Merge branch 'forcefail' of github.com:PX4/Firmware into forcefail

18 files changed, 97 insertions, 280 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index c6ee08fbe..d93009c47 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1149,6 +1149,12 @@ PX4IO::io_set_arming_state()
 		clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
 	}
 
+	if (armed.force_failsafe) {
+		set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+	}
+
 	if (armed.ready_to_arm) {
 		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
 
@@ -2437,7 +2443,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		break;
 
 	case PX4IO_CHECK_CRC: {
-		/* check IO firmware CRC against passed value */		
+		/* check IO firmware CRC against passed value */
 		uint32_t io_crc = 0;
 		ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
 		if (ret != OK)
@@ -2697,7 +2703,7 @@ checkcrc(int argc, char *argv[])
 	int fd = open(argv[1], O_RDONLY);
 	if (fd == -1) {
 		printf("open of %s failed - %d\n", argv[1], errno);
-		exit(1);			
+		exit(1);
 	}
 	const uint32_t app_size_max = 0xf000;
 	uint32_t fw_crc = 0;
@@ -2712,7 +2718,7 @@ checkcrc(int argc, char *argv[])
 	close(fd);
 	while (nbytes < app_size_max) {
 		uint8_t b = 0xff;
-		fw_crc = crc32part(&b, 1, fw_crc);			
+		fw_crc = crc32part(&b, 1, fw_crc);
 		nbytes++;
 	}
 
@@ -2725,7 +2731,7 @@ checkcrc(int argc, char *argv[])
 
 	if (ret != OK) {
 		printf("check CRC failed - %d\n", ret);
-		exit(1);			
+		exit(1);
 	}
 	printf("CRCs match\n");
 	exit(0);
@@ -2755,12 +2761,12 @@ bind(int argc, char *argv[])
 		pulses = DSMX_BIND_PULSES;
 	else if (!strcmp(argv[2], "dsmx8"))
 		pulses = DSMX8_BIND_PULSES;
-	else 
+	else
 		errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
 	// Test for custom pulse parameter
 	if (argc > 3)
 		pulses = atoi(argv[3]);
-	if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) 
+	if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
 		errx(1, "system must not be armed");
 
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
@@ -2962,7 +2968,7 @@ lockdown(int argc, char *argv[])
 				(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
 				warnx("ACTUATORS ARE NOW SAFE IN HIL.");
 			}
-			
+
 		} else {
 			errx(1, "driver not loaded, exiting");
 		}
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 953feec2a..04450a44f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -546,24 +546,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		}
 		break;
 
-#if 0
 	/* Flight termination */
-	case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
-
-			//XXX: to enable the parachute, a param needs to be set
-			//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
-			if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
-				transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
-				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
-
+	case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
+			if (cmd->param1 > 0.5f) {
+				//XXX update state machine?
+				armed_local->force_failsafe = true;
+				warnx("forcing failsafe");
 			} else {
-				/* reject parachute depoyment not armed */
-				cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				armed_local->force_failsafe = false;
+				warnx("disabling failsafe");
 			}
-
+			cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 		}
 		break;
-#endif
 
 	case VEHICLE_CMD_DO_SET_HOME: {
 			bool use_current = cmd->param1 > 0.5f;
diff --git a/src/modules/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp
index c6c374300..0175acda9 100644
--- a/src/modules/controllib/blocks.cpp
+++ b/src/modules/controllib/blocks.cpp
@@ -293,7 +293,18 @@ int blockIntegralTrapTest()
 
 float BlockDerivative::update(float input)
 {
-	float output = _lowPass.update((input - getU()) / getDt());
+	float output;
+	if (_initialized) {
+		output = _lowPass.update((input - getU()) / getDt());
+	} else {
+		// if this is the first call to update
+		// we have no valid derivative
+		// and so we use the assumption the
+		// input value is not changing much,
+		// which is the best we can do here.
+		output = 0.0f;
+		_initialized = true;
+	}
 	setU(input);
 	return output;
 }
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index 66e929038..37d7832b3 100644
--- a/src/modules/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
@@ -238,9 +238,25 @@ public:
 	BlockDerivative(SuperBlock *parent, const char *name) :
 		SuperBlock(parent, name),
 		_u(0),
+		_initialized(false),
 		_lowPass(this, "LP")
 	{};
 	virtual ~BlockDerivative() {};
+
+	/**
+	 * Update the state and get current derivative
+	 *
+	 * This call updates the state and gets the current
+	 * derivative. As the derivative is only valid
+	 * on the second call to update, it will return
+	 * no change (0) on the first. To get a closer
+	 * estimate of the derivative on the first call,
+	 * call setU() one time step before using the
+	 * return value of update().
+	 *
+	 * @param input the variable to calculate the derivative of
+	 * @return the current derivative
+	 */
 	float update(float input);
 // accessors
 	void setU(float u) {_u = u;}
@@ -249,6 +265,7 @@ public:
 protected:
 // attributes
 	float _u; /**< previous input */
+	bool _initialized;
 	BlockLowPass _lowPass; /**< low pass filter */
 };
 
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 6c251c237..0b111f7bd 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -199,19 +199,6 @@ private:
 		float l1_period;
 		float l1_damping;
 
-		float time_const;
-		float min_sink_rate;
-		float max_sink_rate;
-		float max_climb_rate;
-		float throttle_damp;
-		float integrator_gain;
-		float vertical_accel_limit;
-		float height_comp_filter_omega;
-		float speed_comp_filter_omega;
-		float roll_throttle_compensation;
-		float speed_weight;
-		float pitch_damping;
-
 		float airspeed_min;
 		float airspeed_trim;
 		float airspeed_max;
@@ -225,9 +212,6 @@ private:
 
 		float throttle_land_max;
 
-		float heightrate_p;
-		float speedrate_p;
-
 		float land_slope_angle;
 		float land_H1_virt;
 		float land_flare_alt_relative;
@@ -242,19 +226,6 @@ private:
 		param_t l1_period;
 		param_t l1_damping;
 
-		param_t time_const;
-		param_t min_sink_rate;
-		param_t max_sink_rate;
-		param_t max_climb_rate;
-		param_t throttle_damp;
-		param_t integrator_gain;
-		param_t vertical_accel_limit;
-		param_t height_comp_filter_omega;
-		param_t speed_comp_filter_omega;
-		param_t roll_throttle_compensation;
-		param_t speed_weight;
-		param_t pitch_damping;
-
 		param_t airspeed_min;
 		param_t airspeed_trim;
 		param_t airspeed_max;
@@ -268,9 +239,6 @@ private:
 
 		param_t throttle_land_max;
 
-		param_t heightrate_p;
-		param_t speedrate_p;
-
 		param_t land_slope_angle;
 		param_t land_H1_virt;
 		param_t land_flare_alt_relative;
@@ -470,21 +438,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
 	_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
 
-	_parameter_handles.time_const = 			param_find("FW_T_TIME_CONST");
-	_parameter_handles.min_sink_rate = 			param_find("FW_T_SINK_MIN");
-	_parameter_handles.max_sink_rate =			param_find("FW_T_SINK_MAX");
-	_parameter_handles.max_climb_rate =			param_find("FW_T_CLMB_MAX");
-	_parameter_handles.throttle_damp = 			param_find("FW_T_THR_DAMP");
-	_parameter_handles.integrator_gain =			param_find("FW_T_INTEG_GAIN");
-	_parameter_handles.vertical_accel_limit =		param_find("FW_T_VERT_ACC");
-	_parameter_handles.height_comp_filter_omega =		param_find("FW_T_HGT_OMEGA");
-	_parameter_handles.speed_comp_filter_omega =		param_find("FW_T_SPD_OMEGA");
-	_parameter_handles.roll_throttle_compensation = 	param_find("FW_T_RLL2THR");
-	_parameter_handles.speed_weight = 			param_find("FW_T_SPDWEIGHT");
-	_parameter_handles.pitch_damping = 			param_find("FW_T_PTCH_DAMP");
-	_parameter_handles.heightrate_p =			param_find("FW_T_HRATE_P");
-	_parameter_handles.speedrate_p =			param_find("FW_T_SRATE_P");
-
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -535,22 +488,6 @@ FixedwingPositionControl::parameters_update()
 
 	param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max));
 
-	param_get(_parameter_handles.time_const, &(_parameters.time_const));
-	param_get(_parameter_handles.min_sink_rate, &(_parameters.min_sink_rate));
-	param_get(_parameter_handles.max_sink_rate, &(_parameters.max_sink_rate));
-	param_get(_parameter_handles.throttle_damp, &(_parameters.throttle_damp));
-	param_get(_parameter_handles.integrator_gain, &(_parameters.integrator_gain));
-	param_get(_parameter_handles.vertical_accel_limit, &(_parameters.vertical_accel_limit));
-	param_get(_parameter_handles.height_comp_filter_omega, &(_parameters.height_comp_filter_omega));
-	param_get(_parameter_handles.speed_comp_filter_omega, &(_parameters.speed_comp_filter_omega));
-	param_get(_parameter_handles.roll_throttle_compensation, &(_parameters.roll_throttle_compensation));
-	param_get(_parameter_handles.speed_weight, &(_parameters.speed_weight));
-	param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping));
-	param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
-
-	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
-	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
-
 	param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
 	param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
 	param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 52128e1b7..27039ff51 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -155,182 +155,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
 /**
- * Maximum climb rate
- *
- * This is the best climb rate that the aircraft can achieve with 
- * the throttle set to THR_MAX and the airspeed set to the 
- * default value. For electric aircraft make sure this number can be 
- * achieved towards the end of flight when the battery voltage has reduced. 
- * The setting of this parameter can be checked by commanding a positive 
- * altitude change of 100m in loiter, RTL or guided mode. If the throttle 
- * required to climb is close to THR_MAX and the aircraft is maintaining 
- * airspeed, then this parameter is set correctly. If the airspeed starts 
- * to reduce, then the parameter is set to high, and if the throttle 
- * demand required to climb and maintain speed is noticeably less than 
- * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or 
- * FW_THR_MAX reduced.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
-
-/**
- * Minimum descent rate
- *
- * This is the sink rate of the aircraft with the throttle 
- * set to THR_MIN and flown at the same airspeed as used 
- * to measure FW_T_CLMB_MAX.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
-
-/**
- * Maximum descent rate
- *
- * This sets the maximum descent rate that the controller will use. 
- * If this value is too large, the aircraft can over-speed on descent. 
- * This should be set to a value that can be achieved without 
- * exceeding the lower pitch angle limit and without over-speeding 
- * the aircraft.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
-
-/**
- * TECS time constant
- *
- * This is the time constant of the TECS control algorithm (in seconds). 
- * Smaller values make it faster to respond, larger values make it slower
- * to respond.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
-
-/**
- * Throttle damping factor
- *
- * This is the damping gain for the throttle demand loop. 
- * Increase to add damping to correct for oscillations in speed and height.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
-
-/**
- * Integrator gain
- *
- * This is the integrator gain on the control loop. 
- * Increasing this gain increases the speed at which speed 
- * and height offsets are trimmed out, but reduces damping and 
- * increases overshoot.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
-
-/**
- * Maximum vertical acceleration
- *
- * This is the maximum vertical acceleration (in metres/second square)
- * either up or down that the controller will use to correct speed 
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) 
- * allows for reasonably aggressive pitch changes if required to recover 
- * from under-speed conditions.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
-
-/**
- * Complementary filter "omega" parameter for height
- *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse vertical acceleration and barometric height to obtain 
- * an estimate of height rate and height. Increasing this frequency weights 
- * the solution more towards use of the barometer, whilst reducing it weights 
- * the solution more towards use of the accelerometer data.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
-
-/**
- * Complementary filter "omega" parameter for speed
- *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse longitudinal acceleration and airspeed to obtain an 
- * improved airspeed estimate. Increasing this frequency weights the solution
- * more towards use of the arispeed sensor, whilst reducing it weights the 
- * solution more towards use of the accelerometer data.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
-
-/**
- * Roll -> Throttle feedforward
- *
- * Increasing this gain turn increases the amount of throttle that will 
- * be used to compensate for the additional drag created by turning. 
- * Ideally this should be set to  approximately 10 x the extra sink rate 
- * in m/s created by a 45 degree bank turn. Increase this gain if 
- * the aircraft initially loses energy in turns and reduce if the 
- * aircraft initially gains energy in turns. Efficient high aspect-ratio 
- * aircraft (eg powered sailplanes) can use a lower value, whereas 
- * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
-
-/**
- * Speed <--> Altitude priority
- *
- * This parameter adjusts the amount of weighting that the pitch control 
- * applies to speed vs height errors. Setting it to 0.0 will cause the 
- * pitch control to control height and ignore speed errors. This will 
- * normally improve height accuracy but give larger airspeed errors. 
- * Setting it to 2.0 will cause the pitch control loop to control speed 
- * and ignore height errors. This will normally reduce airspeed errors, 
- * but give larger height errors. The default value of 1.0 allows the pitch 
- * control to simultaneously control height and speed. 
- * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
- * adjust its pitch angle to maintain airspeed, ignoring changes in height).
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
-
-/**
- * Pitch damping factor
- *
- * This is the damping gain for the pitch demand loop. Increase to add 
- * damping to correct for oscillations in height. The default value of 0.0 
- * will work well provided the pitch to servo controller has been tuned 
- * properly.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
-
-/**
- * Height rate P factor
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
-
-/**
- * Speed rate P factor
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
-
-/**
  * Landing slope angle
  *
  * @group L1 Control
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
index 2e37d166e..749f57a2b 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -59,6 +59,7 @@ mTecs::mTecs() :
 	_controlAltitude(this, "FPA", true),
 	_controlAirSpeed(this, "ACC"),
 	_flightPathAngleLowpass(this, "FPA_LP"),
+	_altitudeLowpass(this, "ALT_LP"),
 	_airspeedLowpass(this, "A_LP"),
 	_airspeedDerivative(this, "AD"),
 	_throttleSp(0.0f),
@@ -93,18 +94,23 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
 	/* time measurement */
 	updateTimeMeasurement();
 
+	/* Filter altitude */
+	float altitudeFiltered = _altitudeLowpass.update(altitude);
+
+
 	/* calculate flight path angle setpoint from altitude setpoint */
-	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude);
+	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitudeFiltered);
 
 	/* Debug output */
 	if (_counter % 10 == 0) {
 		debug("***");
-		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp);
+		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, altitude filtered %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)altitudeFiltered, (double)flightPathAngleSp);
 	}
 
 	/* Write part of the status message */
 	_status.altitudeSp = altitudeSp;
 	_status.altitude = altitude;
+	_status.altitudeFiltered = altitudeFiltered;
 
 
 	/* use flightpath angle setpoint for total energy control */
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index efa89a5d3..ae6867d38 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -115,6 +115,7 @@ protected:
 
 	/* Other calculation Blocks */
 	control::BlockLowPass _flightPathAngleLowpass;	/**< low pass filter for the flight path angle */
+	control::BlockLowPass _altitudeLowpass;	/**< low pass filter for altitude */
 	control::BlockLowPass _airspeedLowpass;		/**< low pass filter for airspeed */
 	control::BlockDerivative _airspeedDerivative;	/**< airspeed derivative calulation */
 
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
index 5b9238780..4ca31fe20 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
@@ -175,6 +175,13 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
 PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
 
 /**
+ * Lowpass (cutoff freq.) for altitude
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ALT_LP, 1.0f);
+
+/**
  * Lowpass (cutoff freq.) for the flight path angle
  *
  * @group mTECS
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index dd7f4c801..606521f20 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -135,12 +135,15 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 			}
 		}
 
-		if (home_alt > missionitem.altitude) {
+		/* calculate the global waypoint altitude */
+		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
+
+		if (home_alt > wp_alt) {
 			if (throw_error) {
-				mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
 				return false;
 			} else	{
-				mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
 				return true;
 			}
 		}
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 93cbfd7b1..331a9a728 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -458,7 +458,7 @@ void
 Navigator::publish_position_setpoint_triplet()
 {
 	/* update navigation state */
-	/* TODO: set nav_state */
+	_pos_sp_triplet.nav_state = _vstatus.nav_state;
 
 	/* lazily publish the position setpoint triplet only once available */
 	if (_pos_sp_triplet_pub > 0) {
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index f534c0f4c..31861c3fc 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1432,17 +1432,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- GLOBAL POSITION SETPOINT --- */
 		if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
-			log_msg.msg_type = LOG_GPSP_MSG;
-			log_msg.body.log_GPSP.nav_state = 0;  /* TODO: Fix this */
-			log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
-			log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
-			log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
-			log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
-			log_msg.body.log_GPSP.type = buf.triplet.current.type;
-			log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
-			log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-			log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
-			LOGBUFFER_WRITE_AND_COUNT(GPSP);
+
+			if (buf.triplet.current.valid) {
+				log_msg.msg_type = LOG_GPSP_MSG;
+				log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
+				log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
+				log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
+				log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
+				log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
+				log_msg.body.log_GPSP.type = buf.triplet.current.type;
+				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
+				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
+				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
+				LOGBUFFER_WRITE_AND_COUNT(GPSP);
+			}
 		}
 
 		/* --- VICON POSITION --- */
@@ -1595,6 +1598,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_TECS_MSG;
 			log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
 			log_msg.body.log_TECS.altitude = buf.tecs_status.altitude;
+			log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitudeFiltered;
 			log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
 			log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
 			log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index b14ef04cc..853a3811f 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -334,6 +334,7 @@ struct log_GS1B_s {
 struct log_TECS_s {
 	float altitudeSp;
 	float altitude;
+	float altitudeFiltered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;
@@ -454,7 +455,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
-	LOG_FORMAT(TECS, "ffffffffffffffB",	"AltSP,Alt,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
+	LOG_FORMAT(TECS, "fffffffffffffffB",	"ASP,A,AF,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
 	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
 
 	/* system-level messages, ID >= 0x80 */
diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h
index a98d3fc3a..0f6c9aca1 100644
--- a/src/modules/uORB/topics/actuator_armed.h
+++ b/src/modules/uORB/topics/actuator_armed.h
@@ -56,6 +56,7 @@ struct actuator_armed_s {
 	bool		armed;		/**< Set to true if system is armed */
 	bool		ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool		lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+	bool		force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */
 };
 
 /**
@@ -65,4 +66,4 @@ struct actuator_armed_s {
 /* register this as object request broker structure */
 ORB_DECLARE(actuator_armed);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 673c0e491..4a1932180 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -95,6 +95,8 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s previous;
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
+
+	unsigned nav_state;				/**< report the navigation state */
 };
 
 /**
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
index c4d0c1874..33055018c 100644
--- a/src/modules/uORB/topics/tecs_status.h
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -66,6 +66,7 @@ struct tecs_status_s {
 
 	float altitudeSp;
 	float altitude;
+	float altitudeFiltered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index c21a29b13..7db33d98b 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -76,6 +76,7 @@ enum VEHICLE_CMD {
 	VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 742f45484..403567cb4 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -70,7 +70,7 @@ usage(const char *reason)
 {
 	if (reason != NULL)
 		warnx("%s", reason);
-	errx(1, 
+	errx(1,
 		"usage:\n"
 		"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info  ...\n"
 		"\n"