control_sp.position[2];
+					/* set the local pos values */
+					if (!offboard_control_mode.ignore_position) {
+						pos_sp_triplet.current.position_valid = true;
+						pos_sp_triplet.current.x = set_position_target_local_ned.x;
+						pos_sp_triplet.current.y = set_position_target_local_ned.y;
+						pos_sp_triplet.current.z = set_position_target_local_ned.z;
 					} else {
 						pos_sp_triplet.current.position_valid = false;
 					}
 
-					/* set the local vel values if the setpoint type is 'local pos' and none
-					 * of the local vel fields is set to 'ignore' */
-					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
-							!offboard_control_sp_ignore_velocity_some(offboard_control_sp)) {
+					/* set the local vel values */
+					if (!offboard_control_mode.ignore_velocity) {
 						pos_sp_triplet.current.velocity_valid = true;
-						pos_sp_triplet.current.vx = offboard_control_sp.velocity[0];
-						pos_sp_triplet.current.vy = offboard_control_sp.velocity[1];
-						pos_sp_triplet.current.vz = offboard_control_sp.velocity[2];
+						pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
+						pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
+						pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
 					} else {
 						pos_sp_triplet.current.velocity_valid = false;
 					}
 
 					/* set the local acceleration values if the setpoint type is 'local pos' and none
 					 * of the accelerations fields is set to 'ignore' */
-					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
-							!offboard_control_sp_ignore_acceleration_some(offboard_control_sp)) {
+					if (!offboard_control_mode.ignore_acceleration_force) {
 						pos_sp_triplet.current.acceleration_valid = true;
-						pos_sp_triplet.current.a_x = offboard_control_sp.acceleration[0];
-						pos_sp_triplet.current.a_y = offboard_control_sp.acceleration[1];
-						pos_sp_triplet.current.a_z = offboard_control_sp.acceleration[2];
+						pos_sp_triplet.current.a_x = set_position_target_local_ned.afx;
+						pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
+						pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
 						pos_sp_triplet.current.acceleration_is_force =
-						offboard_control_sp.isForceSetpoint;
+						is_force_sp;
 
 					} else {
 						pos_sp_triplet.current.acceleration_valid = false;
 					}
 
-					/* set the yaw sp value if the setpoint type is 'local pos' and the yaw
-					 * field is not set to 'ignore' */
-					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
-							!offboard_control_sp_ignore_yaw(offboard_control_sp)) {
+					/* set the yaw sp value */
+					if (!offboard_control_mode.ignore_attitude) {
 						pos_sp_triplet.current.yaw_valid = true;
-						pos_sp_triplet.current.yaw = offboard_control_sp.yaw;
+						pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
 
 					} else {
 						pos_sp_triplet.current.yaw_valid = false;
 					}
 
-					/* set the yawrate sp value if the setpoint type is 'local pos' and the yawrate
-					 * field is not set to 'ignore' */
-					if (offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED &&
-							!offboard_control_sp_ignore_yawrate(offboard_control_sp)) {
+					/* set the yawrate sp value */
+					if (!offboard_control_mode.ignore_bodyrate) {
 						pos_sp_triplet.current.yawspeed_valid = true;
-						pos_sp_triplet.current.yawspeed = offboard_control_sp.yaw_rate;
+						pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
 
 					} else {
 						pos_sp_triplet.current.yawspeed_valid = false;
@@ -699,6 +652,66 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 }
 
 void
+MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg)
+{
+	mavlink_set_actuator_control_target_t set_actuator_control_target;
+	mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target);
+
+	struct offboard_control_mode_s offboard_control_mode;
+	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
+
+	struct actuator_controls_s actuator_controls;
+	memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
+
+	if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
+		    set_actuator_control_target.target_system == 0) &&
+		(mavlink_system.compid == set_actuator_control_target.target_component ||
+		    set_actuator_control_target.target_component == 0)) {
+
+		/* ignore all since we are setting raw actuators here */
+		offboard_control_mode.ignore_thrust             = true;
+		offboard_control_mode.ignore_attitude           = true;
+		offboard_control_mode.ignore_bodyrate           = true;
+		offboard_control_mode.ignore_position           = true;
+		offboard_control_mode.ignore_velocity           = true;
+		offboard_control_mode.ignore_acceleration_force = true;
+
+		offboard_control_mode.timestamp = hrt_absolute_time();
+
+		if (_offboard_control_mode_pub < 0) {
+			_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
+		} else {
+			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
+		}
+
+
+		/* If we are in offboard control mode, publish the actuator controls */
+		bool updated;
+		orb_check(_control_mode_sub, &updated);
+		if (updated) {
+			orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+		}
+
+		if (_control_mode.flag_control_offboard_enabled) {
+
+			actuator_controls.timestamp = hrt_absolute_time();
+
+			/* Set duty cycles for the servos in actuator_controls_0 */
+			for(size_t i = 0; i < 8; i++) {
+				actuator_controls.control[i] = set_actuator_control_target.controls[i];
+			}
+
+			if (_actuator_controls_pub < 0) {
+				_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
+			} else {
+				orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
+			}
+		}
+	}
+
+}
+
+void
 MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
 {
 	mavlink_vision_position_estimate_t pos;
@@ -743,42 +756,52 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 	mavlink_set_attitude_target_t set_attitude_target;
 	mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target);
 
-	struct offboard_control_setpoint_s offboard_control_sp;
-	memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); //XXX breaks compatibility with multiple setpoints
+	static struct offboard_control_mode_s offboard_control_mode = {};
 
 	/* Only accept messages which are intended for this system */
 	if ((mavlink_system.sysid == set_attitude_target.target_system ||
 				set_attitude_target.target_system == 0) &&
 			(mavlink_system.compid == set_attitude_target.target_component ||
 			 set_attitude_target.target_component == 0)) {
-		for (int i = 0; i < 4; i++) {
-			offboard_control_sp.attitude[i] = set_attitude_target.q[i];
-		}
-		offboard_control_sp.attitude_rate[0] = set_attitude_target.body_roll_rate;
-		offboard_control_sp.attitude_rate[1] = set_attitude_target.body_pitch_rate;
-		offboard_control_sp.attitude_rate[2] = set_attitude_target.body_yaw_rate;
-
-		/* set correct ignore flags for body rate fields: copy from mavlink message */
-		for (int i = 0; i < 3; i++) {
-			offboard_control_sp.ignore &=  ~(1 << (i + OFB_IGN_BIT_BODYRATE_X));
-			offboard_control_sp.ignore |=  (set_attitude_target.type_mask & (1 << i)) << OFB_IGN_BIT_BODYRATE_X;
-		}
+
 		/* set correct ignore flags for thrust field: copy from mavlink message */
-		offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_THRUST);
-		offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 6)) << OFB_IGN_BIT_THRUST);
-		/* set correct ignore flags for attitude field: copy from mavlink message */
-		offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_ATT);
-		offboard_control_sp.ignore |= ((set_attitude_target.type_mask & (1 << 7)) << OFB_IGN_BIT_ATT);
+		offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));
+
+		/*
+		 * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust
+		 * using different messages. Eg.: First send set_attitude_target containing the attitude and ignore
+		 * bits set for everything else and then send set_attitude_target containing the thrust and ignore bits
+		 * set for everything else.
+		 */
+
+		/*
+		 * if attitude or body rate have been used (not ignored) previously and this message only sends
+		 * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
+		 * body rates to keep the controllers running
+		 */
+		bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7);
+		bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7));
+
+		if (ignore_bodyrate && ignore_attitude && !offboard_control_mode.ignore_thrust) {
+			/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
+			offboard_control_mode.ignore_bodyrate = ignore_bodyrate && offboard_control_mode.ignore_bodyrate;
+			offboard_control_mode.ignore_attitude = ignore_attitude && offboard_control_mode.ignore_attitude;
+		} else {
+			offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
+			offboard_control_mode.ignore_attitude = ignore_attitude;
+		}
 
+		offboard_control_mode.ignore_position = true;
+		offboard_control_mode.ignore_velocity = true;
+		offboard_control_mode.ignore_acceleration_force = true;
 
-		offboard_control_sp.timestamp = hrt_absolute_time();
-		offboard_control_sp.mode =OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; //XXX handle rate control mode
+		offboard_control_mode.timestamp = hrt_absolute_time();
 
-		if (_offboard_control_sp_pub < 0) {
-			_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+		if (_offboard_control_mode_pub < 0) {
+			_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
 
 		} else {
-			orb_publish(ORB_ID(offboard_control_setpoint), _offboard_control_sp_pub, &offboard_control_sp);
+			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
 		}
 
 		/* If we are in offboard control mode and offboard control loop through is enabled
@@ -793,15 +816,16 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 			if (_control_mode.flag_control_offboard_enabled) {
 
 				/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
-				if (!(offboard_control_sp_ignore_attitude(offboard_control_sp) ||
-							offboard_control_sp_ignore_thrust(offboard_control_sp))) {
-					struct vehicle_attitude_setpoint_s att_sp;
+				if (!(offboard_control_mode.ignore_attitude)) {
+					static struct vehicle_attitude_setpoint_s att_sp = {};
 					att_sp.timestamp = hrt_absolute_time();
 					mavlink_quaternion_to_euler(set_attitude_target.q,
 							&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
 					mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
 					att_sp.R_valid = true;
-					att_sp.thrust = set_attitude_target.thrust;
+					if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
+						att_sp.thrust = set_attitude_target.thrust;
+					}
 					att_sp.yaw_sp_move_rate = 0.0;
 					memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
 					att_sp.q_d_valid = true;
@@ -814,14 +838,15 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 
 				/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
 				///XXX add support for ignoring individual axes
-				if (!(offboard_control_sp_ignore_bodyrates_some(offboard_control_sp) ||
-							offboard_control_sp_ignore_thrust(offboard_control_sp))) {
-					struct vehicle_rates_setpoint_s rates_sp;
+				if (!(offboard_control_mode.ignore_bodyrate)) {
+					static struct vehicle_rates_setpoint_s rates_sp = {};
 					rates_sp.timestamp = hrt_absolute_time();
 					rates_sp.roll = set_attitude_target.body_roll_rate;
 					rates_sp.pitch = set_attitude_target.body_pitch_rate;
 					rates_sp.yaw = set_attitude_target.body_yaw_rate;
-					rates_sp.thrust = set_attitude_target.thrust;
+					if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
+						rates_sp.thrust = set_attitude_target.thrust;
+					}
 
 					if (_att_sp_pub < 0) {
 						_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
@@ -1524,7 +1549,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
 	param.sched_priority = SCHED_PRIORITY_MAX - 80;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 2900);
+	pthread_attr_setstacksize(&receiveloop_attr, 2100);
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 699996860..4886bbd0a 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -53,7 +53,7 @@
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/offboard_control_mode.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
@@ -122,6 +122,7 @@ private:
 	void handle_message_vision_position_estimate(mavlink_message_t *msg);
 	void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
 	void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
+	void handle_message_set_actuator_control_target(mavlink_message_t *msg);
 	void handle_message_set_attitude_target(mavlink_message_t *msg);
 	void handle_message_radio_status(mavlink_message_t *msg);
 	void handle_message_manual_control(mavlink_message_t *msg);
@@ -142,7 +143,7 @@ private:
 	/**
 	* Exponential moving average filter to smooth time offset
 	*/
-	void smooth_time_offset(uint64_t offset_ns);	
+	void smooth_time_offset(uint64_t offset_ns);
 
 	mavlink_status_t status;
 	struct vehicle_local_position_s hil_local_pos;
@@ -162,7 +163,8 @@ private:
 	orb_advert_t _cmd_pub;
 	orb_advert_t _flow_pub;
 	orb_advert_t _range_pub;
-	orb_advert_t _offboard_control_sp_pub;
+	orb_advert_t _offboard_control_mode_pub;
+	orb_advert_t _actuator_controls_pub;
 	orb_advert_t _global_vel_sp_pub;
 	orb_advert_t _att_sp_pub;
 	orb_advert_t _rates_sp_pub;
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index f9d30dcbe..e82b8bd93 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -51,7 +51,7 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
 MAXOPTIMIZATION	 = -Os
 
-MODULE_STACKSIZE = 1024
+MODULE_STACKSIZE = 1200
 
 EXTRACXXFLAGS	= -Weffc++ -Wno-attributes -Wno-packed
 
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 a0d76b0a6..0243dc2f7 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -835,7 +835,7 @@ MulticopterAttitudeControl::start()
 	_control_task = task_spawn_cmd("mc_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2000,
+				       1800,
 				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
 				       nullptr);
 
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
index c2b847075..40eb498b4 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
@@ -71,7 +71,7 @@ int mc_att_control_m_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("mc_att_control_m",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       3000,
+				       1900,
 				       main,
 					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
 
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 7f87e3532..d993692ab 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -761,8 +761,8 @@ void MulticopterPositionControl::control_auto(float dt)
 		orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
 
 		//Make sure that the position setpoint is valid
-		if (!isfinite(_pos_sp_triplet.current.lat) || 
-			!isfinite(_pos_sp_triplet.current.lon) || 
+		if (!isfinite(_pos_sp_triplet.current.lat) ||
+			!isfinite(_pos_sp_triplet.current.lon) ||
 			!isfinite(_pos_sp_triplet.current.alt)) {
 			_pos_sp_triplet.current.valid = false;
 		}
@@ -1367,7 +1367,7 @@ MulticopterPositionControl::task_main()
 
 				} else if (yaw_offs > YAW_OFFSET_MAX) {
 					_att_sp.yaw_body = _wrap_pi(_att.yaw + YAW_OFFSET_MAX);
-				}				
+				}
 			}
 
 			//Control roll and pitch directly if we no aiding velocity controller is active
@@ -1388,15 +1388,22 @@ MulticopterPositionControl::task_main()
 			_att_sp.timestamp = hrt_absolute_time();
 		}
 		else {
-			reset_yaw_sp = true;			
+			reset_yaw_sp = true;
 		}
 
-		// publish attitude setpoint
-		if (_att_sp_pub > 0) {
-			orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
+		/* publish attitude setpoint
+		 * Do not publish if offboard is enabled but position/velocity control is disabled,
+		 * in this case the attitude setpoint is published by the mavlink app
+		 */
+		if (!(_control_mode.flag_control_offboard_enabled &&
+					!(_control_mode.flag_control_position_enabled ||
+						_control_mode.flag_control_velocity_enabled))) {
+			if (_att_sp_pub > 0) {
+				orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
 
-		} else {
-			_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
+			} else {
+				_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
+			}
 		}
 
 		/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
@@ -1419,7 +1426,7 @@ MulticopterPositionControl::start()
 	_control_task = task_spawn_cmd("mc_pos_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2000,
+				       1800,
 				       (main_t)&MulticopterPositionControl::task_main_trampoline,
 				       nullptr);
 
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
index 2e14b744f..40268358a 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
@@ -1015,12 +1015,19 @@ void  MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti
 		reset_yaw_sp = true;
 	}
 
-	/* publish attitude setpoint */
-	if (_att_sp_pub != nullptr) {
-		_att_sp_pub->publish(_att_sp_msg);
+	/* publish attitude setpoint
+	 * Do not publish if offboard is enabled but position/velocity control is disabled, in this case the attitude setpoint
+	 * is published by the mavlink app
+	 */
+	if (!(_control_mode->data().flag_control_offboard_enabled &&
+				!(_control_mode->data().flag_control_position_enabled ||
+					_control_mode->data().flag_control_velocity_enabled))) {
+		if (_att_sp_pub != nullptr) {
+			_att_sp_pub->publish(_att_sp_msg);
 
-	} else {
-		_att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>();
+		} else {
+			_att_sp_pub = _n.advertise<px4_vehicle_attitude_setpoint>();
+		}
 	}
 
 	/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp
index 87996d93b..1082061f6 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp
@@ -71,7 +71,7 @@ int mc_pos_control_m_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("mc_pos_control_m",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       3000,
+				       2500,
 				       main,
 					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
 
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
index 1568233b0..10394fed1 100644
--- a/src/modules/navigator/rtl_params.c
+++ b/src/modules/navigator/rtl_params.c
@@ -83,7 +83,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
  * @max 100
  * @group RTL
  */
-PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
+PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
 
 /**
  * RTL delay
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index 5387b7e87..91915fb53 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -288,6 +288,20 @@ PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
  */
 PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
 
+/**
+ * INAV enabled
+ *
+ * If set to 1, use INAV for position estimation
+ * the system uses the compined attitude / position
+ * filter framework.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_INT32(INAV_ENABLED, 0);
+
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
 	h->w_z_baro = param_find("INAV_W_Z_BARO");
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 3e21ec2a9..272e4b14f 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -130,7 +130,7 @@ PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
  * @max 30
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_MAG0_ROT, 0);
+PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
 
 /**
  * Magnetometer X-axis offset
@@ -308,7 +308,7 @@ PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
  * @max 30
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_MAG1_ROT, 0);
+PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
 
 /**
  * Magnetometer X-axis offset
@@ -486,7 +486,7 @@ PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
  * @max 30
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(CAL_MAG2_ROT, 0);
+PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
 
 /**
  * Magnetometer X-axis offset
@@ -994,6 +994,36 @@ PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124);	/* scaling for 3DR power brick */
 
 
 /**
+ * RC channel count
+ *
+ * This parameter is used by Ground Station software to save the number
+ * of channels which were used during RC calibration. It is only meant
+ * for ground station use.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+
+PARAM_DEFINE_INT32(RC_CHAN_CNT, 0);
+
+/**
+ * RC mode switch threshold automaic distribution
+ *
+ * This parameter is used by Ground Station software to specify whether
+ * the threshold values for flight mode switches were automatically calculated.
+ * 0 indicates that the threshold values were set by the user. Any other value
+ * indicates that the threshold value where automatically set by the ground
+ * station software. It is only meant for ground station use.
+ *
+ * @min 0
+ * @max 1
+ * @group Radio Calibration
+ */
+
+PARAM_DEFINE_INT32(RC_TH_USER, 1);
+
+/**
  * Roll control channel mapping.
  *
  * The channel index (starting from 1 for channel 1) indicates
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 9a90c84e0..527ca2210 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1511,14 +1511,21 @@ Sensors::parameter_update_poll(bool forced)
 					if (ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) {
 						/* mag is internal */
 						_mag_rotation[s] = _board_rotation;
-						/* reset param to -1 to indicate external mag */
+						/* reset param to -1 to indicate internal mag */
 						int32_t minus_one = MAG_ROT_VAL_INTERNAL;
 						param_set_no_notification(param_find(str), &minus_one);
 					} else {
 
-						int32_t mag_rot = 0;
+						int32_t mag_rot;
 						param_get(param_find(str), &mag_rot);
 
+						/* check if this mag is still set as internal */
+						if (mag_rot < 0) {
+							/* it was marked as internal, change to external with no rotation */
+							mag_rot = 0;
+							param_set_no_notification(param_find(str), &mag_rot);
+						}
+
 						/* handling of old setups, will be removed later (noted Feb 2015) */
 						int32_t deprecated_mag_rot = 0;
 						param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot);
@@ -1536,6 +1543,9 @@ Sensors::parameter_update_poll(bool forced)
 						if ((deprecated_mag_rot != 0) && (mag_rot <= 0)) {
 							mag_rot = deprecated_mag_rot;
 							param_set_no_notification(param_find(str), &mag_rot);
+							/* clear the old param, not supported in GUI anyway */
+							deprecated_mag_rot = 0;
+							param_set_no_notification(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot);
 						}
 
 						/* handling of transition from internal to external */
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index f60aa8d86..dbed29774 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -163,8 +163,8 @@ ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
 #include "topics/vehicle_control_debug.h"
 ORB_DEFINE(vehicle_control_debug, struct vehicle_control_debug_s);
 
-#include "topics/offboard_control_setpoint.h"
-ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
+#include "topics/offboard_control_mode.h"
+ORB_DEFINE(offboard_control_mode, struct offboard_control_mode_s);
 
 #include "topics/optical_flow.h"
 ORB_DEFINE(optical_flow, struct optical_flow_s);
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
deleted file mode 100644
index 72a28e501..000000000
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ /dev/null
@@ -1,276 +0,0 @@
-/****************************************************************************
- *
- *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *	 Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 offboard_control_setpoint.h
- * Definition of the manual_control_setpoint uORB topic.
- */
-
-#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
-#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * Off-board control inputs.
- *
- * Typically sent by a ground control station / joystick or by
- * some off-board controller via C or SIMULINK.
- */
-enum OFFBOARD_CONTROL_MODE {
-	OFFBOARD_CONTROL_MODE_DIRECT = 0,
-	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
-	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
-	OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3,
-	OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4,
-	OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5,
-	OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6,
-	OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7,
-	OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8,
-	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9,
-	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10,
-	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
-};
-
-enum OFFBOARD_CONTROL_FRAME {
-	OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0,
-	OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1,
-	OFFBOARD_CONTROL_FRAME_BODY_NED = 2,
-	OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3,
-	OFFBOARD_CONTROL_FRAME_GLOBAL = 4
-};
-
-/* mappings for the ignore bitmask */
-enum {OFB_IGN_BIT_POS_X,
-	OFB_IGN_BIT_POS_Y,
-	OFB_IGN_BIT_POS_Z,
-	OFB_IGN_BIT_VEL_X,
-	OFB_IGN_BIT_VEL_Y,
-	OFB_IGN_BIT_VEL_Z,
-	OFB_IGN_BIT_ACC_X,
-	OFB_IGN_BIT_ACC_Y,
-	OFB_IGN_BIT_ACC_Z,
-	OFB_IGN_BIT_BODYRATE_X,
-	OFB_IGN_BIT_BODYRATE_Y,
-	OFB_IGN_BIT_BODYRATE_Z,
-	OFB_IGN_BIT_ATT,
-	OFB_IGN_BIT_THRUST,
-	OFB_IGN_BIT_YAW,
-	OFB_IGN_BIT_YAWRATE,
-};
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct offboard_control_setpoint_s {
-	uint64_t timestamp;
-
-	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
-
-	double position[3];	/**< lat, lon, alt / x, y, z */
-	float velocity[3];	/**< x vel, y vel, z vel */
-	float acceleration[3];	/**< x acc, y acc, z acc */
-	float attitude[4];	/**< attitude of vehicle (quaternion) */
-	float attitude_rate[3];	/**< body angular rates (x, y, z) */
-	float thrust;	/**< thrust */
-	float yaw;	/**< yaw: this is the yaw from the position_target message
-			  (not from the full attitude_target message) */
-	float yaw_rate;	/**< yaw rate: this is the yaw from the position_target message
-			  (not from the full attitude_target message) */
-
-	uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file
-			   for mapping */
-
-	bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */
-
-	float override_mode_switch;
-
-	float aux1_cam_pan_flaps;
-	float aux2_cam_tilt;
-	float aux3_cam_zoom;
-	float aux4_cam_roll;
-
-}; /**< offboard control inputs */
-/**
- * @}
- */
-
-/**
- * Returns true if the position setpoint at index should be ignored
- */
-inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
-	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X +  index)));
-}
-
-/**
- * Returns true if all position setpoints should be ignored
- */
-inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	for (int i = 0; i < 3; i++) {
-		if (!offboard_control_sp_ignore_position(offboard_control_sp, i))	{
-			return false;
-		}
-	}
-	return true;
-}
-
-/**
- * Returns true if some position setpoints should be ignored
- */
-inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	for (int i = 0; i < 3; i++) {
-		if (offboard_control_sp_ignore_position(offboard_control_sp, i))	{
-			return true;
-		}
-	}
-	return false;
-}
-
-/**
- * Returns true if the velocity setpoint at index should be ignored
- */
-inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
-	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index)));
-}
-
-/**
- * Returns true if all velocity setpoints should be ignored
- */
-inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	for (int i = 0; i < 3; i++) {
-		if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i))	{
-			return false;
-		}
-	}
-	return true;
-}
-
-/**
- * Returns true if some velocity setpoints should be ignored
- */
-inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	for (int i = 0; i < 3; i++) {
-		if (offboard_control_sp_ignore_velocity(offboard_control_sp, i))	{
-			return true;
-		}
-	}
-	return false;
-}
-
-/**
- * Returns true if the acceleration setpoint at index should be ignored
- */
-inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
-	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index)));
-}
-
-/**
- * Returns true if all acceleration setpoints should be ignored
- */
-inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	for (int i = 0; i < 3; i++) {
-		if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i))	{
-			return false;
-		}
-	}
-	return true;
-}
-
-/**
- * Returns true if some acceleration setpoints should be ignored
- */
-inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	for (int i = 0; i < 3; i++) {
-		if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i))	{
-			return true;
-		}
-	}
-	return false;
-}
-
-/**
- * Returns true if the bodyrate setpoint at index should be ignored
- */
-inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
-	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index)));
-}
-
-/**
- * Returns true if some of the bodyrate setpoints should be ignored
- */
-inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	for (int i = 0; i < 3; i++) {
-		if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i))	{
-			return true;
-		}
-	}
-	return false;
-}
-
-/**
- * Returns true if the attitude setpoint should be ignored
- */
-inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT));
-}
-
-/**
- * Returns true if the thrust setpoint should be ignored
- */
-inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST));
-}
-
-/**
- * Returns true if the yaw setpoint should be ignored
- */
-inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW));
-}
-
-/**
- * Returns true if the yaw rate setpoint should be ignored
- */
-inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) {
-	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE));
-}
-
-
-/* register this as object request broker structure */
-ORB_DECLARE(offboard_control_setpoint);
-
-#endif
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index 764e33179..b4f81d429 100644
--- a/src/modules/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
@@ -684,6 +684,8 @@ namespace
 
 ORBDevMaster	*g_dev;
 bool pubsubtest_passed = false;
+bool pubsubtest_print = false;
+int pubsubtest_res = OK;
 
 struct orb_test {
 	int val;
@@ -693,6 +695,22 @@ struct orb_test {
 ORB_DEFINE(orb_test, struct orb_test);
 ORB_DEFINE(orb_multitest, struct orb_test);
 
+struct orb_test_medium {
+	int val;
+	hrt_abstime time;
+	char junk[64];
+};
+
+ORB_DEFINE(orb_test_medium, struct orb_test_medium);
+
+struct orb_test_large {
+	int val;
+	hrt_abstime time;
+	char junk[512];
+};
+
+ORB_DEFINE(orb_test_large, struct orb_test_large);
+
 int
 test_fail(const char *fmt, ...)
 {
@@ -727,21 +745,44 @@ int pubsublatency_main(void)
 	float latency_integral = 0.0f;
 
 	/* wakeup source(s) */
-	struct pollfd fds[1];
+	struct pollfd fds[3];
 
-	int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
+	int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0);
+	int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
+	int test_multi_sub_large = orb_subscribe_multi(ORB_ID(orb_test_large), 0);
+
+	struct orb_test_large t;
+
+	/* clear all ready flags */
+	orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
+	orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
+	orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
 
 	fds[0].fd = test_multi_sub;
 	fds[0].events = POLLIN;
+	fds[1].fd = test_multi_sub_medium;
+	fds[1].events = POLLIN;
+	fds[2].fd = test_multi_sub_large;
+	fds[2].events = POLLIN;
 
-	struct orb_test t;
+	const unsigned maxruns = 1000;
+	unsigned timingsgroup = 0;
 
-	const unsigned maxruns = 10;
+	unsigned *timings = new unsigned[maxruns];
 
 	for (unsigned i = 0; i < maxruns; i++) {
 		/* wait for up to 500ms for data */
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
-		orb_copy(ORB_ID(orb_multitest), test_multi_sub, &t);
+		if (fds[0].revents & POLLIN) {
+			orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
+			timingsgroup = 0;
+		} else if (fds[1].revents & POLLIN) {
+			orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
+			timingsgroup = 1;
+		} else if (fds[2].revents & POLLIN) {
+			orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
+			timingsgroup = 2;
+		}
 
 		if (pret < 0) {
 			warn("poll error %d, %d", pret, errno);
@@ -750,17 +791,46 @@ int pubsublatency_main(void)
 
 		hrt_abstime elt = hrt_elapsed_time(&t.time);
 		latency_integral += elt;
+		timings[i] = elt;
 	}
 
 	orb_unsubscribe(test_multi_sub);
+	orb_unsubscribe(test_multi_sub_medium);
+	orb_unsubscribe(test_multi_sub_large);
+
+	if (pubsubtest_print) {
+		char fname[32];
+		sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
+		FILE *f = fopen(fname, "w");
+		if (f == NULL) {
+			warnx("Error opening file!\n");
+			return ERROR;
+    		}
+
+		for (unsigned i = 0; i < maxruns; i++) {
+			fprintf(f, "%u\n", timings[i]);
+		}
+
+		fclose(f);
+	}
+
+	delete[] timings;
 
 	warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns));
 
 	pubsubtest_passed = true;
 
-	return OK;
+	if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
+		pubsubtest_res = ERROR;
+	} else {
+		pubsubtest_res = OK;
+	}
+
+	return pubsubtest_res;
 }
 
+template<typename S> int latency_test(orb_id_t T, bool print);
+
 int
 test()
 {
@@ -874,6 +944,25 @@ test()
 	if (prio != ORB_PRIO_MIN)
 		return test_fail("prio: %d", prio);
 
+	if (OK != latency_test<struct orb_test>(ORB_ID(orb_test), false))
+		return test_fail("latency test failed");
+
+	return test_note("PASS");
+}
+
+template<typename S> int
+latency_test(orb_id_t T, bool print)
+{
+	S t;
+	t.val = 308;
+	t.time = hrt_absolute_time();
+
+	int pfd0 = orb_advertise(T, &t);
+
+	pubsubtest_print = print;
+
+	pubsubtest_passed = false;
+
 	/* test pub / sub latency */
 
 	int pubsub_task = task_spawn_cmd("uorb_latency",
@@ -885,20 +974,22 @@ test()
 
 	/* give the test task some data */
 	while (!pubsubtest_passed) {
-		t.val = 303;
+		t.val = 308;
 		t.time = hrt_absolute_time();
-		if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
+		if (OK != orb_publish(T, pfd0, &t))
 			return test_fail("mult. pub0 timing fail");
 
 		/* simulate >800 Hz system operation */
 		usleep(1000);
 	}
 
+	close(pfd0);
+
 	if (pubsub_task < 0) {
 		return test_fail("failed launching task");
 	}
 
-	return test_note("PASS");
+	return pubsubtest_res;
 }
 
 int
@@ -956,12 +1047,26 @@ uorb_main(int argc, char *argv[])
 		return test();
 
 	/*
+	 * Test the latency.
+	 */
+	if (!strcmp(argv[1], "latency_test")) {
+
+		if (argc > 2 && !strcmp(argv[2], "medium")) {
+			return latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
+		} else if (argc > 2 && !strcmp(argv[2], "large")) {
+			return latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
+		} else {
+			return latency_test<struct orb_test>(ORB_ID(orb_test), true);
+		}
+	}
+
+	/*
 	 * Print driver information.
 	 */
 	if (!strcmp(argv[1], "status"))
 		return info();
 
-	errx(-EINVAL, "unrecognized command, try 'start', 'test' or 'status'");
+	errx(-EINVAL, "unrecognized command, try 'start', 'test', 'latency_test' or 'status'");
 }
 
 /*
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 288ba2ebe..74e1efd6c 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -782,18 +782,23 @@ void VtolAttitudeControl::task_main()
 				fill_mc_att_control_output();
 				fill_mc_att_rates_sp();
 
-				if (_actuators_0_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
-
-				} else {
-					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
-				}
-
-				if (_actuators_1_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
-
-				} else {
-					_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
+				/* Only publish if the proper mode(s) are enabled */
+				if(_v_control_mode.flag_control_attitude_enabled ||
+				   _v_control_mode.flag_control_rates_enabled)
+				{
+					if (_actuators_0_pub > 0) {
+						orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
+
+					} else {
+						_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
+					}
+
+					if (_actuators_1_pub > 0) {
+						orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
+
+					} else {
+						_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
+					}
 				}
 			}
 		}
@@ -813,18 +818,23 @@ void VtolAttitudeControl::task_main()
 				fill_fw_att_control_output();
 				fill_fw_att_rates_sp();
 
-				if (_actuators_0_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
+				/* Only publish if the proper mode(s) are enabled */
+				if(_v_control_mode.flag_control_attitude_enabled ||
+				   _v_control_mode.flag_control_rates_enabled)
+				{
+					if (_actuators_0_pub > 0) {
+						orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
 
-				} else {
-					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
-				}
+					} else {
+						_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
+					}
 
-				if (_actuators_1_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
+					if (_actuators_1_pub > 0) {
+						orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
 
-				} else {
-					_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
+					} else {
+						_actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_out_1);
+					}
 				}
 			}
 		}
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index f8561fa3b..0e98783fd 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -66,6 +66,8 @@
 #include <px4_vehicle_global_velocity_setpoint.h>
 #include <px4_vehicle_local_position.h>
 #include <px4_position_setpoint_triplet.h>
+#include <px4_offboard_control_mode.h>
+#include <px4_vehicle_force_setpoint.h>
 #endif
 
 #else
@@ -93,6 +95,8 @@
 #include <platforms/nuttx/px4_messages/px4_vehicle_global_velocity_setpoint.h>
 #include <platforms/nuttx/px4_messages/px4_vehicle_local_position.h>
 #include <platforms/nuttx/px4_messages/px4_position_setpoint_triplet.h>
+#include <platforms/nuttx/px4_messages/px4_offboard_control_mode.h>
+#include <platforms/nuttx/px4_messages/px4_vehicle_force_setpoint.h>
 #endif
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp
index 2673122c7..0c32026f3 100644
--- a/src/platforms/ros/nodes/commander/commander.cpp
+++ b/src/platforms/ros/nodes/commander/commander.cpp
@@ -45,18 +45,25 @@
 Commander::Commander() :
 	_n(),
 	_man_ctrl_sp_sub(_n.subscribe("manual_control_setpoint", 10, &Commander::ManualControlInputCallback, this)),
+	_offboard_control_mode_sub(_n.subscribe("offboard_control_mode", 10, &Commander::OffboardControlModeCallback, this)),
 	_vehicle_control_mode_pub(_n.advertise<px4::vehicle_control_mode>("vehicle_control_mode", 10)),
 	_actuator_armed_pub(_n.advertise<px4::actuator_armed>("actuator_armed", 10)),
 	_vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)),
 	_parameter_update_pub(_n.advertise<px4::parameter_update>("parameter_update", 10)),
 	_msg_parameter_update(),
 	_msg_actuator_armed(),
-	_msg_vehicle_control_mode()
+	_msg_vehicle_control_mode(),
+	_msg_offboard_control_mode(),
+	_got_manual_control(false)
 {
+
+	/* Default to offboard control: when no joystick is connected offboard control should just work */
+
 }
 
 void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg)
 {
+	_got_manual_control = true;
 	px4::vehicle_status msg_vehicle_status;
 
 	/* fill vehicle control mode based on (faked) stick positions*/
@@ -101,12 +108,51 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon
 	}
 }
 
+void Commander::SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode,
+			px4::vehicle_control_mode &msg_vehicle_control_mode)
+{
+	msg_vehicle_control_mode.flag_control_manual_enabled = false;
+	msg_vehicle_control_mode.flag_control_offboard_enabled = true;
+	msg_vehicle_control_mode.flag_control_auto_enabled = false;
+
+	msg_vehicle_control_mode.flag_control_rates_enabled = !msg_offboard_control_mode.ignore_bodyrate ||
+		!msg_offboard_control_mode.ignore_attitude ||
+		!msg_offboard_control_mode.ignore_position ||
+		!msg_offboard_control_mode.ignore_velocity ||
+		!msg_offboard_control_mode.ignore_acceleration_force;
+
+	msg_vehicle_control_mode.flag_control_attitude_enabled = !msg_offboard_control_mode.ignore_attitude ||
+		!msg_offboard_control_mode.ignore_position ||
+		!msg_offboard_control_mode.ignore_velocity ||
+		!msg_offboard_control_mode.ignore_acceleration_force;
+
+
+	msg_vehicle_control_mode.flag_control_velocity_enabled = !msg_offboard_control_mode.ignore_velocity ||
+		!msg_offboard_control_mode.ignore_position;
+
+	msg_vehicle_control_mode.flag_control_climb_rate_enabled = !msg_offboard_control_mode.ignore_velocity ||
+		!msg_offboard_control_mode.ignore_position;
+
+	msg_vehicle_control_mode.flag_control_position_enabled = !msg_offboard_control_mode.ignore_position;
+
+	msg_vehicle_control_mode.flag_control_altitude_enabled = !msg_offboard_control_mode.ignore_position;
+}
+
 void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
 		px4::vehicle_status &msg_vehicle_status,
 		px4::vehicle_control_mode &msg_vehicle_control_mode) {
 	// XXX this is a minimal implementation. If more advanced functionalities are
 	// needed consider a full port of the commander
 
+
+	if (msg->offboard_switch == px4::manual_control_setpoint::SWITCH_POS_ON)
+	{
+		SetOffboardControl(_msg_offboard_control_mode, msg_vehicle_control_mode);
+		return;
+	}
+
+	msg_vehicle_control_mode.flag_control_offboard_enabled = false;
+
 	switch (msg->mode_switch) {
 		case px4::manual_control_setpoint::SWITCH_POS_NONE:
 		ROS_WARN("Joystick button mapping error, main mode not set");
@@ -152,6 +198,35 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
 
 }
 
+void Commander::OffboardControlModeCallback(const px4::offboard_control_modeConstPtr &msg)
+{
+	_msg_offboard_control_mode = *msg;
+
+	/* Force system into offboard control mode */
+	if (!_got_manual_control) {
+		SetOffboardControl(_msg_offboard_control_mode, _msg_vehicle_control_mode);
+		
+		px4::vehicle_status msg_vehicle_status;
+		msg_vehicle_status.timestamp = px4::get_time_micros();
+		msg_vehicle_status.hil_state = msg_vehicle_status.HIL_STATE_OFF;
+		msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR;
+		msg_vehicle_status.is_rotary_wing = true;
+		msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED;
+		
+
+		_msg_actuator_armed.armed = true;
+		_msg_actuator_armed.timestamp = px4::get_time_micros();
+
+		_msg_vehicle_control_mode.timestamp = px4::get_time_micros();
+		_msg_vehicle_control_mode.flag_armed = true;
+		
+
+		_vehicle_control_mode_pub.publish(_msg_vehicle_control_mode);
+		_actuator_armed_pub.publish(_msg_actuator_armed);
+		_vehicle_status_pub.publish(msg_vehicle_status);
+	}
+}
+
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "commander");
diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h
index 58b7257b7..c537c8419 100644
--- a/src/platforms/ros/nodes/commander/commander.h
+++ b/src/platforms/ros/nodes/commander/commander.h
@@ -44,6 +44,7 @@
 #include <px4/vehicle_status.h>
 #include <px4/parameter_update.h>
 #include <px4/actuator_armed.h>
+#include <px4/offboard_control_mode.h>
 
 class Commander
 {
@@ -59,14 +60,26 @@ protected:
 	void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg);
 
 	/**
+	 * Stores the offboard control mode
+	 */
+	void OffboardControlModeCallback(const px4::offboard_control_modeConstPtr &msg);
+
+	/**
 	 * Set control mode flags based on stick positions (equiv to code in px4 commander)
 	 */
 	void EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
 			px4::vehicle_status &msg_vehicle_status,
 			px4::vehicle_control_mode &msg_vehicle_control_mode);
 
+	/**
+	 * Sets offboard controll flags in msg_vehicle_control_mode
+	 */
+	void SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode,
+			px4::vehicle_control_mode &msg_vehicle_control_mode);
+
 	ros::NodeHandle _n;
 	ros::Subscriber _man_ctrl_sp_sub;
+	ros::Subscriber _offboard_control_mode_sub;
 	ros::Publisher _vehicle_control_mode_pub;
 	ros::Publisher _actuator_armed_pub;
 	ros::Publisher _vehicle_status_pub;
@@ -75,5 +88,8 @@ protected:
 	px4::parameter_update _msg_parameter_update;
 	px4::actuator_armed _msg_actuator_armed;
 	px4::vehicle_control_mode _msg_vehicle_control_mode;
+	px4::offboard_control_mode _msg_offboard_control_mode;
+
+	bool _got_manual_control;
 
 };
diff --git a/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
new file mode 100644
index 000000000..fb0b09de1
--- /dev/null
+++ b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 demo_offboard_position_Setpoints.cpp
+ *
+ * Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "demo_offboard_attitude_setpoints.h"
+
+#include <platforms/px4_middleware.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <std_msgs/Float64.h>
+#include <math.h>
+#include <tf/transform_datatypes.h>
+
+DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
+	_n(),
+	_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/attitude", 1)),
+	_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint/att_throttle", 1))
+{
+}
+
+
+int DemoOffboardAttitudeSetpoints::main()
+{
+	px4::Rate loop_rate(10);
+
+	while (ros::ok()) {
+		loop_rate.sleep();
+		ros::spinOnce();
+
+		/* Publish example offboard attitude setpoint */
+		geometry_msgs::PoseStamped pose;
+		tf::Quaternion q = tf::createQuaternionFromRPY(0.0, 0.1 * (sinf(0.5 * (float)px4::get_time_micros() / 1000000.0f)) , 0.0);
+		quaternionTFToMsg(q, pose.pose.orientation);
+
+		_attitude_sp_pub.publish(pose);
+
+		std_msgs::Float64 thrust;
+		thrust.data = 0.4f + 0.25 * (sinf((float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump'
+		_thrust_sp_pub.publish(thrust);
+	}
+	return 0;
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "demo_offboard_position_setpoints");
+	DemoOffboardAttitudeSetpoints d;
+	return d.main();
+}
diff --git a/src/modules/uORB/topics/vehicle_force_setpoint.h b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.h
index e3a7360b2..d7b7a37ba 100644
--- a/src/modules/uORB/topics/vehicle_force_setpoint.h
+++ b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015 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
@@ -32,34 +32,27 @@
  ****************************************************************************/
 
 /**
- * @file vehicle_force_setpoint.h
+ * @file demo_offboard_attitude_Setpoints.h
+ *
+ * Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
+ *
  * @author Thomas Gubler <thomasgubler@gmail.com>
- * Definition of force (NED) setpoint uORB topic. Typically this can be used
- * by a position control app together with an attitude control app.
- */
-
-#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_
-#define TOPIC_VEHICLE_FORCE_SETPOINT_H_
+*/
 
-#include "../uORB.h"
+#include "ros/ros.h"
+#include <px4/manual_control_setpoint.h>
 
-/**
- * @addtogroup topics
- * @{
- */
-
-struct vehicle_force_setpoint_s {
-	float x;		/**< in N NED			  		*/
-	float y;		/**< in N NED			  		*/
-	float z;		/**< in N NED			  		*/
-	float yaw;		/**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */
-}; /**< Desired force in NED frame */
+class DemoOffboardAttitudeSetpoints
+{
+public:
+	DemoOffboardAttitudeSetpoints();
 
-/**
- * @}
- */
+	~DemoOffboardAttitudeSetpoints() {}
 
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_force_setpoint);
+	int main();
 
-#endif
+protected:
+	ros::NodeHandle _n;
+	ros::Publisher _attitude_sp_pub;
+	ros::Publisher _thrust_sp_pub;
+};
diff --git a/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp
new file mode 100644
index 000000000..7366d7fc6
--- /dev/null
+++ b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 demo_offboard_position_Setpoints.cpp
+ *
+ * Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "demo_offboard_position_setpoints.h"
+
+#include <platforms/px4_middleware.h>
+#include <geometry_msgs/PoseStamped.h>
+
+DemoOffboardPositionSetpoints::DemoOffboardPositionSetpoints() :
+	_n(),
+	_local_position_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/local_position", 1))
+{
+}
+
+
+int DemoOffboardPositionSetpoints::main()
+{
+	px4::Rate loop_rate(10);
+
+	while (ros::ok()) {
+		loop_rate.sleep();
+		ros::spinOnce();
+
+		/* Publish example offboard position setpoint */
+		geometry_msgs::PoseStamped pose;
+		pose.pose.position.x = 0;
+		pose.pose.position.y = 0;
+		pose.pose.position.z = 1;
+		_local_position_sp_pub.publish(pose);
+	}
+	return 0;
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "demo_offboard_position_setpoints");
+	DemoOffboardPositionSetpoints d;
+	return d.main();
+}
diff --git a/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.h b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.h
new file mode 100644
index 000000000..7d39690f4
--- /dev/null
+++ b/src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.h
@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 demo_offboard_position_Setpoints.h
+ *
+ * Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+#include <px4/manual_control_setpoint.h>
+
+class DemoOffboardPositionSetpoints
+{
+public:
+	DemoOffboardPositionSetpoints();
+
+	~DemoOffboardPositionSetpoints() {}
+
+	int main();
+
+protected:
+	ros::NodeHandle _n;
+	ros::Publisher _local_position_sp_pub;
+};
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp
index 72f6e252f..8488c518f 100644
--- a/src/platforms/ros/nodes/manual_input/manual_input.cpp
+++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp
@@ -76,7 +76,8 @@ ManualInput::ManualInput() :
 	_n.param("map_posctl", _param_buttons_map[2], 2);
 	_n.param("map_auto_mission", _param_buttons_map[3], 3);
 	_n.param("map_auto_loiter", _param_buttons_map[4], 4);
-	_n.param("map_auto_rtl", _param_buttons_map[5], 4);
+	_n.param("map_auto_rtl", _param_buttons_map[5], 5);
+	_n.param("map_offboard", _param_buttons_map[6], 6);
 
 	/* Default to manual */
 	_msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
@@ -84,6 +85,8 @@ ManualInput::ManualInput() :
 	_msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 	_msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 	_msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+	_msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+	_msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
 
 }
 
@@ -120,7 +123,6 @@ void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, do
 
 void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp) {
 	msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
-	msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
 
 	if (_buttons_state[MAIN_STATE_MANUAL] != msg->buttons[_param_buttons_map[MAIN_STATE_MANUAL]] == true) {
 		msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
@@ -128,6 +130,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
 		msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 		msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 		msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+		msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 		return;
 
 	} else if (_buttons_state[MAIN_STATE_ALTCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_ALTCTL]] == true) {
@@ -136,6 +139,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
 		msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 		msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 		msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+		msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 		return;
 
 	} else if (_buttons_state[MAIN_STATE_POSCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_POSCTL]] == true) {
@@ -144,6 +148,15 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
 		msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
 		msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
 		msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+		msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+		return;
+	} else if (_buttons_state[MAIN_STATE_OFFBOARD] != msg->buttons[_param_buttons_map[MAIN_STATE_OFFBOARD]] == true) {
+		msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_MIDDLE;
+		msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+		msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
+		msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+		msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
+		msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
 		return;
 	}
 
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.h b/src/platforms/ros/nodes/manual_input/manual_input.h
index bf704f675..2bafcca2e 100644
--- a/src/platforms/ros/nodes/manual_input/manual_input.h
+++ b/src/platforms/ros/nodes/manual_input/manual_input.h
@@ -77,6 +77,8 @@ protected:
 		MAIN_STATE_AUTO_MISSION,
 		MAIN_STATE_AUTO_LOITER,
 		MAIN_STATE_AUTO_RTL,
+		// MAIN_STATE_ACRO,
+		MAIN_STATE_OFFBOARD,
 		MAIN_STATE_MAX
 	};
 
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp
new file mode 100644
index 000000000..5459fcffd
--- /dev/null
+++ b/src/platforms/ros/nodes/mavlink/mavlink.cpp
@@ -0,0 +1,296 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 mavlink.cpp
+ * Dummy mavlink node that interfaces to a mavros node via UDP
+ * This simulates the onboard mavlink app to some degree. It should be possible to
+ * send offboard setpoints via mavros to the SITL setup the same way as on the real system
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "mavlink.h"
+
+#include <platforms/px4_middleware.h>
+
+using namespace px4;
+
+Mavlink::Mavlink() :
+	_n(),
+	_v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)),
+	_v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)),
+	_v_att_sp_pub(_n.advertise<vehicle_attitude_setpoint>("vehicle_attitude_setpoint", 1)),
+	_pos_sp_triplet_pub(_n.advertise<position_setpoint_triplet>("position_setpoint_triplet", 1)),
+	_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
+	_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
+{
+	_link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
+	_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
+
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "mavlink");
+	Mavlink m;
+	ros::spin();
+	return 0;
+}
+
+void Mavlink::VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg)
+{
+	mavlink_message_t msg_m;
+	mavlink_msg_attitude_quaternion_pack_chan(
+			_link->get_system_id(),
+			_link->get_component_id(),
+			_link->get_channel(),
+			&msg_m,
+			get_time_micros() / 1000,
+			msg->q[0],
+			msg->q[1],
+			msg->q[2],
+			msg->q[3],
+			msg->rollspeed,
+			msg->pitchspeed,
+			msg->yawspeed);
+	_link->send_message(&msg_m);
+}
+
+void Mavlink::VehicleLocalPositionCallback(const vehicle_local_positionConstPtr &msg)
+{
+	mavlink_message_t msg_m;
+	mavlink_msg_local_position_ned_pack_chan(
+			_link->get_system_id(),
+			_link->get_component_id(),
+			_link->get_channel(),
+			&msg_m,
+			get_time_micros() / 1000,
+			msg->x,
+			msg->y,
+			msg->z,
+			msg->vx,
+			msg->vy,
+			msg->vz);
+	_link->send_message(&msg_m);
+}
+
+void Mavlink::handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid) {
+	(void)sysid;
+	(void)compid;
+
+	switch(mmsg->msgid) {
+		case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
+			handle_msg_set_attitude_target(mmsg);
+			break;
+		case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
+			handle_msg_set_position_target_local_ned(mmsg);
+			break;
+		default:
+			break;
+	}
+
+}
+
+void Mavlink::handle_msg_set_attitude_target(const mavlink_message_t *mmsg)
+{
+	mavlink_set_attitude_target_t set_attitude_target;
+	mavlink_msg_set_attitude_target_decode(mmsg, &set_attitude_target);
+
+	static offboard_control_mode offboard_control_mode;
+
+	/* set correct ignore flags for thrust field: copy from mavlink message */
+	offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));
+
+	/*
+	 * if attitude or body rate have been used (not ignored) previously and this message only sends
+	 * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
+	 * body rates to keep the controllers running
+	 */
+	bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7);
+	bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7));
+
+	if (ignore_bodyrate && ignore_attitude && !offboard_control_mode.ignore_thrust) {
+		/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
+		offboard_control_mode.ignore_bodyrate = ignore_bodyrate && offboard_control_mode.ignore_bodyrate;
+		offboard_control_mode.ignore_attitude = ignore_attitude && offboard_control_mode.ignore_attitude;
+	} else {
+		offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
+		offboard_control_mode.ignore_attitude = ignore_attitude;
+	}
+	offboard_control_mode.ignore_position = true;
+	offboard_control_mode.ignore_velocity = true;
+	offboard_control_mode.ignore_acceleration_force = true;
+
+	offboard_control_mode.timestamp = get_time_micros();
+	_offboard_control_mode_pub.publish(offboard_control_mode);
+
+	static vehicle_attitude_setpoint att_sp = {};
+
+	/* The real mavlink app has a ckeck at this location which makes sure that the attitude setpoint
+	 * gets published only if in offboard mode. We leave that out for now.
+	 */
+
+	att_sp.timestamp = get_time_micros();
+	mavlink_quaternion_to_euler(set_attitude_target.q, &att_sp.roll_body, &att_sp.pitch_body,
+			&att_sp.yaw_body);
+	mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body.data());
+	att_sp.R_valid = true;
+
+	if (!offboard_control_mode.ignore_thrust) {
+		att_sp.thrust = set_attitude_target.thrust;
+	}
+
+	if (!offboard_control_mode.ignore_attitude) {
+		for (ssize_t i = 0; i < 4; i++) {
+			att_sp.q_d[i] = set_attitude_target.q[i];
+		}
+		att_sp.q_d_valid = true;
+	}
+
+	_v_att_sp_pub.publish(att_sp);
+
+
+	//XXX real mavlink publishes rate sp here
+
+}
+
+void Mavlink::handle_msg_set_position_target_local_ned(const mavlink_message_t *mmsg)
+{
+
+	mavlink_set_position_target_local_ned_t set_position_target_local_ned;
+	mavlink_msg_set_position_target_local_ned_decode(mmsg, &set_position_target_local_ned);
+
+	offboard_control_mode offboard_control_mode;
+	// memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
+
+	/* Only accept messages which are intended for this system */
+	// XXX removed for sitl, makes maybe sense to re-introduce at some point
+	// if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
+				// set_position_target_local_ned.target_system == 0) &&
+			// (mavlink_system.compid == set_position_target_local_ned.target_component ||
+			 // set_position_target_local_ned.target_component == 0)) {
+
+	/* convert mavlink type (local, NED) to uORB offboard control struct */
+	offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
+	offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
+	offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
+	bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
+	/* yaw ignore flag mapps to ignore_attitude */
+	offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
+	/* yawrate ignore flag mapps to ignore_bodyrate */
+	offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
+
+
+
+	offboard_control_mode.timestamp = get_time_micros();
+	_offboard_control_mode_pub.publish(offboard_control_mode);
+
+	/* The real mavlink app has a ckeck at this location which makes sure that the position setpoint triplet
+	 * gets published only if in offboard mode. We leave that out for now.
+	 */
+	if (is_force_sp && offboard_control_mode.ignore_position &&
+			offboard_control_mode.ignore_velocity) {
+		/* The offboard setpoint is a force setpoint only, directly writing to the force
+		 * setpoint topic and not publishing the setpoint triplet topic */
+		vehicle_force_setpoint	force_sp;
+		force_sp.x = set_position_target_local_ned.afx;
+		force_sp.y = set_position_target_local_ned.afy;
+		force_sp.z = set_position_target_local_ned.afz;
+		//XXX: yaw
+
+		_force_sp_pub.publish(force_sp);
+	} else {
+		/* It's not a pure force setpoint: publish to setpoint triplet  topic */
+		position_setpoint_triplet pos_sp_triplet;
+		pos_sp_triplet.previous.valid = false;
+		pos_sp_triplet.next.valid = false;
+		pos_sp_triplet.current.valid = true;
+		pos_sp_triplet.current.type = position_setpoint::SETPOINT_TYPE_POSITION; //XXX support others
+
+		/* set the local pos values */
+		if (!offboard_control_mode.ignore_position) {
+			pos_sp_triplet.current.position_valid = true;
+			pos_sp_triplet.current.x = set_position_target_local_ned.x;
+			pos_sp_triplet.current.y = set_position_target_local_ned.y;
+			pos_sp_triplet.current.z = set_position_target_local_ned.z;
+		} else {
+			pos_sp_triplet.current.position_valid = false;
+		}
+
+		/* set the local vel values */
+		if (!offboard_control_mode.ignore_velocity) {
+			pos_sp_triplet.current.velocity_valid = true;
+			pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
+			pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
+			pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
+		} else {
+			pos_sp_triplet.current.velocity_valid = false;
+		}
+
+		/* set the local acceleration values if the setpoint type is 'local pos' and none
+		 * of the accelerations fields is set to 'ignore' */
+		if (!offboard_control_mode.ignore_acceleration_force) {
+			pos_sp_triplet.current.acceleration_valid = true;
+			pos_sp_triplet.current.a_x = set_position_target_local_ned.afx;
+			pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
+			pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
+			pos_sp_triplet.current.acceleration_is_force =
+				is_force_sp;
+
+		} else {
+			pos_sp_triplet.current.acceleration_valid = false;
+		}
+
+		/* set the yaw sp value */
+		if (!offboard_control_mode.ignore_attitude) {
+			pos_sp_triplet.current.yaw_valid = true;
+			pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
+
+		} else {
+			pos_sp_triplet.current.yaw_valid = false;
+		}
+
+		/* set the yawrate sp value */
+		if (!offboard_control_mode.ignore_bodyrate) {
+			pos_sp_triplet.current.yawspeed_valid = true;
+			pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
+
+		} else {
+			pos_sp_triplet.current.yawspeed_valid = false;
+		}
+		//XXX handle global pos setpoints (different MAV frames)
+
+		_pos_sp_triplet_pub.publish(pos_sp_triplet);
+	}
+}
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h
new file mode 100644
index 000000000..acb2408f3
--- /dev/null
+++ b/src/platforms/ros/nodes/mavlink/mavlink.h
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 mavlink.h
+ * Dummy mavlink node that interfaces to a mavros node via UDP
+ * This simulates the onboard mavlink app to some degree. It should be possible to
+ * send offboard setpoints via mavros to the SITL setup the same way as on the real system
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+#include <mavconn/interface.h>
+#include <px4/vehicle_attitude.h>
+#include <px4/vehicle_local_position.h>
+#include <px4/vehicle_attitude_setpoint.h>
+#include <px4/position_setpoint_triplet.h>
+#include <px4/vehicle_force_setpoint.h>
+#include <px4/offboard_control_mode.h>
+
+namespace px4
+{
+
+class Mavlink
+{
+public:
+	Mavlink();
+
+	~Mavlink() {}
+
+protected:
+
+	ros::NodeHandle _n;
+	mavconn::MAVConnInterface::Ptr _link;
+	ros::Subscriber _v_att_sub;
+	ros::Subscriber _v_local_pos_sub;
+	ros::Publisher _v_att_sp_pub;
+	ros::Publisher _pos_sp_triplet_pub;
+	ros::Publisher _offboard_control_mode_pub;
+	ros::Publisher _force_sp_pub;
+
+	/**
+	 *
+	 * Simulates output of attitude data from the FCU
+	 * Equivalent to the mavlink stream ATTITUDE_QUATERNION
+	 *
+	 * */
+	void VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg);
+
+	/**
+	 *
+	 * Simulates output of local position data from the FCU
+	 * Equivalent to the mavlink stream LOCAL_POSITION_NED
+	 *
+	 * */
+	void VehicleLocalPositionCallback(const vehicle_local_positionConstPtr &msg);
+
+
+	/**
+	 *
+	 * Handle incoming mavlink messages ant publish them to ROS ("Mavlink Receiver")
+	 *
+	 * */
+	void handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid);
+
+	/**
+	 *
+	 * Handle SET_ATTITUDE_TARGET mavlink messages
+	 *
+	 * */
+	void handle_msg_set_attitude_target(const mavlink_message_t *mmsg);
+
+	/**
+	 *
+	 * Handle SET_POSITION_TARGET_LOCAL_NED mavlink messages
+	 *
+	 * */
+	void handle_msg_set_position_target_local_ned(const mavlink_message_t *mmsg);
+
+};
+
+}