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

11 files changed, 125 insertions, 890 deletions

diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c
deleted file mode 100644
index 391e40ac1..000000000
--- a/src/examples/flow_position_control/flow_position_control_main.c
+++ /dev/null
@@ -1,613 +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_position_control.c
- *
- * Optical flow position 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/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_local_position.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_position_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_position_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of position controller.
- */
-static int flow_position_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_position_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start"))
-	{
-		if (thread_running)
-		{
-			printf("flow position control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("flow_position_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 6,
-					 4096,
-					 flow_position_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 position control app is running\n");
-		else
-			printf("\tflow position control app not started\n");
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-static int
-flow_position_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, "[fpc] started");
-
-	uint32_t counter = 0;
-	const float time_scale = powf(10.0f,-6.0f);
-
-	/* 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 vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct manual_control_setpoint_s manual;
-	memset(&manual, 0, sizeof(manual));
-	struct filtered_bottom_flow_s filtered_flow;
-	memset(&filtered_flow, 0, sizeof(filtered_flow));
-	struct vehicle_local_position_s local_pos;
-	memset(&local_pos, 0, sizeof(local_pos));
-	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
-	memset(&speed_sp, 0, sizeof(speed_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 manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
-	int vehicle_local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-
-	orb_advert_t speed_sp_pub;
-	bool speed_setpoint_adverted = false;
-
-	/* parameters init*/
-	struct flow_position_control_params params;
-	struct flow_position_control_param_handles param_handles;
-	parameters_init(&param_handles);
-	parameters_update(&param_handles, &params);
-
-	/* init flow sum setpoint */
-	float flow_sp_sumx = 0.0f;
-	float flow_sp_sumy = 0.0f;
-
-	/* init yaw setpoint */
-	float yaw_sp = 0.0f;
-
-	/* init height setpoint */
-	float height_sp = params.height_min;
-
-	/* height controller states */
-	bool start_phase = true;
-	bool landing_initialized = false;
-	float landing_thrust_start = 0.0f;
-
-	/* states */
-	float integrated_h_error = 0.0f;
-	float last_local_pos_z = 0.0f;
-	bool update_flow_sp_sumx = false;
-	bool update_flow_sp_sumy = false;
-	uint64_t last_time = 0.0f;
-	float dt = 0.0f; // s
-
-
-	/* register the perf counter */
-	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_position_control_runtime");
-	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_position_control_interval");
-	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_position_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 = filtered_bottom_flow_sub, .events = POLLIN }, // positions from estimator
-				{ .fd = parameter_update_sub,   .events = POLLIN }
-
-			};
-
-			/* wait for a position update, check for exit condition every 500 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 position control] no filtered flow 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,"[fpc] 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 vehicle state */
-					orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-					/* get a local copy of manual setpoint */
-					orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
-					/* get a local copy of attitude */
-					orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-					/* 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 local position */
-					orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos);
-					/* 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)
-					{
-						float manual_pitch = manual.pitch / params.rc_scale_pitch; // 0 to 1
-						float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1
-						float manual_yaw = manual.yaw / params.rc_scale_yaw; // -1 to 1
-
-						if(status_changed == false)
-							mavlink_log_info(mavlink_fd,"[fpc] flow POSITION control engaged");
-
-						status_changed = true;
-
-						/* calc dt */
-						if(last_time == 0)
-						{
-							last_time = hrt_absolute_time();
-							continue;
-						}
-						dt = ((float) (hrt_absolute_time() - last_time)) * time_scale;
-						last_time = hrt_absolute_time();
-
-						/* update flow sum setpoint */
-						if (update_flow_sp_sumx)
-						{
-							flow_sp_sumx = filtered_flow.sumx;
-							update_flow_sp_sumx = false;
-						}
-						if (update_flow_sp_sumy)
-						{
-							flow_sp_sumy = filtered_flow.sumy;
-							update_flow_sp_sumy = false;
-						} 
-
-						/* calc new bodyframe speed setpoints */
-						float speed_body_x = (flow_sp_sumx - filtered_flow.sumx) * params.pos_p - filtered_flow.vx * params.pos_d;
-						float speed_body_y = (flow_sp_sumy - filtered_flow.sumy) * params.pos_p - filtered_flow.vy * params.pos_d;
-						float speed_limit_height_factor = height_sp; // the settings are for 1 meter
-
-						/* overwrite with rc input if there is any */
-						if(isfinite(manual_pitch) && isfinite(manual_roll))
-						{
-							if(fabsf(manual_pitch) > params.manual_threshold)
-							{
-								speed_body_x = -manual_pitch * params.limit_speed_x * speed_limit_height_factor;
-								update_flow_sp_sumx = true;
-							}
-
-							if(fabsf(manual_roll) > params.manual_threshold)
-							{
-								speed_body_y = manual_roll * params.limit_speed_y * speed_limit_height_factor;
-								update_flow_sp_sumy = true;
-							}
-						}
-
-						/* limit speed setpoints */
-						if((speed_body_x <= params.limit_speed_x * speed_limit_height_factor) &&
-								(speed_body_x >= -params.limit_speed_x * speed_limit_height_factor))
-						{
-							speed_sp.vx = speed_body_x;
-						}
-						else
-						{
-							if(speed_body_x > params.limit_speed_x * speed_limit_height_factor)
-								speed_sp.vx = params.limit_speed_x * speed_limit_height_factor;
-							if(speed_body_x < -params.limit_speed_x * speed_limit_height_factor)
-								speed_sp.vx = -params.limit_speed_x * speed_limit_height_factor;
-						}
-
-						if((speed_body_y <= params.limit_speed_y * speed_limit_height_factor) &&
-								(speed_body_y >= -params.limit_speed_y * speed_limit_height_factor))
-						{
-							speed_sp.vy = speed_body_y;
-						}
-						else
-						{
-							if(speed_body_y > params.limit_speed_y * speed_limit_height_factor)
-								speed_sp.vy = params.limit_speed_y * speed_limit_height_factor;
-							if(speed_body_y < -params.limit_speed_y * speed_limit_height_factor)
-								speed_sp.vy = -params.limit_speed_y * speed_limit_height_factor;
-						}
-
-						/* manual yaw change */
-						if(isfinite(manual_yaw) && isfinite(manual.throttle))
-						{
-							if(fabsf(manual_yaw) > params.manual_threshold && manual.throttle > 0.2f)
-							{
-								yaw_sp += manual_yaw * params.limit_yaw_step;
-
-								/* modulo for rotation -pi +pi */
-								if(yaw_sp < -M_PI_F)
-									yaw_sp = yaw_sp + M_TWOPI_F;
-								else if(yaw_sp > M_PI_F)
-									yaw_sp = yaw_sp - M_TWOPI_F;
-							}
-						}
-
-						/* forward yaw setpoint */
-						speed_sp.yaw_sp = yaw_sp;
-
-
-						/* manual height control
-						 * 0-20%: thrust linear down
-						 * 20%-40%: down
-						 * 40%-60%: stabilize altitude
-						 * 60-100%: up
-						 */
-						float thrust_control = 0.0f;
-
-						if (isfinite(manual.throttle))
-						{
-							if (start_phase)
-							{
-								/* control start thrust with stick input */
-								if (manual.throttle < 0.4f)
-								{
-									/* first 40% for up to feedforward */
-									thrust_control = manual.throttle / 0.4f * params.thrust_feedforward;
-								}
-								else
-								{
-									/* second 60% for up to feedforward + 10% */
-									thrust_control = (manual.throttle - 0.4f) / 0.6f * 0.1f + params.thrust_feedforward;
-								}
-
-								/* exit start phase if setpoint is reached */
-								if (height_sp < -local_pos.z && thrust_control > params.limit_thrust_lower)
-								{
-									start_phase = false;
-									/* switch to stabilize */
-									thrust_control = params.thrust_feedforward;
-								}
-							}
-							else
-							{
-								if (manual.throttle < 0.2f)
-								{
-									/* landing initialization */
-									if (!landing_initialized)
-									{
-										/* consider last thrust control to avoid steps */
-										landing_thrust_start = speed_sp.thrust_sp;
-										landing_initialized = true;
-									}
-
-									/* set current height as setpoint to avoid steps */
-									if (-local_pos.z > params.height_min)
-										height_sp = -local_pos.z;
-									else
-										height_sp = params.height_min;
-
-									/* lower 20% stick range controls thrust down */
-									thrust_control = manual.throttle / 0.2f * landing_thrust_start;
-
-									/* assume ground position here */
-									if (thrust_control < 0.1f)
-									{
-										/* reset integral if on ground */
-										integrated_h_error = 0.0f;
-										/* switch to start phase */
-										start_phase = true;
-										/* reset height setpoint */
-										height_sp = params.height_min;
-									}
-								}
-								else
-								{
-									/* stabilized mode */
-									landing_initialized = false;
-
-									/* calc new thrust with PID */
-									float height_error = (local_pos.z - (-height_sp));
-
-									/* update height setpoint if needed*/
-									if (manual.throttle < 0.4f)
-									{
-										/* down */
-										if (height_sp > params.height_min + params.height_rate &&
-												fabsf(height_error) < params.limit_height_error)
-											height_sp -= params.height_rate * dt;
-									}
-
-									if (manual.throttle > 0.6f)
-									{
-										/* up */
-										if (height_sp < params.height_max &&
-												fabsf(height_error) < params.limit_height_error)
-											height_sp += params.height_rate * dt;
-									}
-
-									/* instead of speed limitation, limit height error (downwards) */
-									if(height_error > params.limit_height_error)
-										height_error = params.limit_height_error;
-									else if(height_error < -params.limit_height_error)
-										height_error = -params.limit_height_error;
-
-									integrated_h_error = integrated_h_error + height_error;
-									float integrated_thrust_addition = integrated_h_error * params.height_i;
-
-									if(integrated_thrust_addition > params.limit_thrust_int)
-										integrated_thrust_addition = params.limit_thrust_int;
-									if(integrated_thrust_addition < -params.limit_thrust_int)
-										integrated_thrust_addition = -params.limit_thrust_int;
-
-									float height_speed = last_local_pos_z - local_pos.z;
-									float thrust_diff = height_error * params.height_p - height_speed * params.height_d;
-
-									thrust_control = params.thrust_feedforward + thrust_diff + integrated_thrust_addition;
-
-									/* add attitude component
-									 * F = Fz / (cos(pitch)*cos(roll)) -> can be found in rotM
-									 */
-//									// TODO problem with attitude
-//									if (att.R_valid && att.R[2][2] > 0)
-//										thrust_control = thrust_control / att.R[2][2];
-
-									/* set thrust lower limit */
-									if(thrust_control < params.limit_thrust_lower)
-										thrust_control = params.limit_thrust_lower;
-								}
-							}
-
-							/* set thrust upper limit */
-							if(thrust_control > params.limit_thrust_upper)
-								thrust_control = params.limit_thrust_upper;
-						}
-						/* store actual height for speed estimation */
-						last_local_pos_z = local_pos.z;
-
-						speed_sp.thrust_sp =  thrust_control; //manual.throttle;
-						speed_sp.timestamp = hrt_absolute_time();
-
-						/* publish new speed setpoint */
-						if(isfinite(speed_sp.vx) && isfinite(speed_sp.vy) && isfinite(speed_sp.yaw_sp) && isfinite(speed_sp.thrust_sp))
-						{
-
-							if(speed_setpoint_adverted)
-							{
-								orb_publish(ORB_ID(vehicle_bodyframe_speed_setpoint), speed_sp_pub, &speed_sp);
-							}
-							else
-							{
-								speed_sp_pub = orb_advertise(ORB_ID(vehicle_bodyframe_speed_setpoint), &speed_sp);
-								speed_setpoint_adverted = true;
-							}
-						}
-						else
-						{
-							warnx("NaN in flow position controller!");
-						}
-					}
-					else
-					{
-						/* in manual or stabilized state just reset speed and flow sum setpoint */
-						//mavlink_log_info(mavlink_fd,"[fpc] reset speed sp, flow_sp_sumx,y (%f,%f)",filtered_flow.sumx, filtered_flow.sumy);
-						if(status_changed == true)
-							mavlink_log_info(mavlink_fd,"[fpc] flow POSITION controller disengaged.");
-
-						status_changed = false;
-						speed_sp.vx = 0.0f;
-						speed_sp.vy = 0.0f;
-						flow_sp_sumx = filtered_flow.sumx;
-						flow_sp_sumy = filtered_flow.sumy;
-						if(isfinite(att.yaw))
-						{
-							yaw_sp = att.yaw;
-							speed_sp.yaw_sp = att.yaw;
-						}
-						if(isfinite(manual.throttle))
-							speed_sp.thrust_sp = manual.throttle;
-					}
-					/* 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,"[fpc] no attitude received.\n");
-			}
-			else
-			{
-				if (fds[0].revents & POLLIN)
-				{
-					sensors_ready = true;
-					mavlink_log_info(mavlink_fd,"[fpc] initialized.\n");
-				}
-			}
-		}
-	}
-
-	mavlink_log_info(mavlink_fd,"[fpc] ending now...\n");
-
-	thread_running = false;
-
-	close(parameter_update_sub);
-	close(vehicle_attitude_sub);
-	close(vehicle_local_position_sub);
-	close(armed_sub);
-	close(control_mode_sub);
-	close(manual_control_setpoint_sub);
-	close(speed_sp_pub);
-
-	perf_print_counter(mc_loop_perf);
-	perf_free(mc_loop_perf);
-
-	fflush(stdout);
-	return 0;
-}
-
diff --git a/src/examples/flow_position_control/flow_position_control_params.c b/src/examples/flow_position_control/flow_position_control_params.c
deleted file mode 100644
index eb1473647..000000000
--- a/src/examples/flow_position_control/flow_position_control_params.c
+++ /dev/null
@@ -1,124 +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_position_control_params.c
- */
-
-#include "flow_position_control_params.h"
-
-/* controller parameters */
-
-// Position control P gain
-PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f);
-// Position control D / damping gain
-PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f);
-// Altitude control P gain
-PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f);
-// Altitude control I (integrator) gain
-PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f);
-// Altitude control D gain
-PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f);
-// Altitude control rate limiter
-PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f);
-// Altitude control minimum altitude
-PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f);
-// Altitude control maximum altitude (higher than 1.5m is untested)
-PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f);
-// Altitude control feed forward throttle - adjust to the
-// throttle position (0..1) where the copter hovers in manual flight
-PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight
-PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f);
-PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f);
-PARAM_DEFINE_FLOAT(FPC_L_H_ERR, 0.1f);
-PARAM_DEFINE_FLOAT(FPC_L_TH_I, 0.05f);
-PARAM_DEFINE_FLOAT(FPC_L_TH_U, 0.8f);
-PARAM_DEFINE_FLOAT(FPC_L_TH_L, 0.6f);
-PARAM_DEFINE_FLOAT(FPC_L_YAW_STEP, 0.03f);
-PARAM_DEFINE_FLOAT(FPC_MAN_THR, 0.1f);
-
-
-int parameters_init(struct flow_position_control_param_handles *h)
-{
-	/* PID parameters */
-	h->pos_p	 			=	param_find("FPC_POS_P");
-	h->pos_d 				=	param_find("FPC_POS_D");
-	h->height_p 			=	param_find("FPC_H_P");
-	h->height_i 			=	param_find("FPC_H_I");
-	h->height_d 			=	param_find("FPC_H_D");
-	h->height_rate 			=	param_find("FPC_H_RATE");
-	h->height_min			=	param_find("FPC_H_MIN");
-	h->height_max			=	param_find("FPC_H_MAX");
-	h->thrust_feedforward 	=	param_find("FPC_T_FFWD");
-	h->limit_speed_x 		=	param_find("FPC_L_S_X");
-	h->limit_speed_y 		=	param_find("FPC_L_S_Y");
-	h->limit_height_error	=	param_find("FPC_L_H_ERR");
-	h->limit_thrust_int 	=	param_find("FPC_L_TH_I");
-	h->limit_thrust_upper 	=	param_find("FPC_L_TH_U");
-	h->limit_thrust_lower 	=	param_find("FPC_L_TH_L");
-	h->limit_yaw_step		=	param_find("FPC_L_YAW_STEP");
-	h->manual_threshold 	=	param_find("FPC_MAN_THR");
-	h->rc_scale_pitch		=   param_find("RC_SCALE_PITCH");
-	h->rc_scale_roll		=   param_find("RC_SCALE_ROLL");
-	h->rc_scale_yaw			=   param_find("RC_SCALE_YAW");
-
-	return OK;
-}
-
-int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p)
-{
-	param_get(h->pos_p, &(p->pos_p));
-	param_get(h->pos_d, &(p->pos_d));
-	param_get(h->height_p, &(p->height_p));
-	param_get(h->height_i, &(p->height_i));
-	param_get(h->height_d, &(p->height_d));
-	param_get(h->height_rate, &(p->height_rate));
-	param_get(h->height_min, &(p->height_min));
-	param_get(h->height_max, &(p->height_max));
-	param_get(h->thrust_feedforward, &(p->thrust_feedforward));
-	param_get(h->limit_speed_x, &(p->limit_speed_x));
-	param_get(h->limit_speed_y, &(p->limit_speed_y));
-	param_get(h->limit_height_error, &(p->limit_height_error));
-	param_get(h->limit_thrust_int, &(p->limit_thrust_int));
-	param_get(h->limit_thrust_upper, &(p->limit_thrust_upper));
-	param_get(h->limit_thrust_lower, &(p->limit_thrust_lower));
-	param_get(h->limit_yaw_step, &(p->limit_yaw_step));
-	param_get(h->manual_threshold, &(p->manual_threshold));
-	param_get(h->rc_scale_pitch, &(p->rc_scale_pitch));
-	param_get(h->rc_scale_roll, &(p->rc_scale_roll));
-	param_get(h->rc_scale_yaw, &(p->rc_scale_yaw));
-
-	return OK;
-}
diff --git a/src/examples/flow_position_control/flow_position_control_params.h b/src/examples/flow_position_control/flow_position_control_params.h
deleted file mode 100644
index d0c8fc722..000000000
--- a/src/examples/flow_position_control/flow_position_control_params.h
+++ /dev/null
@@ -1,100 +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_position_control_params.h
- * 
- * Parameters for position controller
- */
-
-#include <systemlib/param/param.h>
-
-struct flow_position_control_params {
-	float pos_p;
-	float pos_d;
-	float height_p;
-	float height_i;
-	float height_d;
-	float height_rate;
-	float height_min;
-	float height_max;
-	float thrust_feedforward;
-	float limit_speed_x;
-	float limit_speed_y;
-	float limit_height_error;
-	float limit_thrust_int;
-	float limit_thrust_upper;
-	float limit_thrust_lower;
-	float limit_yaw_step;
-	float manual_threshold;
-	float rc_scale_pitch;
-	float rc_scale_roll;
-	float rc_scale_yaw;
-};
-
-struct flow_position_control_param_handles {
-	param_t pos_p;
-	param_t pos_d;
-	param_t height_p;
-	param_t height_i;
-	param_t height_d;
-	param_t height_rate;
-	param_t height_min;
-	param_t height_max;
-	param_t thrust_feedforward;
-	param_t limit_speed_x;
-	param_t limit_speed_y;
-	param_t limit_height_error;
-	param_t limit_thrust_int;
-	param_t limit_thrust_upper;
-	param_t limit_thrust_lower;
-	param_t limit_yaw_step;
-	param_t manual_threshold;
-	param_t rc_scale_pitch;
-	param_t rc_scale_roll;
-	param_t rc_scale_yaw;
-};
-
-/**
- * Initialize all parameter handles and values
- *
- */
-int parameters_init(struct flow_position_control_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p);
diff --git a/src/examples/flow_position_control/module.mk b/src/examples/flow_position_control/module.mk
deleted file mode 100644
index b10dc490a..000000000
--- a/src/examples/flow_position_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 multirotor position control
-#
-
-MODULE_COMMAND	= flow_position_control
-
-SRCS		= flow_position_control_main.c \
-		  flow_position_control_params.c
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 9584924cc..0a909d02f 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -63,11 +63,22 @@ ECL_PitchController::ECL_PitchController() :
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f)
 {
+	perf_alloc(PC_COUNT, "fw att control pitch nonfinite input");
 }
 
-float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
+ECL_PitchController::~ECL_PitchController()
 {
+	perf_free(_nonfinite_input_perf);
+}
 
+float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(pitch_setpoint) && isfinite(roll) && isfinite(pitch) && isfinite(airspeed))) {
+		perf_count(_nonfinite_input_perf);
+		warnx("not controlling pitch");
+		return _rate_setpoint;
+	}
 
 	/* flying inverted (wings upside down) ? */
 	bool inverted = false;
@@ -123,6 +134,14 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 		float yaw_rate_setpoint,
 		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
+				isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) &&
+				isfinite(airspeed_max) && isfinite(scaler))) {
+		perf_count(_nonfinite_input_perf);
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index 30a82a86a..39b9f9d03 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -51,12 +51,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_PitchController //XXX: create controller superclass
 {
 public:
 	ECL_PitchController();
 
+	~ECL_PitchController();
+
 	float control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed);
 
 
@@ -126,6 +129,7 @@ private:
 	float _rate_error;
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
+	perf_counter_t _nonfinite_input_perf;
 };
 
 #endif // ECL_PITCH_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 2e86c72dc..82903ef5a 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -61,10 +61,21 @@ ECL_RollController::ECL_RollController() :
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f)
 {
+	perf_alloc(PC_COUNT, "fw att control roll nonfinite input");
+}
+
+ECL_RollController::~ECL_RollController()
+{
+	perf_free(_nonfinite_input_perf);
 }
 
 float ECL_RollController::control_attitude(float roll_setpoint, float roll)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll_setpoint) && isfinite(roll))) {
+		perf_count(_nonfinite_input_perf);
+		return _rate_setpoint;
+	}
 
 	/* Calculate error */
 	float roll_error = roll_setpoint - roll;
@@ -86,6 +97,14 @@ float ECL_RollController::control_bodyrate(float pitch,
 		float yaw_rate_setpoint,
 		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) &&
+			isfinite(airspeed_min) && isfinite(airspeed_max) &&
+			isfinite(scaler))) {
+		perf_count(_nonfinite_input_perf);
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
@@ -122,8 +141,8 @@ float ECL_RollController::control_bodyrate(float pitch,
 		float id = _rate_error * dt;
 
 		/*
-		 * anti-windup: do not allow integrator to increase if actuator is at limit
-		 */
+		* anti-windup: do not allow integrator to increase if actuator is at limit
+		*/
 		if (_last_output < -1.0f) {
 			/* only allow motion to center: increase value */
 			id = math::max(id, 0.0f);
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index 92c64b95f..0799dbe03 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -51,12 +51,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_RollController //XXX: create controller superclass
 {
 public:
 	ECL_RollController();
 
+	~ECL_RollController();
+
 	float control_attitude(float roll_setpoint, float roll);
 
 	float control_bodyrate(float pitch,
@@ -117,6 +120,7 @@ private:
 	float _rate_error;
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
+	perf_counter_t _nonfinite_input_perf;
 };
 
 #endif // ECL_ROLL_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index 255776765..e53ffc644 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -60,12 +60,25 @@ ECL_YawController::ECL_YawController() :
 	_bodyrate_setpoint(0.0f),
 	_coordinated_min_speed(1.0f)
 {
+	perf_alloc(PC_COUNT, "fw att control yaw nonfinite input");
+}
+
+ECL_YawController::~ECL_YawController()
+{
+	perf_free(_nonfinite_input_perf);
 }
 
 float ECL_YawController::control_attitude(float roll, float pitch,
 		float speed_body_u, float speed_body_v, float speed_body_w,
 		float roll_rate_setpoint, float pitch_rate_setpoint)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) &&
+				isfinite(speed_body_w) && isfinite(roll_rate_setpoint) &&
+				isfinite(pitch_rate_setpoint))) {
+		perf_count(_nonfinite_input_perf);
+		return _rate_setpoint;
+	}
 //	static int counter = 0;
 	/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
 	_rate_setpoint = 0.0f;
@@ -103,6 +116,13 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 		float pitch_rate_setpoint,
 		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
+				isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) &&
+				isfinite(airspeed_max) && isfinite(scaler))) {
+		perf_count(_nonfinite_input_perf);
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index 03f3202d0..a360c14b8 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -50,12 +50,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_YawController //XXX: create controller superclass
 {
 public:
 	ECL_YawController();
 
+	~ECL_YawController();
+
 	float control_attitude(float roll, float pitch,
 			float speed_body_u, float speed_body_v, float speed_body_w,
 			float roll_rate_setpoint, float pitch_rate_setpoint);
@@ -118,6 +121,7 @@ private:
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
 	float _coordinated_min_speed;
+	perf_counter_t _nonfinite_input_perf;
 
 };
 
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 6943239e5..178b590ae 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -134,6 +134,8 @@ private:
 	struct vehicle_global_position_s		_global_pos;		/**< global position */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
+	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
+	perf_counter_t	_nonfinite_output_perf;		/**< performance counter for non finite output */
 
 	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
 
@@ -310,6 +312,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
+	_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
 /* states */
 	_setpoint_valid(false)
 {
@@ -387,6 +391,10 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
 		} while (_control_task != -1);
 	}
 
+	perf_free(_loop_perf);
+	perf_free(_nonfinite_input_perf);
+	perf_free(_nonfinite_output_perf);
+
 	att_control::g_control = nullptr;
 }
 
@@ -592,6 +600,8 @@ FixedwingAttitudeControl::task_main()
 
 	while (!_task_should_exit) {
 
+		static int loop_counter = 0;
+
 		/* wait for up to 500ms for data */
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
@@ -672,10 +682,12 @@ FixedwingAttitudeControl::task_main()
 				float airspeed;
 
 				/* if airspeed is not updating, we assume the normal average speed */
-				if (!isfinite(_airspeed.true_airspeed_m_s) ||
+				if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
 				    hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
 					airspeed = _parameters.airspeed_trim;
-
+					if (nonfinite) {
+						perf_count(_nonfinite_input_perf);
+					}
 				} else {
 					airspeed = _airspeed.true_airspeed_m_s;
 				}
@@ -755,7 +767,9 @@ FixedwingAttitudeControl::task_main()
 					speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
 					speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
 				} else	{
-					warnx("Did not get a valid R\n");
+					if (loop_counter % 10 == 0) {
+						warnx("Did not get a valid R\n");
+					}
 				}
 
 				/* Run attitude controllers */
@@ -773,7 +787,12 @@ FixedwingAttitudeControl::task_main()
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
 					if (!isfinite(roll_u)) {
-						warnx("roll_u %.4f", (double)roll_u);
+						_roll_ctrl.reset_integrator();
+						perf_count(_nonfinite_output_perf);
+
+						if (loop_counter % 10 == 0) {
+							warnx("roll_u %.4f", (double)roll_u);
+						}
 					}
 
 					float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -782,8 +801,22 @@ FixedwingAttitudeControl::task_main()
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
 					if (!isfinite(pitch_u)) {
-						warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
-								(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body);
+						_pitch_ctrl.reset_integrator();
+						perf_count(_nonfinite_output_perf);
+						if (loop_counter % 10 == 0) {
+							warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
+								" airspeed %.4f, airspeed_scaling %.4f,"
+								" roll_sp %.4f, pitch_sp %.4f,"
+								" _roll_ctrl.get_desired_rate() %.4f,"
+								" _pitch_ctrl.get_desired_rate() %.4f"
+								" att_sp.roll_body %.4f",
+								(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
+								(double)airspeed, (double)airspeed_scaling,
+								(double)roll_sp, (double)pitch_sp,
+								(double)_roll_ctrl.get_desired_rate(),
+								(double)_pitch_ctrl.get_desired_rate(),
+								(double)_att_sp.roll_body);
+						}
 					}
 
 					float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -792,16 +825,25 @@ FixedwingAttitudeControl::task_main()
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
 					if (!isfinite(yaw_u)) {
-						warnx("yaw_u %.4f", (double)yaw_u);
+						_yaw_ctrl.reset_integrator();
+						perf_count(_nonfinite_output_perf);
+						if (loop_counter % 10 == 0) {
+							warnx("yaw_u %.4f", (double)yaw_u);
+						}
 					}
 
 					/* throttle passed through */
 					_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
 					if (!isfinite(throttle_sp)) {
-						warnx("throttle_sp %.4f", (double)throttle_sp);
+						if (loop_counter % 10 == 0) {
+							warnx("throttle_sp %.4f", (double)throttle_sp);
+						}
 					}
 				} else {
-					warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
+					perf_count(_nonfinite_input_perf);
+					if (loop_counter % 10 == 0) {
+						warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
+					}
 				}
 
 				/*
@@ -865,6 +907,7 @@ FixedwingAttitudeControl::task_main()
 
 		}
 
+		loop_counter++;
 		perf_end(_loop_perf);
 	}