Merge commit 'aa40c69853be0dc7e79bc3084472b77f9667c1f1' into dev_ros_mcatt

Conflicts:
	makefiles/config_px4fmu-v2_test.mk

19 files changed, 236 insertions, 904 deletions

diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp
index 6793acd81..4676c6ad7 100644
--- a/src/drivers/ll40ls/ll40ls.cpp
+++ b/src/drivers/ll40ls/ll40ls.cpp
@@ -89,7 +89,7 @@
 
 /* Device limits */
 #define LL40LS_MIN_DISTANCE (0.00f)
-#define LL40LS_MAX_DISTANCE (14.00f)
+#define LL40LS_MAX_DISTANCE (60.00f)
 
 #define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
 
@@ -233,11 +233,11 @@ LL40LS::~LL40LS()
 	if (_reports != nullptr) {
 		delete _reports;
 	}
-	
+
 	if (_class_instance != -1) {
 		unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
 	}
-	
+
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -263,7 +263,7 @@ LL40LS::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {	
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		/* get a publish handle on the range finder topic */
 		struct range_finder_report rf_report;
 		measure();
@@ -314,9 +314,9 @@ LL40LS::probe()
 			goto ok;
 		}
 
-		debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n", 
-		      (unsigned)who_am_i, 
-		      LL40LS_WHO_AM_I_REG_VAL, 
+		debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x val=0x%02x\n",
+		      (unsigned)who_am_i,
+		      LL40LS_WHO_AM_I_REG_VAL,
 		      (unsigned)val);
 	}
 
@@ -581,6 +581,8 @@ LL40LS::collect()
 	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
 	if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
 		report.valid = 1;
 	}
@@ -704,7 +706,7 @@ LL40LS::print_info()
 	perf_print_counter(_buffer_overflows);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
 	_reports->print_info("report queue");
-	printf("distance: %ucm (0x%04x)\n", 
+	printf("distance: %ucm (0x%04x)\n",
 	       (unsigned)_last_distance, (unsigned)_last_distance);
 }
 
@@ -969,8 +971,8 @@ ll40ls_main(int argc, char *argv[])
 		}
 	}
 
-	const char *verb = argv[optind];	
-	
+	const char *verb = argv[optind];
+
 	/*
 	 * Start/load the driver.
 	 */
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index beb6c8e35..9cf568658 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -520,6 +520,8 @@ MB12XX::collect()
 	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
 	report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
 
 	/* publish it, if we are the primary */
diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp
index fdd524189..4301750f0 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -545,7 +545,7 @@ SF0X::collect()
 
 	float si_units;
 	bool valid = false;
-	
+
 	for (int i = 0; i < ret; i++) {
 		if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) {
 			valid = true;
@@ -564,6 +564,8 @@ SF0X::collect()
 	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
 	report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
 
 	/* publish it */
diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp
index 2f2f692a1..83b5c987e 100644
--- a/src/drivers/trone/trone.cpp
+++ b/src/drivers/trone/trone.cpp
@@ -256,11 +256,11 @@ TRONE::~TRONE()
 	if (_reports != nullptr) {
 		delete _reports;
 	}
-	
+
 	if (_class_instance != -1) {
 		unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
 	}
-	
+
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -286,7 +286,7 @@ TRONE::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {	
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		/* get a publish handle on the range finder topic */
 		struct range_finder_report rf_report;
 		measure();
@@ -558,8 +558,10 @@ TRONE::collect()
 	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
+	report.minimum_distance = get_minimum_distance();
+	report.maximum_distance = get_maximum_distance();
 	report.valid = crc8(val, 2) == val[2] && si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
-	
+
 
 	/* publish it, if we are the primary */
 	if (_range_finder_topic >= 0) {
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c
index 067d77364..6a5cbcd30 100644
--- a/src/examples/fixedwing_control/main.c
+++ b/src/examples/fixedwing_control/main.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,6 +30,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
+
 /**
  * @file main.c
  *
@@ -55,7 +55,7 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -106,11 +106,9 @@ static void usage(const char *reason);
  *
  * @param att_sp The current attitude setpoint - the values the system would like to reach.
  * @param att The current attitude. The controller should make the attitude match the setpoint
- * @param speed_body The velocity of the system. Currently unused.
  * @param rates_sp The angular rate setpoint. This is the output of the controller.
  */
-void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
-	float speed_body[], struct vehicle_rates_setpoint_s *rates_sp, 
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, 
 	struct actuator_controls_s *actuators);
 
 /**
@@ -125,7 +123,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
  * @param att The current attitude
  * @param att_sp The attitude setpoint. This is the output of the controller
  */
-void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
+void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
 	const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
 
 /* Variables */
@@ -135,8 +133,7 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 static struct params p;
 static struct param_handles ph;
 
-void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
-	float speed_body[], struct vehicle_rates_setpoint_s *rates_sp, 
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, 
 	struct actuator_controls_s *actuators)
 {
 
@@ -173,7 +170,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
 	actuators->control[1] = pitch_err * p.pitch_p;
 }
 
-void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
+void control_heading(const struct vehicle_global_position_s *pos, const struct position_setpoint_s *sp,
 	const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
 {
 
@@ -186,7 +183,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
 	/* calculate heading error */
 	float yaw_err = att->yaw - bearing;
 	/* apply control gain */
-	float roll_command = yaw_err * p.hdng_p;
+	att_sp->roll_body = yaw_err * p.hdng_p;
 
 	/* limit output, this commonly is a tuning parameter, too */
 	if (att_sp->roll_body < -0.6f) {
@@ -253,7 +250,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	memset(&manual_sp, 0, sizeof(manual_sp));
 	struct vehicle_status_s vstatus;
 	memset(&vstatus, 0, sizeof(vstatus));
-	struct vehicle_global_position_setpoint_s global_sp;
+	struct position_setpoint_s global_sp;
 	memset(&global_sp, 0, sizeof(global_sp));
 
 	/* output structs - this is what is sent to the mixer */
@@ -275,17 +272,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 
 	/* subscribe to topics. */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
-	int global_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	int global_sp_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 	int param_sub = orb_subscribe(ORB_ID(parameter_update));
 
 	/* Setup of loop */
-	float speed_body[3] = {0.0f, 0.0f, 0.0f};
-	/* RC failsafe check */
-	bool throttle_half_once = false;
+
 	struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
 				{ .fd = att_sub, .events = POLLIN }};
 
@@ -339,25 +333,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 				/* get a local copy of attitude */
 				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 
-				if (global_sp_updated)
-					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp);
-
-				/* currently speed in body frame is not used, but here for reference */
-				if (pos_updated) {
-					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-
-					if (att.R_valid) {
-						speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
-						speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
-						speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
-
-					} else {
-						speed_body[0] = 0;
-						speed_body[1] = 0;
-						speed_body[2] = 0;
-
-						warnx("Did not get a valid R\n");
-					}
+				if (global_sp_updated) {
+					struct position_setpoint_triplet_s triplet;
+					orb_copy(ORB_ID(position_setpoint_triplet), global_sp_sub, &triplet);
+					memcpy(&global_sp, &triplet.current, sizeof(global_sp));
 				}
 
 				if (manual_sp_updated)
@@ -365,106 +344,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
 
 				/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
-				if (isfinite(manual_sp.throttle) &&
-							    (manual_sp.throttle >= 0.6f) &&
-							    (manual_sp.throttle <= 1.0f)) {
-					throttle_half_once = true;
+				if (isfinite(manual_sp.z) &&
+							    (manual_sp.z >= 0.6f) &&
+							    (manual_sp.z <= 1.0f)) {
 				}
 
 				/* get the system status and the flight mode we're in */
 				orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
 
-				/* control */
-
-#warning fix this
-#if 0
-				if (vstatus.navigation_state == NAVIGATION_STATE_AUTO_ ||
-				    vstatus.navigation_state == NAVIGATION_STATE_STABILIZED) {
-
-				    	/* simple heading control */
-				    	control_heading(&global_pos, &global_sp, &att, &att_sp);
-
-				    	/* nail pitch and yaw (rudder) to zero. This example only controls roll (index 0) */
-				    	actuators.control[1] = 0.0f;
-				    	actuators.control[2] = 0.0f;
-					
-					/* simple attitude control */
-					control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
-
-					/* pass through throttle */
-					actuators.control[3] = att_sp.thrust;
-
-					/* set flaps to zero */
-					actuators.control[4] = 0.0f;
-
-				} else if (vstatus.navigation_state == NAVIGATION_STATE_MANUAL) {
-				/* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */
-				} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
-					if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
-
-						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-						if (vstatus.rc_signal_lost && throttle_half_once) {
-
-							/* put plane into loiter */
-							att_sp.roll_body = 0.3f;
-							att_sp.pitch_body = 0.0f;
-
-							/* limit throttle to 60 % of last value if sane */
-							if (isfinite(manual_sp.throttle) &&
-							    (manual_sp.throttle >= 0.0f) &&
-							    (manual_sp.throttle <= 1.0f)) {
-								att_sp.thrust = 0.6f * manual_sp.throttle;
-
-							} else {
-								att_sp.thrust = 0.0f;
-							}
-
-							att_sp.yaw_body = 0;
-
-							// XXX disable yaw control, loiter
-
-						} else {
-
-							att_sp.roll_body = manual_sp.roll;
-							att_sp.pitch_body = manual_sp.pitch;
-							att_sp.yaw_body = 0;
-							att_sp.thrust = manual_sp.throttle;
-						}
-
-						att_sp.timestamp = hrt_absolute_time();
-
-						/* attitude control */
-						control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
-
-						/* pass through throttle */
-						actuators.control[3] = att_sp.thrust;
-
-						/* pass through flaps */
-						if (isfinite(manual_sp.flaps)) {
-							actuators.control[4] = manual_sp.flaps;
-
-						} else {
-							actuators.control[4] = 0.0f;
-						}
-
-					} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
-						/* directly pass through values */
-						actuators.control[0] = manual_sp.roll;
-						/* positive pitch means negative actuator -> pull up */
-						actuators.control[1] = manual_sp.pitch;
-						actuators.control[2] = manual_sp.yaw;
-						actuators.control[3] = manual_sp.throttle;
-
-						if (isfinite(manual_sp.flaps)) {
-							actuators.control[4] = manual_sp.flaps;
-
-						} else {
-							actuators.control[4] = 0.0f;
-						}
-					}
-				}
-#endif
-
 				/* publish rates */
 				orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
 
@@ -474,6 +361,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 				    isfinite(actuators.control[2]) &&
 				    isfinite(actuators.control[3])) {
 					orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+					if (verbose) {
+						warnx("published");
+					}
 				}
 			}
 		}
diff --git a/src/examples/flow_speed_control/flow_speed_control_main.c b/src/examples/flow_speed_control/flow_speed_control_main.c
deleted file mode 100644
index feed0d23c..000000000
--- a/src/examples/flow_speed_control/flow_speed_control_main.c
+++ /dev/null
@@ -1,387 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 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 flow_speed_control.c
- *
- * Optical flow speed controller
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <termios.h>
-#include <time.h>
-#include <math.h>
-#include <sys/prctl.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
-#include <uORB/topics/filtered_bottom_flow.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/err.h>
-#include <poll.h>
-#include <mavlink/mavlink_log.h>
-
-#include "flow_speed_control_params.h"
-
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-__EXPORT int flow_speed_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of position controller.
- */
-static int flow_speed_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_spawn_cmd().
- */
-int flow_speed_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start"))
-	{
-		if (thread_running)
-		{
-			printf("flow speed control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("flow_speed_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 6,
-					 4096,
-					 flow_speed_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop"))
-	{
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status"))
-	{
-		if (thread_running)
-			printf("\tflow speed control app is running\n");
-		else
-			printf("\tflow speed control app not started\n");
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-static int
-flow_speed_control_thread_main(int argc, char *argv[])
-{
-	/* welcome user */
-	thread_running = true;
-	static int mavlink_fd;
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	mavlink_log_info(mavlink_fd,"[fsc] started");
-
-	uint32_t counter = 0;
-
-	/* structures */
-	struct actuator_armed_s armed;
-	memset(&armed, 0, sizeof(armed));
-	struct vehicle_control_mode_s control_mode;
-	memset(&control_mode, 0, sizeof(control_mode));
-	struct filtered_bottom_flow_s filtered_flow;
-	memset(&filtered_flow, 0, sizeof(filtered_flow));
-	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
-	memset(&speed_sp, 0, sizeof(speed_sp));
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(att_sp));
-
-	/* subscribe to attitude, motor setpoints and system state */
-	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
-	int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint));
-
-	orb_advert_t att_sp_pub;
-	bool attitude_setpoint_adverted = false;
-
-	/* parameters init*/
-	struct flow_speed_control_params params;
-	struct flow_speed_control_param_handles param_handles;
-	parameters_init(&param_handles);
-	parameters_update(&param_handles, &params);
-
-	/* register the perf counter */
-	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_speed_control_runtime");
-	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_speed_control_interval");
-	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_speed_control_err");
-
-	static bool sensors_ready = false;
-	static bool status_changed = false;
-
-	while (!thread_should_exit)
-	{
-		/* wait for first attitude msg to be sure all data are available */
-		if (sensors_ready)
-		{
-			/* polling */
-			struct pollfd fds[2] = {
-				{ .fd = vehicle_bodyframe_speed_setpoint_sub, .events = POLLIN }, // speed setpoint from pos controller
-				{ .fd = parameter_update_sub,   .events = POLLIN }
-			};
-
-			/* wait for a position update, check for exit condition every 5000 ms */
-			int ret = poll(fds, 2, 500);
-
-			if (ret < 0)
-			{
-				/* poll error, count it in perf */
-				perf_count(mc_err_perf);
-			}
-			else if (ret == 0)
-			{
-				/* no return value, ignore */
-//				printf("[flow speed control] no bodyframe speed setpoints updates\n");
-			}
-			else
-			{
-				/* parameter update available? */
-				if (fds[1].revents & POLLIN)
-				{
-					/* read from param to clear updated flag */
-					struct parameter_update_s update;
-					orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
-
-					parameters_update(&param_handles, &params);
-					mavlink_log_info(mavlink_fd,"[fsp] parameters updated.");
-				}
-
-				/* only run controller if position/speed changed */
-				if (fds[0].revents & POLLIN)
-				{
-					perf_begin(mc_loop_perf);
-
-					/* get a local copy of the armed topic */
-					orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-					/* get a local copy of the control mode */
-					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-					/* get a local copy of filtered bottom flow */
-					orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
-					/* get a local copy of bodyframe speed setpoint */
-					orb_copy(ORB_ID(vehicle_bodyframe_speed_setpoint), vehicle_bodyframe_speed_setpoint_sub, &speed_sp);
-					/* get a local copy of control mode */
-					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-
-					if (control_mode.flag_control_velocity_enabled)
-					{
-						/* calc new roll/pitch */
-						float pitch_body = -(speed_sp.vx - filtered_flow.vx) * params.speed_p;
-						float roll_body  =  (speed_sp.vy - filtered_flow.vy) * params.speed_p;
-
-						if(status_changed == false)
-							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED control engaged");
-
-						status_changed = true;
-
-						/* limit roll and pitch corrections */
-						if((pitch_body <= params.limit_pitch) && (pitch_body >= -params.limit_pitch))
-						{
-							att_sp.pitch_body = pitch_body;
-						}
-						else
-						{
-							if(pitch_body > params.limit_pitch)
-								att_sp.pitch_body = params.limit_pitch;
-							if(pitch_body < -params.limit_pitch)
-								att_sp.pitch_body = -params.limit_pitch;
-						}
-
-						if((roll_body <= params.limit_roll) && (roll_body >= -params.limit_roll))
-						{
-							att_sp.roll_body = roll_body;
-						}
-						else
-						{
-							if(roll_body > params.limit_roll)
-								att_sp.roll_body = params.limit_roll;
-							if(roll_body < -params.limit_roll)
-								att_sp.roll_body = -params.limit_roll;
-						}
-
-						/* set yaw setpoint forward*/
-						att_sp.yaw_body = speed_sp.yaw_sp;
-
-						/* add trim from parameters */
-						att_sp.roll_body = att_sp.roll_body + params.trim_roll;
-						att_sp.pitch_body = att_sp.pitch_body + params.trim_pitch;
-
-						att_sp.thrust = speed_sp.thrust_sp;
-						att_sp.timestamp = hrt_absolute_time();
-
-						/* publish new attitude setpoint */
-						if(isfinite(att_sp.pitch_body) && isfinite(att_sp.roll_body) && isfinite(att_sp.yaw_body) && isfinite(att_sp.thrust))
-						{
-							if (attitude_setpoint_adverted)
-							{
-								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);
-								attitude_setpoint_adverted = true;
-							}
-						}
-						else
-						{
-							warnx("NaN in flow speed controller!");
-						}
-					}
-					else
-					{
-						if(status_changed == true)
-							mavlink_log_info(mavlink_fd,"[fsc] flow SPEED controller disengaged.");
-
-						status_changed = false;
-
-						/* reset attitude setpoint */
-						att_sp.roll_body = 0.0f;
-						att_sp.pitch_body = 0.0f;
-						att_sp.thrust = 0.0f;
-						att_sp.yaw_body = 0.0f;
-					}
-
-					/* measure in what intervals the controller runs */
-					perf_count(mc_interval_perf);
-					perf_end(mc_loop_perf);
-				}
-			}
-
-			counter++;
-		}
-		else
-		{
-			/* sensors not ready waiting for first attitude msg */
-
-			/* polling */
-			struct pollfd fds[1] = {
-				{ .fd = vehicle_attitude_sub, .events = POLLIN },
-			};
-
-			/* wait for a flow msg, check for exit condition every 5 s */
-			int ret = poll(fds, 1, 5000);
-
-			if (ret < 0)
-			{
-				/* poll error, count it in perf */
-				perf_count(mc_err_perf);
-			}
-			else if (ret == 0)
-			{
-				/* no return value, ignore */
-				mavlink_log_info(mavlink_fd,"[fsc] no attitude received.");
-			}
-			else
-			{
-				if (fds[0].revents & POLLIN)
-				{
-					sensors_ready = true;
-					mavlink_log_info(mavlink_fd,"[fsp] initialized.");
-				}
-			}
-		}
-	}
-
-	mavlink_log_info(mavlink_fd,"[fsc] ending now...");
-
-	thread_running = false;
-
-	close(parameter_update_sub);
-	close(vehicle_attitude_sub);
-	close(vehicle_bodyframe_speed_setpoint_sub);
-	close(filtered_bottom_flow_sub);
-	close(armed_sub);
-	close(control_mode_sub);
-	close(att_sp_pub);
-
-	perf_print_counter(mc_loop_perf);
-	perf_free(mc_loop_perf);
-
-	fflush(stdout);
-	return 0;
-}
diff --git a/src/examples/flow_speed_control/flow_speed_control_params.c b/src/examples/flow_speed_control/flow_speed_control_params.c
deleted file mode 100644
index 8dfe54173..000000000
--- a/src/examples/flow_speed_control/flow_speed_control_params.c
+++ /dev/null
@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 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 flow_speed_control_params.c
- * 
- */
-
-#include "flow_speed_control_params.h"
-
-/* controller parameters */
-PARAM_DEFINE_FLOAT(FSC_S_P, 0.1f);
-PARAM_DEFINE_FLOAT(FSC_L_PITCH, 0.4f);
-PARAM_DEFINE_FLOAT(FSC_L_ROLL, 0.4f);
-
-int parameters_init(struct flow_speed_control_param_handles *h)
-{
-	/* PID parameters */
-	h->speed_p	 			=	param_find("FSC_S_P");
-	h->limit_pitch 			=	param_find("FSC_L_PITCH");
-	h->limit_roll 			=	param_find("FSC_L_ROLL");
-	h->trim_roll 			=	param_find("TRIM_ROLL");
-	h->trim_pitch 			=	param_find("TRIM_PITCH");
-
-
-	return OK;
-}
-
-int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p)
-{
-	param_get(h->speed_p, &(p->speed_p));
-	param_get(h->limit_pitch, &(p->limit_pitch));
-	param_get(h->limit_roll, &(p->limit_roll));
-	param_get(h->trim_roll, &(p->trim_roll));
-	param_get(h->trim_pitch, &(p->trim_pitch));
-
-	return OK;
-}
diff --git a/src/examples/flow_speed_control/flow_speed_control_params.h b/src/examples/flow_speed_control/flow_speed_control_params.h
deleted file mode 100644
index eec27a2bf..000000000
--- a/src/examples/flow_speed_control/flow_speed_control_params.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 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 flow_speed_control_params.h
- * 
- * Parameters for speed controller
- */
-
-#include <systemlib/param/param.h>
-
-struct flow_speed_control_params {
-	float speed_p;
-	float limit_pitch;
-	float limit_roll;
-	float trim_roll;
-	float trim_pitch;
-};
-
-struct flow_speed_control_param_handles {
-	param_t speed_p;
-	param_t limit_pitch;
-	param_t limit_roll;
-	param_t trim_roll;
-	param_t trim_pitch;
-};
-
-/**
- * Initialize all parameter handles and values
- *
- */
-int parameters_init(struct flow_speed_control_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p);
diff --git a/src/examples/flow_speed_control/module.mk b/src/examples/flow_speed_control/module.mk
deleted file mode 100644
index 5a4182146..000000000
--- a/src/examples/flow_speed_control/module.mk
+++ /dev/null
@@ -1,41 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Build flow speed control
-#
-
-MODULE_COMMAND	= flow_speed_control
-
-SRCS		= flow_speed_control_main.c \
-		  flow_speed_control_params.c
diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c
index 06337be32..d3b10f46e 100644
--- a/src/examples/hwtest/hwtest.c
+++ b/src/examples/hwtest/hwtest.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author:    Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,7 +33,8 @@
 /**
  * @file hwtest.c
  *
- * Simple functional hardware test.
+ * Simple output test.
+ * @ref Documentation https://pixhawk.org/dev/examples/write_output
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
@@ -45,30 +45,80 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_armed.h>
 
 __EXPORT int ex_hwtest_main(int argc, char *argv[]);
 
 int ex_hwtest_main(int argc, char *argv[])
 {
-    struct actuator_controls_s actuators;
-    memset(&actuators, 0, sizeof(actuators));
-    orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
-
-    int i;
-    float rcvalue = -1.0f;
-    hrt_abstime stime;
-
-    while (true) {
-        stime = hrt_absolute_time();
-        while (hrt_absolute_time() - stime < 1000000) {
-            for (i=0; i<8; i++)
-                actuators.control[i] = rcvalue;
-            actuators.timestamp = hrt_absolute_time(); 
-            orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
-        }
-        warnx("servos set to %.1f", rcvalue);
-        rcvalue *= -1.0f;
-    }
-
-    return OK;
+	warnx("DO NOT FORGET TO STOP THE COMMANDER APP!");
+	warnx("(run <commander stop> to do so)");
+    warnx("usage: http://px4.io/dev/examples/write_output");
+
+	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
+	orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
+
+	struct actuator_armed_s arm;
+	memset(&arm, 0 , sizeof(arm));
+
+	arm.timestamp = hrt_absolute_time();
+	arm.ready_to_arm = true;
+	arm.armed = true;
+	orb_advert_t arm_pub_fd = orb_advertise(ORB_ID(actuator_armed), &arm);
+	orb_publish(ORB_ID(actuator_armed), arm_pub_fd, &arm);
+
+	/* read back values to validate */
+	int arm_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
+	orb_copy(ORB_ID(actuator_armed), arm_sub_fd, &arm);
+
+	if (arm.ready_to_arm && arm.armed) {
+		warnx("Actuator armed");
+
+	} else {
+		errx(1, "Arming actuators failed");
+	}
+
+	hrt_abstime stime;
+
+	int count = 0;
+
+	while (count != 36) {
+		stime = hrt_absolute_time();
+
+		while (hrt_absolute_time() - stime < 1000000) {
+			for (int i = 0; i != 2; i++) {
+				if (count <= 5) {
+					actuators.control[i] = -1.0f;
+
+				} else if (count <= 10) {
+					actuators.control[i] = -0.7f;
+
+				} else if (count <= 15) {
+					actuators.control[i] = -0.5f;
+
+				} else if (count <= 20) {
+					actuators.control[i] = -0.3f;
+
+				} else if (count <= 25) {
+					actuators.control[i] = 0.0f;
+
+				} else if (count <= 30) {
+					actuators.control[i] = 0.3f;
+
+				} else {
+					actuators.control[i] = 0.5f;
+				}
+			}
+
+			actuators.timestamp = hrt_absolute_time();
+			orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
+			usleep(10000);
+		}
+
+		warnx("count %i", count);
+		count++;
+	}
+
+	return OK;
 }
diff --git a/src/examples/math_demo/math_demo.cpp b/src/examples/math_demo/math_demo.cpp
deleted file mode 100644
index 36d3c2e84..000000000
--- a/src/examples/math_demo/math_demo.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: James Goppert
- *
- * 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 math_demo.cpp
- * @author James Goppert
- * Demonstration of math library
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <systemlib/systemlib.h>
-#include <mathlib/mathlib.h>
-
-/**
- * Management function.
- */
-extern "C" __EXPORT int math_demo_main(int argc, char *argv[]);
-
-/**
- * Test function
- */
-void test();
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-    if (reason)
-        fprintf(stderr, "%s\n", reason);
-    fprintf(stderr, "usage: math_demo {test}\n\n");
-    exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_create().
- */
-int math_demo_main(int argc, char *argv[])
-{
-
-    if (argc < 1)
-        usage("missing command");
-
-    if (!strcmp(argv[1], "test")) {
-        test();
-        exit(0);
-    }
-
-    usage("unrecognized command");
-    exit(1);
-}
-
-void test()
-{
-    printf("beginning math lib test\n");
-    using namespace math;
-    vectorTest();
-    matrixTest();
-    vector3Test();
-    eulerAnglesTest();
-    quaternionTest();
-    dcmTest();
-}
diff --git a/src/examples/math_demo/module.mk b/src/examples/math_demo/module.mk
deleted file mode 100644
index deba13fd0..000000000
--- a/src/examples/math_demo/module.mk
+++ /dev/null
@@ -1,41 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Mathlib / operations demo application
-#
-
-MODULE_COMMAND		= math_demo
-MODULE_STACKSIZE	= 12000
-
-SRCS			= math_demo.cpp
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index c9c8d16b5..6d6b3a36c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1668,7 +1668,7 @@ int commander_thread_main(int argc, char *argv[])
 				if (telemetry_lost[i] &&
 				    hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
 
-					mavlink_log_critical(mavlink_fd, "data link %i regained", i);
+					mavlink_log_info(mavlink_fd, "data link %i regained", i);
 					telemetry_lost[i] = false;
 					have_link = true;
 
@@ -1682,7 +1682,7 @@ int commander_thread_main(int argc, char *argv[])
 				telemetry_last_dl_loss[i]  = hrt_absolute_time();
 
 				if (!telemetry_lost[i]) {
-					mavlink_log_critical(mavlink_fd, "data link %i lost", i);
+					mavlink_log_info(mavlink_fd, "data link %i lost", i);
 					telemetry_lost[i] = true;
 				}
 			}
@@ -1697,7 +1697,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		} else {
 			if (!status.data_link_lost) {
-				mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
+				mavlink_log_info(mavlink_fd, "ALL DATA LINKS LOST");
 				status.data_link_lost = true;
 				status.data_link_lost_counter++;
 				status_changed = true;
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 57c1e72f3..6bb9bdee3 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -752,8 +752,7 @@ FixedwingAttitudeControl::task_main()
 				 * - manual control is disabled (another app may send the setpoint, but it should
 				 *   for sure not be set from the remote control values)
 				 */
-				if (_vcontrol_mode.flag_control_velocity_enabled ||
-						_vcontrol_mode.flag_control_position_enabled ||
+				if (_vcontrol_mode.flag_control_auto_enabled ||
 						!_vcontrol_mode.flag_control_manual_enabled) {
 					/* read in attitude setpoint from attitude setpoint uorb topic */
 					roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
@@ -770,6 +769,25 @@ FixedwingAttitudeControl::task_main()
 					if (_att_sp.yaw_reset_integral) {
 						_yaw_ctrl.reset_integrator();
 					}
+				} else if (_vcontrol_mode.flag_control_velocity_enabled) {
+ 					/* 
+					 * Velocity should be controlled and manual is enabled.
+					*/
+					roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+											+ _parameters.rollsp_offset_rad;
+					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
+					throttle_sp = _att_sp.thrust;
+
+					/* reset integrals where needed */
+					if (_att_sp.roll_reset_integral) {
+						_roll_ctrl.reset_integrator();
+					}
+					if (_att_sp.pitch_reset_integral) {
+						_pitch_ctrl.reset_integrator();
+					}
+					if (_att_sp.yaw_reset_integral) {
+						_yaw_ctrl.reset_integrator();
+					}
 				} else {
 					/*
 					 * Scale down roll and pitch as the setpoints are radians
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 f8399d10b..4c969a5ca 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
@@ -165,6 +165,9 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
+	float	_hold_alt;				/**< hold altitude for velocity mode */
+	hrt_abstime _control_position_last_called; /**<last call of control_position  */
+
 	/* land states */
 	bool land_noreturn_horizontal;
 	bool land_noreturn_vertical;
@@ -200,6 +203,8 @@ private:
 	TECS						_tecs;
 	fwPosctrl::mTecs				_mTecs;
 	bool						_was_pos_control_mode;
+	bool						_was_velocity_control_mode;
+	bool						_was_alt_control_mode;
 
 	struct {
 		float l1_period;
@@ -319,6 +324,11 @@ private:
 	void		vehicle_status_poll();
 
 	/**
+	 * Check for manual setpoint updates.
+	 */
+	bool		vehicle_manual_control_setpoint_poll();
+
+	/**
 	 * Check for airspeed updates.
 	 */
 	bool		vehicle_airspeed_poll();
@@ -441,6 +451,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
 
+	_hold_alt(0.0f),
+	_control_position_last_called(0),
+
 	land_noreturn_horizontal(false),
 	land_noreturn_vertical(false),
 	land_stayonground(false),
@@ -694,6 +707,22 @@ FixedwingPositionControl::vehicle_airspeed_poll()
 	return airspeed_updated;
 }
 
+bool
+FixedwingPositionControl::vehicle_manual_control_setpoint_poll()
+{
+	bool manual_updated;
+
+	/* Check if manual setpoint has changed */
+	orb_check(_manual_control_sub, &manual_updated);
+
+	if (manual_updated) {
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
+	}
+
+	return manual_updated;
+}
+
+
 void
 FixedwingPositionControl::vehicle_attitude_poll()
 {
@@ -854,6 +883,12 @@ bool
 FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<3> &ground_speed,
 		const struct position_setpoint_triplet_s &pos_sp_triplet)
 {
+	float dt = FLT_MIN; // Using non zero value to a avoid division by zero
+	if (_control_position_last_called > 0) {
+		dt = (float)hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
+	}
+	_control_position_last_called = hrt_absolute_time();
+
 	bool setpoint = true;
 
 	math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
@@ -890,6 +925,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 
 		_was_pos_control_mode = true;
+		_was_velocity_control_mode = false;
+
+		/* reset hold altitude */
+		_hold_alt = _global_pos.alt;
 
 		/* get circle mode */
 		bool was_circle_mode = _l1_control.circle_mode();
@@ -1211,12 +1250,59 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
+	} else if (_control_mode.flag_control_velocity_enabled) {
+		const float deadBand = (60.0f/1000.0f);
+		const float factor = 1.0f - deadBand;
+		if (!_was_velocity_control_mode) {
+			_hold_alt = _global_pos.alt;
+			_was_alt_control_mode = false;
+		}
+		_was_velocity_control_mode = true;
+		_was_pos_control_mode = false;
+		// Get demanded airspeed
+		float altctrl_airspeed = _parameters.airspeed_min +
+					  (_parameters.airspeed_max - _parameters.airspeed_min) *
+					  _manual.z;
+
+		// Get demanded vertical velocity from pitch control
+		float pitch = 0.0f;
+		if (_manual.x > deadBand) {
+			pitch = (_manual.x - deadBand) / factor;
+		} else if (_manual.x < - deadBand) {
+			pitch = (_manual.x + deadBand) / factor;
+		}
+		if (pitch > 0.0f) {
+			_hold_alt -= (_parameters.max_climb_rate * dt) * pitch;
+			_was_alt_control_mode = false;
+		} else if (pitch < 0.0f) {
+			_hold_alt -= (_parameters.max_sink_rate * dt) * pitch;
+			_was_alt_control_mode = false;
+		} else if (!_was_alt_control_mode) {
+			_hold_alt = _global_pos.alt;
+			_was_alt_control_mode = true;
+		}
+		tecs_update_pitch_throttle(_hold_alt,
+									altctrl_airspeed,
+									eas2tas,
+									math::radians(_parameters.pitch_limit_min),
+									math::radians(_parameters.pitch_limit_max),
+									_parameters.throttle_min,
+									_parameters.throttle_max,
+									_parameters.throttle_cruise,
+									false,
+									math::radians(_parameters.pitch_limit_min),
+									_global_pos.alt,
+									ground_speed,
+									TECS_MODE_NORMAL);
 	} else {
-
+		_was_velocity_control_mode = false;
 		_was_pos_control_mode = false;
 
 		/** MANUAL FLIGHT **/
 
+		/* reset hold altitude */
+		_hold_alt = _global_pos.alt;
+
 		/* no flight mode applies, do not publish an attitude setpoint */
 		setpoint = false;
 
@@ -1352,6 +1438,7 @@ FixedwingPositionControl::task_main()
 			vehicle_setpoint_poll();
 			vehicle_sensor_combined_poll();
 			vehicle_airspeed_poll();
+			vehicle_manual_control_setpoint_poll();
 			// vehicle_baro_poll();
 
 			math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e,  _global_pos.vel_d);
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index a8f956ad0..5908279d5 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -810,9 +810,6 @@ private:
 	MavlinkOrbSubscription *_airspeed_sub;
 	uint64_t _airspeed_time;
 
-	MavlinkOrbSubscription *_sensor_combined_sub;
-	uint64_t _sensor_combined_time;
-
 	/* do not allow top copying this class */
 	MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
 	MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
@@ -828,9 +825,7 @@ protected:
 		_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
 		_act_time(0),
 		_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
-		_airspeed_time(0),
-		_sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
-		_sensor_combined_time(0)
+		_airspeed_time(0)
 	{}
 
 	void send(const hrt_abstime t)
@@ -840,14 +835,12 @@ protected:
 		struct actuator_armed_s armed;
 		struct actuator_controls_s act;
 		struct airspeed_s airspeed;
-		struct sensor_combined_s sensor_combined;
 
 		bool updated = _att_sub->update(&_att_time, &att);
 		updated |= _pos_sub->update(&_pos_time, &pos);
 		updated |= _armed_sub->update(&_armed_time, &armed);
 		updated |= _act_sub->update(&_act_time, &act);
 		updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
-		updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined);
 
 		if (updated) {
 			mavlink_vfr_hud_t msg;
@@ -856,7 +849,7 @@ protected:
 			msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
 			msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
 			msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
-			msg.alt = sensor_combined.baro_alt_meter;
+			msg.alt = pos.alt;
 			msg.climb = -pos.vel_d;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
@@ -2169,7 +2162,7 @@ protected:
 			msg.id = 0;
 			msg.orientation = 0;
 			msg.min_distance = range.minimum_distance * 100;
-			msg.max_distance = range.minimum_distance * 100;
+			msg.max_distance = range.maximum_distance * 100;
 			msg.current_distance = range.distance * 100;
 			msg.covariance = 20;
 
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index 70071130d..d747b5f43 100644
--- a/src/modules/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
@@ -61,7 +61,7 @@ struct home_position_s
 
 	double lat;				/**< Latitude in degrees 			*/
 	double lon;				/**< Longitude in degrees			*/
-	float alt;				/**< Altitude in meters				*/
+	float alt;				/**< Altitude in meters	(AMSL)		*/
 
 	float x;				/**< X coordinate in meters			*/
 	float y;				/**< Y coordinate in meters			*/
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index e4b72f87c..22a8f3ecb 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -83,7 +83,7 @@ struct mission_item_s {
 	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
 	double lat;			/**< latitude in degrees				*/
 	double lon;			/**< longitude in degrees				*/
-	float altitude;			/**< altitude in meters					*/
+	float altitude;			/**< altitude in meters	(AMSL)			*/
 	float yaw;			/**< in radians NED -PI..+PI, NAN means don't change yaw		*/
 	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
 	int8_t loiter_direction;	/**< 1: positive / clockwise, -1, negative.		*/
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index f264accbb..6b4cb483b 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -65,7 +65,7 @@ enum VEHICLE_CMD {
 	VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
 	VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
 	VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
 	VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */