Merge remote-tracking branch 'upstream/master' into mtecs

10 files changed, 676 insertions, 61 deletions

diff --git a/src/drivers/drv_io_expander.h b/src/drivers/drv_io_expander.h
new file mode 100644
index 000000000..106354377
--- /dev/null
+++ b/src/drivers/drv_io_expander.h
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_io_expander.h
+ *
+ * IO expander device API
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+/*
+ * ioctl() definitions
+ */
+
+#define _IOXIOCBASE		(0x2800)
+#define _IOXIOC(_n)		(_IOC(_IOXIOCBASE, _n))
+
+/** set a bitmask (non-blocking) */
+#define IOX_SET_MASK		_IOXIOC(1)
+
+/** get a bitmask (blocking) */
+#define IOX_GET_MASK		_IOXIOC(2)
+
+/** set device mode (non-blocking) */
+#define IOX_SET_MODE		_IOXIOC(3)
+
+/** set constant values (non-blocking) */
+#define IOX_SET_VALUE		_IOXIOC(4)
+
+/* ... to IOX_SET_VALUE + 8 */
+
+/* enum passed to RGBLED_SET_MODE ioctl()*/
+enum IOX_MODE {
+	IOX_MODE_OFF,
+	IOX_MODE_ON,
+	IOX_MODE_TEST_OUT
+};
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index 19cf5beec..7502809bd 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -447,8 +447,8 @@ UBX::handle_message()
 					gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
 
 					_gps_position->fix_type = packet->gpsFix;
-					_gps_position->s_variance_m_s = packet->sAcc;
-					_gps_position->p_variance_m = packet->pAcc;
+					_gps_position->s_variance_m_s = (float)packet->sAcc * 1e-2f; // from cm/s to m/s
+					_gps_position->p_variance_m = (float)packet->pAcc * 1e-2f; // from cm to m
 					_gps_position->timestamp_variance = hrt_absolute_time();
 
 					ret = 1;
diff --git a/src/drivers/pca8574/module.mk b/src/drivers/pca8574/module.mk
new file mode 100644
index 000000000..825ee9bb7
--- /dev/null
+++ b/src/drivers/pca8574/module.mk
@@ -0,0 +1,6 @@
+#
+# PCA8574 driver for RGB LED
+#
+
+MODULE_COMMAND	 = pca8574
+SRCS		 = pca8574.cpp
diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp
new file mode 100644
index 000000000..904ce18e8
--- /dev/null
+++ b/src/drivers/pca8574/pca8574.cpp
@@ -0,0 +1,554 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pca8574.cpp
+ *
+ * Driver for an 8 I/O controller (PC8574) connected via I2C.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <ctype.h>
+
+#include <nuttx/wqueue.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <board_config.h>
+
+#include <drivers/drv_io_expander.h>
+
+#define PCA8574_ONTIME 120
+#define PCA8574_OFFTIME 120
+#define PCA8574_DEVICE_PATH "/dev/pca8574"
+
+#define ADDR			0x20	///< I2C adress of PCA8574 (default, A0-A2 pulled to GND)
+
+class PCA8574 : public device::I2C
+{
+public:
+	PCA8574(int bus, int pca8574);
+	virtual ~PCA8574();
+
+
+	virtual int		init();
+	virtual int		probe();
+	virtual int		info();
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+	bool			is_running() { return _running; }
+
+private:
+	work_s			_work;
+
+	uint8_t			_values_out;
+	uint8_t			_values_in;
+	uint8_t			_blinking;
+	uint8_t			_blink_phase;
+
+	enum IOX_MODE		_mode;
+	bool			_running;
+	int			_led_interval;
+	bool			_should_run;
+	bool			_update_out;
+	int			_counter;
+
+	static void		led_trampoline(void *arg);
+	void			led();
+
+	int			send_led_enable(uint8_t arg);
+	int			send_led_values();
+
+	int			get(uint8_t &vals);
+};
+
+/* for now, we only support one PCA8574 */
+namespace
+{
+PCA8574 *g_pca8574;
+}
+
+void pca8574_usage();
+
+extern "C" __EXPORT int pca8574_main(int argc, char *argv[]);
+
+PCA8574::PCA8574(int bus, int pca8574) :
+	I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000),
+	_values_out(0),
+	_values_in(0),
+	_blinking(0),
+	_blink_phase(0),
+	_mode(IOX_MODE_OFF),
+	_running(false),
+	_led_interval(80),
+	_should_run(false),
+	_update_out(false),
+	_counter(0)
+{
+	memset(&_work, 0, sizeof(_work));
+}
+
+PCA8574::~PCA8574()
+{
+}
+
+int
+PCA8574::init()
+{
+	int ret;
+	ret = I2C::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	return OK;
+}
+
+int
+PCA8574::probe()
+{
+	uint8_t val;
+	return get(val);
+}
+
+int
+PCA8574::info()
+{
+	int ret = OK;
+
+	return ret;
+}
+
+int
+PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int ret = ENOTTY;
+
+	switch (cmd) {
+	case IOX_SET_VALUE ...(IOX_SET_VALUE + 8): {
+			// set the specified on / off state
+			uint8_t position = (1 << (cmd - IOX_SET_VALUE));
+			uint8_t prev = _values_out;
+
+			if (arg) {
+				_values_out |= position;
+
+			} else {
+				_values_out &= ~(position);
+			}
+
+			if (_values_out != prev) {
+				if (_values_out) {
+					_mode = IOX_MODE_ON;
+				}
+				send_led_values();
+			}
+
+			return OK;
+		}
+
+	case IOX_SET_MASK:
+		send_led_enable(arg);
+		return OK;
+
+	case IOX_GET_MASK: {
+			uint8_t val;
+			ret = get(val);
+
+			if (ret == OK) {
+				return val;
+
+			} else {
+				return -1;
+			}
+		}
+
+	case IOX_SET_MODE:
+
+		if (_mode != (IOX_MODE)arg) {
+
+			switch ((IOX_MODE)arg) {
+			case IOX_MODE_OFF:
+				_values_out = 0xFF;
+				break;
+
+			case IOX_MODE_ON:
+				_values_out = 0;
+				break;
+
+			case IOX_MODE_TEST_OUT:
+				break;
+
+			default:
+				return -1;
+			}
+
+			_mode = (IOX_MODE)arg;
+			send_led_values();
+		}
+
+		return OK;
+
+	default:
+		// see if the parent class can make any use of it
+		ret = CDev::ioctl(filp, cmd, arg);
+		break;
+	}
+
+	return ret;
+}
+
+
+void
+PCA8574::led_trampoline(void *arg)
+{
+	PCA8574 *rgbl = reinterpret_cast<PCA8574 *>(arg);
+
+	rgbl->led();
+}
+
+/**
+ * Main loop function
+ */
+void
+PCA8574::led()
+{
+	if (_mode == IOX_MODE_TEST_OUT) {
+
+		// we count only seven states
+		_counter &= 0xF;
+		_counter++;
+
+		for (int i = 0; i < 8; i++) {
+			if (i < _counter) {
+				_values_out |= (1 << i);
+
+			} else {
+				_values_out &= ~(1 << i);
+			}
+		}
+
+		_update_out = true;
+		_should_run = true;
+	} else if (_mode == IOX_MODE_OFF) {
+		_update_out = true;
+		_should_run = false;
+	} else {
+
+		// Any of the normal modes
+		if (_blinking > 0) {
+			/* we need to be running to blink */
+			_should_run = true;
+		} else {
+			_should_run = false;
+		}
+	}
+
+	if (_update_out) {
+		uint8_t msg;
+
+		if (_blinking) {
+			msg = (_values_out & _blinking & _blink_phase);
+
+			// wipe out all positions that are marked as blinking
+			msg &= ~(_blinking);
+
+			// fill blink positions
+			msg |= ((_blink_phase) ? _blinking : 0);
+
+			_blink_phase = !_blink_phase;
+		} else {
+			msg = _values_out;
+		}
+
+		int ret = transfer(&msg, sizeof(msg), nullptr, 0);
+
+		if (!ret) {
+			_update_out = false;
+		}
+	}
+
+	// check if any activity remains, else stp
+	if (!_should_run) {
+		_running = false;
+		return;
+	}
+
+	// re-queue ourselves to run again later
+	_running = true;
+	work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval);
+}
+
+/**
+ * Sent ENABLE flag to LED driver
+ */
+int
+PCA8574::send_led_enable(uint8_t arg)
+{
+
+	int ret = transfer(&arg, sizeof(arg), nullptr, 0);
+
+	return ret;
+}
+
+/**
+ * Send 8 outputs
+ */
+int
+PCA8574::send_led_values()
+{
+	_update_out = true;
+
+	// if not active, kick it
+	if (!_running) {
+		_running = true;
+		work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
+	}
+
+	return 0;
+}
+
+int
+PCA8574::get(uint8_t &vals)
+{
+	uint8_t result;
+	int ret;
+
+	ret = transfer(nullptr, 0, &result, 1);
+
+	if (ret == OK) {
+		_values_in = result;
+		vals = result;
+	}
+
+	return ret;
+}
+
+void
+pca8574_usage()
+{
+	warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 1'");
+	warnx("options:");
+	warnx("    -b i2cbus (%d)", PX4_I2C_BUS_LED);
+	warnx("    -a addr (0x%x)", ADDR);
+}
+
+int
+pca8574_main(int argc, char *argv[])
+{
+	int i2cdevice = -1;
+	int pca8574adr = ADDR; // 7bit
+
+	int ch;
+
+	// jump over start/off/etc and look at options first
+	while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
+		switch (ch) {
+		case 'a':
+			pca8574adr = strtol(optarg, NULL, 0);
+			break;
+
+		case 'b':
+			i2cdevice = strtol(optarg, NULL, 0);
+			break;
+
+		default:
+			pca8574_usage();
+			exit(0);
+		}
+	}
+
+	if (optind >= argc) {
+		pca8574_usage();
+		exit(1);
+	}
+
+	const char *verb = argv[optind];
+
+	int fd;
+	int ret;
+
+	if (!strcmp(verb, "start")) {
+		if (g_pca8574 != nullptr) {
+			errx(1, "already started");
+		}
+
+		if (i2cdevice == -1) {
+			// try the external bus first
+			i2cdevice = PX4_I2C_BUS_EXPANSION;
+			g_pca8574 = new PCA8574(PX4_I2C_BUS_EXPANSION, pca8574adr);
+
+			if (g_pca8574 != nullptr && OK != g_pca8574->init()) {
+				delete g_pca8574;
+				g_pca8574 = nullptr;
+			}
+
+			if (g_pca8574 == nullptr) {
+				// fall back to default bus
+				if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
+					errx(1, "init failed");
+				}
+
+				i2cdevice = PX4_I2C_BUS_LED;
+			}
+		}
+
+		if (g_pca8574 == nullptr) {
+			g_pca8574 = new PCA8574(i2cdevice, pca8574adr);
+
+			if (g_pca8574 == nullptr) {
+				errx(1, "new failed");
+			}
+
+			if (OK != g_pca8574->init()) {
+				delete g_pca8574;
+				g_pca8574 = nullptr;
+				errx(1, "init failed");
+			}
+		}
+
+		exit(0);
+	}
+
+	// need the driver past this point
+	if (g_pca8574 == nullptr) {
+		warnx("not started, run pca8574 start");
+		exit(1);
+	}
+
+	if (!strcmp(verb, "test")) {
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
+
+		close(fd);
+		exit(ret);
+	}
+
+	if (!strcmp(verb, "info")) {
+		g_pca8574->info();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "off")) {
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd < 0) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
+		close(fd);
+		exit(ret);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
+		close(fd);
+
+		// wait until we're not running any more
+		for (unsigned i = 0; i < 15; i++) {
+			if (!g_pca8574->is_running()) {
+				break;
+			}
+
+			usleep(50000);
+			printf(".");
+			fflush(stdout);
+		}
+		printf("\n");
+		fflush(stdout);
+
+		if (!g_pca8574->is_running()) {
+			delete g_pca8574;
+			g_pca8574 = nullptr;
+			exit(0);
+		} else {
+			warnx("stop failed.");
+			exit(1);
+		}
+	}
+
+	if (!strcmp(verb, "val")) {
+		if (argc < 4) {
+			errx(1, "Usage: pca8574 val <channel> <0 or 1>");
+		}
+
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		unsigned channel = strtol(argv[2], NULL, 0);
+		unsigned val = strtol(argv[3], NULL, 0);
+
+		if (channel < 8) {
+			ret = ioctl(fd, (IOX_SET_VALUE + channel), val);
+		} else {
+			ret = -1;
+		}
+		close(fd);
+		exit(ret);
+	}
+
+	pca8574_usage();
+	exit(0);
+}
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index bb1ad86ef..28cdf65a3 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -190,8 +190,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 		/* check if there is space in the buffer, let it overflow else */
 		if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) {
 
-			if (desired > buf_free) {
-				desired = buf_free;
+			if (buf_free < desired) {
+				/* we don't want to send anything just in half, so return */
+				return;
 			}
 		}
 
@@ -222,6 +223,8 @@ Mavlink::Mavlink() :
 	_subscriptions(nullptr),
 	_streams(nullptr),
 	_mission_pub(-1),
+	_mode(MAVLINK_MODE_NORMAL),
+	_total_counter(0),
 	_verbose(false),
 	_forwarding_on(false),
 	_passing_on(false),
diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c
index 2f1b3c014..a36a4688d 100644
--- a/src/modules/position_estimator_inav/inertial_filter.c
+++ b/src/modules/position_estimator_inav/inertial_filter.c
@@ -9,15 +9,18 @@
 
 #include "inertial_filter.h"
 
-void inertial_filter_predict(float dt, float x[3])
+void inertial_filter_predict(float dt, float x[2], float acc)
 {
 	if (isfinite(dt)) {
-		x[0] += x[1] * dt + x[2] * dt * dt / 2.0f;
-		x[1] += x[2] * dt;
+		if (!isfinite(acc)) {
+			acc = 0.0f;
+		}
+		x[0] += x[1] * dt + acc * dt * dt / 2.0f;
+		x[1] += acc * dt;
 	}
 }
 
-void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
+void inertial_filter_correct(float e, float dt, float x[2], int i, float w)
 {
 	if (isfinite(e) && isfinite(w) && isfinite(dt)) {
 		float ewdt = e * w * dt;
@@ -25,10 +28,6 @@ void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
 
 		if (i == 0) {
 			x[1] += w * ewdt;
-			x[2] += w * w * ewdt / 3.0;
-
-		} else if (i == 1) {
-			x[2] += w * ewdt;
 		}
 	}
 }
diff --git a/src/modules/position_estimator_inav/inertial_filter.h b/src/modules/position_estimator_inav/inertial_filter.h
index 761c17097..cdeb4cfc6 100644
--- a/src/modules/position_estimator_inav/inertial_filter.h
+++ b/src/modules/position_estimator_inav/inertial_filter.h
@@ -8,6 +8,6 @@
 #include <stdbool.h>
 #include <drivers/drv_hrt.h>
 
-void inertial_filter_predict(float dt, float x[3]);
+void inertial_filter_predict(float dt, float x[3], float acc);
 
 void inertial_filter_correct(float e, float dt, float x[3], int i, float w);
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index fdc3233e0..d7503e42d 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -168,15 +168,15 @@ int position_estimator_inav_main(int argc, char *argv[])
 	exit(1);
 }
 
-void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float x_est_prev[3], float y_est_prev[3], float z_est_prev[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
+void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
 {
 	FILE *f = fopen("/fs/microsd/inav.log", "a");
 
 	if (f) {
 		char *s = malloc(256);
-		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f] x_est_prev=[%.5f %.5f %.5f] y_est_prev=[%.5f %.5f %.5f] z_est_prev=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2], x_est_prev[0], x_est_prev[1], x_est_prev[2], y_est_prev[0], y_est_prev[1], y_est_prev[2], z_est_prev[0], z_est_prev[1], z_est_prev[2]);
+		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], y_est[0], y_est[1], z_est[0], z_est[1], x_est_prev[0], x_est_prev[1], y_est_prev[0], y_est_prev[1], z_est_prev[0], z_est_prev[1]);
 		fwrite(s, 1, n, f);
-		n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
+		n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", acc[0], acc[1], acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
 		fwrite(s, 1, n, f);
 		free(s);
 	}
@@ -195,14 +195,14 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 	mavlink_log_info(mavlink_fd, "[inav] started");
 
-	float x_est[3] = { 0.0f, 0.0f, 0.0f };
-	float y_est[3] = { 0.0f, 0.0f, 0.0f };
-	float z_est[3] = { 0.0f, 0.0f, 0.0f };
+	float x_est[2] = { 0.0f, 0.0f };	// pos, vel
+	float y_est[2] = { 0.0f, 0.0f };	// pos, vel
+	float z_est[2] = { 0.0f, 0.0f };	// pos, vel
 
 	float eph = 1.0;
 	float epv = 1.0;
 
-	float x_est_prev[3], y_est_prev[3], z_est_prev[3];
+	float x_est_prev[2], y_est_prev[2], z_est_prev[2];
 	memset(x_est_prev, 0, sizeof(x_est_prev));
 	memset(y_est_prev, 0, sizeof(y_est_prev));
 	memset(z_est_prev, 0, sizeof(z_est_prev));
@@ -241,7 +241,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
 
 	/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
-	float corr_acc[] = { 0.0f, 0.0f, 0.0f };	// N E D
+	float acc[] = { 0.0f, 0.0f, 0.0f };	// N E D
 	float acc_bias[] = { 0.0f, 0.0f, 0.0f };	// body frame
 	float corr_baro = 0.0f;		// D
 	float corr_gps[3][2] = {
@@ -341,8 +341,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 					/* mean calculation over several measurements */
 					if (baro_init_cnt < baro_init_num) {
-						baro_offset += sensor.baro_alt_meter;
-						baro_init_cnt++;
+						if (isfinite(sensor.baro_alt_meter)) {
+							baro_offset += sensor.baro_alt_meter;
+							baro_init_cnt++;
+						}
 
 					} else {
 						wait_baro = false;
@@ -418,19 +420,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 						/* transform acceleration vector from body frame to NED frame */
 						for (int i = 0; i < 3; i++) {
-							accel_NED[i] = 0.0f;
+							acc[i] = 0.0f;
 
 							for (int j = 0; j < 3; j++) {
-								accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
+								acc[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
 							}
 						}
 
-						corr_acc[0] = accel_NED[0] - x_est[2];
-						corr_acc[1] = accel_NED[1] - y_est[2];
-						corr_acc[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
+						acc[2] += CONSTANTS_ONE_G;
 
 					} else {
-						memset(corr_acc, 0, sizeof(corr_acc));
+						memset(acc, 0, sizeof(acc));
 					}
 
 					accel_timestamp = sensor.accelerometer_timestamp;
@@ -628,11 +628,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							/* set position estimate to (0, 0, 0), use GPS velocity for XY */
 							x_est[0] = 0.0f;
 							x_est[1] = gps.vel_n_m_s;
-							x_est[2] = accel_NED[0];
 							y_est[0] = 0.0f;
 							y_est[1] = gps.vel_e_m_s;
 							z_est[0] = 0.0f;
-							y_est[2] = accel_NED[1];
 
 							local_pos.ref_lat = lat;
 							local_pos.ref_lon = lon;
@@ -655,10 +653,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						if (reset_est) {
 							x_est[0] = gps_proj[0];
 							x_est[1] = gps.vel_n_m_s;
-							x_est[2] = accel_NED[0];
 							y_est[0] = gps_proj[1];
 							y_est[1] = gps.vel_e_m_s;
-							y_est[2] = accel_NED[1];
 						}
 
 						/* calculate correction for position */
@@ -796,26 +792,26 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				c += att.R[j][i] * accel_bias_corr[j];
 			}
 
-			acc_bias[i] += c * params.w_acc_bias * dt;
+			if (isfinite(c)) {
+				acc_bias[i] += c * params.w_acc_bias * dt;
+			}
 		}
 
 		/* inertial filter prediction for altitude */
-		inertial_filter_predict(dt, z_est);
+		inertial_filter_predict(dt, z_est, acc[2]);
 
-		if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
-			write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+		if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
+			write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 			memcpy(z_est, z_est_prev, sizeof(z_est));
 		}
 
 		/* inertial filter correction for altitude */
 		inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro);
 		inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
-		inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
 
-		if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
-			write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+		if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
+			write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 			memcpy(z_est, z_est_prev, sizeof(z_est));
-			memset(corr_acc, 0, sizeof(corr_acc));
 			memset(corr_gps, 0, sizeof(corr_gps));
 			corr_baro = 0;
 
@@ -825,19 +821,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 		if (can_estimate_xy) {
 			/* inertial filter prediction for position */
-			inertial_filter_predict(dt, x_est);
-			inertial_filter_predict(dt, y_est);
+			inertial_filter_predict(dt, x_est, acc[0]);
+			inertial_filter_predict(dt, y_est, acc[1]);
 
-			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
-				write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
+				write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 				memcpy(x_est, x_est_prev, sizeof(x_est));
 				memcpy(y_est, y_est_prev, sizeof(y_est));
 			}
 
 			/* inertial filter correction for position */
-			inertial_filter_correct(corr_acc[0], dt, x_est, 2, params.w_xy_acc);
-			inertial_filter_correct(corr_acc[1], dt, y_est, 2, params.w_xy_acc);
-
 			if (use_flow) {
 				inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow);
 				inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow);
@@ -853,11 +846,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				}
 			}
 
-			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
-				write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
+				write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 				memcpy(x_est, x_est_prev, sizeof(x_est));
 				memcpy(y_est, y_est_prev, sizeof(y_est));
-				memset(corr_acc, 0, sizeof(corr_acc));
 				memset(corr_gps, 0, sizeof(corr_gps));
 				memset(corr_flow, 0, sizeof(corr_flow));
 
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 2e4f26661..8aa08b6f2 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -42,11 +42,9 @@
 
 PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
 PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
-PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
 PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
-PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
 PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
 PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
@@ -62,11 +60,9 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
 {
 	h->w_z_baro = param_find("INAV_W_Z_BARO");
 	h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
-	h->w_z_acc = param_find("INAV_W_Z_ACC");
 	h->w_z_sonar = param_find("INAV_W_Z_SONAR");
 	h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
 	h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
-	h->w_xy_acc = param_find("INAV_W_XY_ACC");
 	h->w_xy_flow = param_find("INAV_W_XY_FLOW");
 	h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
 	h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
@@ -85,11 +81,9 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
 {
 	param_get(h->w_z_baro, &(p->w_z_baro));
 	param_get(h->w_z_gps_p, &(p->w_z_gps_p));
-	param_get(h->w_z_acc, &(p->w_z_acc));
 	param_get(h->w_z_sonar, &(p->w_z_sonar));
 	param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
 	param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
-	param_get(h->w_xy_acc, &(p->w_xy_acc));
 	param_get(h->w_xy_flow, &(p->w_xy_flow));
 	param_get(h->w_gps_flow, &(p->w_gps_flow));
 	param_get(h->w_acc_bias, &(p->w_acc_bias));
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h
index e2be079d3..08ec996a1 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.h
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h
@@ -43,11 +43,9 @@
 struct position_estimator_inav_params {
 	float w_z_baro;
 	float w_z_gps_p;
-	float w_z_acc;
 	float w_z_sonar;
 	float w_xy_gps_p;
 	float w_xy_gps_v;
-	float w_xy_acc;
 	float w_xy_flow;
 	float w_gps_flow;
 	float w_acc_bias;
@@ -63,11 +61,9 @@ struct position_estimator_inav_params {
 struct position_estimator_inav_param_handles {
 	param_t w_z_baro;
 	param_t w_z_gps_p;
-	param_t w_z_acc;
 	param_t w_z_sonar;
 	param_t w_xy_gps_p;
 	param_t w_xy_gps_v;
-	param_t w_xy_acc;
 	param_t w_xy_flow;
 	param_t w_gps_flow;
 	param_t w_acc_bias;