Linux: added HRT test, moved tests to linux/tests

Also fixed naming of mavlink files for NuttX build.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

25 files changed, 1920 insertions, 21 deletions

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp_nuttx.cpp
index 4ba595a87..4ba595a87 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp_nuttx.cpp
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main_nuttx.cpp
index ce80953e2..ce80953e2 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main_nuttx.cpp
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver_linux.cpp
index bfe7a4552..bfe7a4552 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver_linux.cpp
diff --git a/src/modules/mavlink/mavlink_receiver_nuttx.cpp b/src/modules/mavlink/mavlink_receiver_nuttx.cpp
new file mode 100644
index 000000000..51ff07d0e
--- /dev/null
+++ b/src/modules/mavlink/mavlink_receiver_nuttx.cpp
@@ -0,0 +1,1557 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_receiver.cpp
+ * MAVLink protocol message receive and dispatch
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+/* XXX trim includes */
+#include <px4_config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <mqueue.h>
+#include <string.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_baro.h>
+#include <drivers/drv_range_finder.h>
+#include <time.h>
+#include <float.h>
+#include <unistd.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <mathlib/mathlib.h>
+
+#include <conversion/rotation.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <systemlib/airspeed.h>
+#include <mavlink/mavlink_log.h>
+#include <commander/px4_custom_mode.h>
+#include <geo/geo.h>
+
+__BEGIN_DECLS
+
+#include "mavlink_bridge_header.h"
+#include "mavlink_receiver.h"
+#include "mavlink_main.h"
+
+__END_DECLS
+
+static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
+
+MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
+	_mavlink(parent),
+	status{},
+	hil_local_pos{},
+	hil_land_detector{},
+	_control_mode{},
+	_global_pos_pub(-1),
+	_local_pos_pub(-1),
+	_attitude_pub(-1),
+	_gps_pub(-1),
+	_sensors_pub(-1),
+	_gyro_pub(-1),
+	_accel_pub(-1),
+	_mag_pub(-1),
+	_baro_pub(-1),
+	_airspeed_pub(-1),
+	_battery_pub(-1),
+	_cmd_pub(-1),
+	_flow_pub(-1),
+	_range_pub(-1),
+	_offboard_control_mode_pub(-1),
+	_actuator_controls_pub(-1),
+	_global_vel_sp_pub(-1),
+	_att_sp_pub(-1),
+	_rates_sp_pub(-1),
+	_force_sp_pub(-1),
+	_pos_sp_triplet_pub(-1),
+	_vicon_position_pub(-1),
+	_vision_position_pub(-1),
+	_telemetry_status_pub(-1),
+	_rc_pub(-1),
+	_manual_pub(-1),
+	_land_detector_pub(-1),
+	_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
+	_hil_frames(0),
+	_old_timestamp(0),
+	_hil_local_proj_inited(0),
+	_hil_local_alt0(0.0f),
+	_hil_local_proj_ref{},
+	_offboard_control_mode{},
+	_rates_sp{},
+	_time_offset_avg_alpha(0.6),
+	_time_offset(0)
+{
+
+	// make sure the FTP server is started
+	(void)MavlinkFTP::get_server();
+}
+
+MavlinkReceiver::~MavlinkReceiver()
+{
+}
+
+void
+MavlinkReceiver::handle_message(mavlink_message_t *msg)
+{
+	switch (msg->msgid) {
+	case MAVLINK_MSG_ID_COMMAND_LONG:
+		handle_message_command_long(msg);
+		break;
+
+	case MAVLINK_MSG_ID_COMMAND_INT:
+		handle_message_command_int(msg);
+		break;
+
+	case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
+		handle_message_optical_flow_rad(msg);
+		break;
+
+	case MAVLINK_MSG_ID_SET_MODE:
+		handle_message_set_mode(msg);
+		break;
+
+	case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
+		handle_message_vicon_position_estimate(msg);
+		break;
+
+	case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
+		handle_message_set_position_target_local_ned(msg);
+		break;
+
+	case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
+		handle_message_set_attitude_target(msg);
+		break;
+
+	case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
+		handle_message_set_actuator_control_target(msg);
+		break;
+
+	case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
+		handle_message_vision_position_estimate(msg);
+		break;
+
+	case MAVLINK_MSG_ID_RADIO_STATUS:
+		handle_message_radio_status(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MANUAL_CONTROL:
+		handle_message_manual_control(msg);
+		break;
+
+	case MAVLINK_MSG_ID_HEARTBEAT:
+		handle_message_heartbeat(msg);
+		break;
+
+	case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
+		handle_message_request_data_stream(msg);
+		break;
+
+	case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
+		MavlinkFTP::get_server()->handle_message(_mavlink, msg);
+		break;
+
+	case MAVLINK_MSG_ID_SYSTEM_TIME:
+		handle_message_system_time(msg);
+		break;
+
+	case MAVLINK_MSG_ID_TIMESYNC:
+		handle_message_timesync(msg);
+		break;
+
+	default:
+		break;
+	}
+
+	/*
+	 * Only decode hil messages in HIL mode.
+	 *
+	 * The HIL mode is enabled by the HIL bit flag
+	 * in the system mode. Either send a set mode
+	 * COMMAND_LONG message or a SET_MODE message
+	 *
+	 * Accept HIL GPS messages if use_hil_gps flag is true.
+	 * This allows to provide fake gps measurements to the system.
+	 */
+	if (_mavlink->get_hil_enabled()) {
+		switch (msg->msgid) {
+		case MAVLINK_MSG_ID_HIL_SENSOR:
+			handle_message_hil_sensor(msg);
+			break;
+
+		case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
+			handle_message_hil_state_quaternion(msg);
+			break;
+
+		case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
+			handle_message_hil_optical_flow(msg);
+			break;
+
+		default:
+			break;
+		}
+	}
+
+
+   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
+		switch (msg->msgid) {
+		case MAVLINK_MSG_ID_HIL_GPS:
+			handle_message_hil_gps(msg);
+			break;
+
+		default:
+			break;
+		}
+
+	}
+
+    /* If we've received a valid message, mark the flag indicating so.
+	   This is used in the '-w' command-line flag. */
+	_mavlink->set_has_received_messages(true);
+}
+
+void
+MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
+{
+	/* command */
+	mavlink_command_long_t cmd_mavlink;
+	mavlink_msg_command_long_decode(msg, &cmd_mavlink);
+
+	if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
+			|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+		//check for MAVLINK terminate command
+		if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
+			/* This is the link shutdown command, terminate mavlink */
+			warnx("terminated by remote");
+			fflush(stdout);
+			usleep(50000);
+
+			/* terminate other threads and this thread */
+			_mavlink->_task_should_exit = true;
+
+		} else {
+
+			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
+				warnx("ignoring CMD with same SYS/COMP (%d/%d) ID",
+				      mavlink_system.sysid, mavlink_system.compid);
+				return;
+			}
+
+			struct vehicle_command_s vcmd;
+			memset(&vcmd, 0, sizeof(vcmd));
+
+			/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+			vcmd.param1 = cmd_mavlink.param1;
+			vcmd.param2 = cmd_mavlink.param2;
+			vcmd.param3 = cmd_mavlink.param3;
+			vcmd.param4 = cmd_mavlink.param4;
+			vcmd.param5 = cmd_mavlink.param5;
+			vcmd.param6 = cmd_mavlink.param6;
+			vcmd.param7 = cmd_mavlink.param7;
+			// XXX do proper translation
+			vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
+			vcmd.target_system = cmd_mavlink.target_system;
+			vcmd.target_component = cmd_mavlink.target_component;
+			vcmd.source_system = msg->sysid;
+			vcmd.source_component = msg->compid;
+			vcmd.confirmation =  cmd_mavlink.confirmation;
+
+			if (_cmd_pub < 0) {
+				_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
+			} else {
+				orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
+			}
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
+{
+	/* command */
+	mavlink_command_int_t cmd_mavlink;
+	mavlink_msg_command_int_decode(msg, &cmd_mavlink);
+
+	if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
+			|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+		//check for MAVLINK terminate command
+		if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
+			/* This is the link shutdown command, terminate mavlink */
+			warnx("terminated by remote");
+			fflush(stdout);
+			usleep(50000);
+
+			/* terminate other threads and this thread */
+			_mavlink->_task_should_exit = true;
+
+		} else {
+
+			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
+				warnx("ignoring CMD with same SYS/COMP (%d/%d) ID",
+				      mavlink_system.sysid, mavlink_system.compid);
+				return;
+			}
+
+			struct vehicle_command_s vcmd;
+			memset(&vcmd, 0, sizeof(vcmd));
+
+			/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
+			vcmd.param1 = cmd_mavlink.param1;
+			vcmd.param2 = cmd_mavlink.param2;
+			vcmd.param3 = cmd_mavlink.param3;
+			vcmd.param4 = cmd_mavlink.param4;
+			/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
+			vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
+			vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
+			vcmd.param7 = cmd_mavlink.z;
+			// XXX do proper translation
+			vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
+			vcmd.target_system = cmd_mavlink.target_system;
+			vcmd.target_component = cmd_mavlink.target_component;
+			vcmd.source_system = msg->sysid;
+			vcmd.source_component = msg->compid;
+
+			if (_cmd_pub < 0) {
+				_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
+			} else {
+				orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
+			}
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
+{
+	/* optical flow */
+	mavlink_optical_flow_rad_t flow;
+	mavlink_msg_optical_flow_rad_decode(msg, &flow);
+
+	enum Rotation flow_rot;
+	param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
+
+	struct optical_flow_s f;
+	memset(&f, 0, sizeof(f));
+
+	f.timestamp = flow.time_usec;
+	f.integration_timespan = flow.integration_time_us;
+	f.pixel_flow_x_integral = flow.integrated_x;
+	f.pixel_flow_y_integral = flow.integrated_y;
+	f.gyro_x_rate_integral = flow.integrated_xgyro;
+	f.gyro_y_rate_integral = flow.integrated_ygyro;
+	f.gyro_z_rate_integral = flow.integrated_zgyro;
+	f.time_since_last_sonar_update = flow.time_delta_distance_us;
+	f.ground_distance_m = flow.distance;
+	f.quality = flow.quality;
+	f.sensor_id = flow.sensor_id;
+	f.gyro_temperature = flow.temperature;
+
+	/* rotate measurements according to parameter */
+	float zeroval = 0.0f;
+	rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
+
+	if (_flow_pub < 0) {
+		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+
+	} else {
+		orb_publish(ORB_ID(optical_flow), _flow_pub, &f);
+	}
+}
+
+void
+MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
+{
+	/* optical flow */
+	mavlink_hil_optical_flow_t flow;
+	mavlink_msg_hil_optical_flow_decode(msg, &flow);
+
+	struct optical_flow_s f;
+	memset(&f, 0, sizeof(f));
+
+	f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec;
+	f.integration_timespan = flow.integration_time_us;
+	f.pixel_flow_x_integral = flow.integrated_x;
+	f.pixel_flow_y_integral = flow.integrated_y;
+	f.gyro_x_rate_integral = flow.integrated_xgyro;
+	f.gyro_y_rate_integral = flow.integrated_ygyro;
+	f.gyro_z_rate_integral = flow.integrated_zgyro;
+	f.time_since_last_sonar_update = flow.time_delta_distance_us;
+	f.ground_distance_m = flow.distance;
+	f.quality = flow.quality;
+	f.sensor_id = flow.sensor_id;
+	f.gyro_temperature = flow.temperature;
+
+	if (_flow_pub < 0) {
+		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+
+	} else {
+		orb_publish(ORB_ID(optical_flow), _flow_pub, &f);
+	}
+
+	/* Use distance value for range finder report */
+	struct range_finder_report r;
+	memset(&r, 0, sizeof(r));
+
+	r.timestamp = hrt_absolute_time();
+	r.error_count = 0;
+	r.type = RANGE_FINDER_TYPE_LASER;
+	r.distance = flow.distance;
+	r.minimum_distance = 0.0f;
+	r.maximum_distance = 40.0f; // this is set to match the typical range of real sensors, could be made configurable
+	r.valid = (r.distance > r.minimum_distance) && (r.distance < r.maximum_distance);
+
+	if (_range_pub < 0) {
+		_range_pub = orb_advertise(ORB_ID(sensor_range_finder), &r);
+	} else {
+		orb_publish(ORB_ID(sensor_range_finder), _range_pub, &r);
+	}
+}
+
+void
+MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
+{
+	mavlink_set_mode_t new_mode;
+	mavlink_msg_set_mode_decode(msg, &new_mode);
+
+	struct vehicle_command_s vcmd;
+	memset(&vcmd, 0, sizeof(vcmd));
+
+	union px4_custom_mode custom_mode;
+	custom_mode.data = new_mode.custom_mode;
+	/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+	vcmd.param1 = new_mode.base_mode;
+	vcmd.param2 = custom_mode.main_mode;
+	vcmd.param3 = 0;
+	vcmd.param4 = 0;
+	vcmd.param5 = 0;
+	vcmd.param6 = 0;
+	vcmd.param7 = 0;
+	vcmd.command = VEHICLE_CMD_DO_SET_MODE;
+	vcmd.target_system = new_mode.target_system;
+	vcmd.target_component = MAV_COMP_ID_ALL;
+	vcmd.source_system = msg->sysid;
+	vcmd.source_component = msg->compid;
+	vcmd.confirmation = 1;
+
+	if (_cmd_pub < 0) {
+		_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
+	} else {
+		orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
+	}
+}
+
+void
+MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
+{
+	mavlink_vicon_position_estimate_t pos;
+	mavlink_msg_vicon_position_estimate_decode(msg, &pos);
+
+	struct vehicle_vicon_position_s vicon_position;
+	memset(&vicon_position, 0, sizeof(vicon_position));
+
+	vicon_position.timestamp = hrt_absolute_time();
+	vicon_position.x = pos.x;
+	vicon_position.y = pos.y;
+	vicon_position.z = pos.z;
+	vicon_position.roll = pos.roll;
+	vicon_position.pitch = pos.pitch;
+	vicon_position.yaw = pos.yaw;
+
+	if (_vicon_position_pub < 0) {
+		_vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
+
+	} else {
+		orb_publish(ORB_ID(vehicle_vicon_position), _vicon_position_pub, &vicon_position);
+	}
+}
+
+void
+MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg)
+{
+	mavlink_set_position_target_local_ned_t set_position_target_local_ned;
+	mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned);
+
+	struct offboard_control_mode_s offboard_control_mode;
+	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
+
+	/* Only accept messages which are intended for this system */
+	if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
+				set_position_target_local_ned.target_system == 0) &&
+			(mavlink_system.compid == set_position_target_local_ned.target_component ||
+			 set_position_target_local_ned.target_component == 0)) {
+
+		/* convert mavlink type (local, NED) to uORB offboard control struct */
+		offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
+		offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
+		offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
+		bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
+		/* yaw ignore flag mapps to ignore_attitude */
+		offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
+		/* yawrate ignore flag mapps to ignore_bodyrate */
+		offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
+
+		offboard_control_mode.timestamp = hrt_absolute_time();
+
+		if (_offboard_control_mode_pub < 0) {
+			_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
+
+		} else {
+			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
+		}
+
+		/* If we are in offboard control mode and offboard control loop through is enabled
+		 * also publish the setpoint topic which is read by the controller */
+		if (_mavlink->get_forward_externalsp()) {
+			bool updated;
+			orb_check(_control_mode_sub, &updated);
+			if (updated) {
+				orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+			}
+			if (_control_mode.flag_control_offboard_enabled) {
+				if (is_force_sp && offboard_control_mode.ignore_position &&
+						offboard_control_mode.ignore_velocity) {
+					/* The offboard setpoint is a force setpoint only, directly writing to the force
+					 * setpoint topic and not publishing the setpoint triplet topic */
+					struct vehicle_force_setpoint_s	force_sp;
+					force_sp.x = set_position_target_local_ned.afx;
+					force_sp.y = set_position_target_local_ned.afy;
+					force_sp.z = set_position_target_local_ned.afz;
+					//XXX: yaw
+					if (_force_sp_pub < 0) {
+						_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
+					} else {
+						orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
+					}
+				} else {
+					/* It's not a pure force setpoint: publish to setpoint triplet  topic */
+					struct position_setpoint_triplet_s pos_sp_triplet;
+					pos_sp_triplet.previous.valid = false;
+					pos_sp_triplet.next.valid = false;
+					pos_sp_triplet.current.valid = true;
+					pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others
+
+					/* set the local pos values */
+					if (!offboard_control_mode.ignore_position) {
+						pos_sp_triplet.current.position_valid = true;
+						pos_sp_triplet.current.x = set_position_target_local_ned.x;
+						pos_sp_triplet.current.y = set_position_target_local_ned.y;
+						pos_sp_triplet.current.z = set_position_target_local_ned.z;
+					} else {
+						pos_sp_triplet.current.position_valid = false;
+					}
+
+					/* set the local vel values */
+					if (!offboard_control_mode.ignore_velocity) {
+						pos_sp_triplet.current.velocity_valid = true;
+						pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
+						pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
+						pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
+					} else {
+						pos_sp_triplet.current.velocity_valid = false;
+					}
+
+					/* set the local acceleration values if the setpoint type is 'local pos' and none
+					 * of the accelerations fields is set to 'ignore' */
+					if (!offboard_control_mode.ignore_acceleration_force) {
+						pos_sp_triplet.current.acceleration_valid = true;
+						pos_sp_triplet.current.a_x = set_position_target_local_ned.afx;
+						pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
+						pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
+						pos_sp_triplet.current.acceleration_is_force =
+						is_force_sp;
+
+					} else {
+						pos_sp_triplet.current.acceleration_valid = false;
+					}
+
+					/* set the yaw sp value */
+					if (!offboard_control_mode.ignore_attitude) {
+						pos_sp_triplet.current.yaw_valid = true;
+						pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
+
+					} else {
+						pos_sp_triplet.current.yaw_valid = false;
+					}
+
+					/* set the yawrate sp value */
+					if (!offboard_control_mode.ignore_bodyrate) {
+						pos_sp_triplet.current.yawspeed_valid = true;
+						pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
+
+					} else {
+						pos_sp_triplet.current.yawspeed_valid = false;
+					}
+					//XXX handle global pos setpoints (different MAV frames)
+
+
+					if (_pos_sp_triplet_pub < 0) {
+						_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
+								&pos_sp_triplet);
+					} else {
+						orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
+								&pos_sp_triplet);
+					}
+
+				}
+
+			}
+
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg)
+{
+	mavlink_set_actuator_control_target_t set_actuator_control_target;
+	mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target);
+
+	struct offboard_control_mode_s offboard_control_mode;
+	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
+
+	struct actuator_controls_s actuator_controls;
+	memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
+
+	if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
+		    set_actuator_control_target.target_system == 0) &&
+		(mavlink_system.compid == set_actuator_control_target.target_component ||
+		    set_actuator_control_target.target_component == 0)) {
+
+		/* ignore all since we are setting raw actuators here */
+		offboard_control_mode.ignore_thrust             = true;
+		offboard_control_mode.ignore_attitude           = true;
+		offboard_control_mode.ignore_bodyrate           = true;
+		offboard_control_mode.ignore_position           = true;
+		offboard_control_mode.ignore_velocity           = true;
+		offboard_control_mode.ignore_acceleration_force = true;
+
+		offboard_control_mode.timestamp = hrt_absolute_time();
+
+		if (_offboard_control_mode_pub < 0) {
+			_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
+		} else {
+			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
+		}
+
+
+		/* If we are in offboard control mode, publish the actuator controls */
+		bool updated;
+		orb_check(_control_mode_sub, &updated);
+		if (updated) {
+			orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+		}
+
+		if (_control_mode.flag_control_offboard_enabled) {
+
+			actuator_controls.timestamp = hrt_absolute_time();
+
+			/* Set duty cycles for the servos in actuator_controls_0 */
+			for(size_t i = 0; i < 8; i++) {
+				actuator_controls.control[i] = set_actuator_control_target.controls[i];
+			}
+
+			if (_actuator_controls_pub < 0) {
+				_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
+			} else {
+				orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
+			}
+		}
+	}
+
+}
+
+void
+MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
+{
+	mavlink_vision_position_estimate_t pos;
+	mavlink_msg_vision_position_estimate_decode(msg, &pos);
+
+	struct vision_position_estimate vision_position;
+	memset(&vision_position, 0, sizeof(vision_position));
+
+	// Use the component ID to identify the vision sensor
+	vision_position.id = msg->compid;
+
+	vision_position.timestamp_boot = to_hrt(pos.usec); // Synced time
+	vision_position.timestamp_computer = pos.usec;
+	vision_position.x = pos.x;
+	vision_position.y = pos.y;
+	vision_position.z = pos.z;
+
+	// XXX fix this
+	vision_position.vx = 0.0f;
+	vision_position.vy = 0.0f;
+	vision_position.vz = 0.0f;
+
+	math::Quaternion q;
+	q.from_euler(pos.roll, pos.pitch, pos.yaw);
+
+	vision_position.q[0] = q(0);
+	vision_position.q[1] = q(1);
+	vision_position.q[2] = q(2);
+	vision_position.q[3] = q(3);
+
+	if (_vision_position_pub < 0) {
+		_vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position);
+
+	} else {
+		orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position);
+	}
+}
+
+void
+MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
+{
+	mavlink_set_attitude_target_t set_attitude_target;
+	mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target);
+
+	/* Only accept messages which are intended for this system */
+	if ((mavlink_system.sysid == set_attitude_target.target_system ||
+				set_attitude_target.target_system == 0) &&
+			(mavlink_system.compid == set_attitude_target.target_component ||
+			 set_attitude_target.target_component == 0)) {
+
+		/* set correct ignore flags for thrust field: copy from mavlink message */
+		_offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));
+
+		/*
+		 * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust
+		 * using different messages. Eg.: First send set_attitude_target containing the attitude and ignore
+		 * bits set for everything else and then send set_attitude_target containing the thrust and ignore bits
+		 * set for everything else.
+		 */
+
+		/*
+		 * if attitude or body rate have been used (not ignored) previously and this message only sends
+		 * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
+		 * body rates to keep the controllers running
+		 */
+		bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7);
+		bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7));
+
+		if (ignore_bodyrate && ignore_attitude && !_offboard_control_mode.ignore_thrust) {
+			/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
+			_offboard_control_mode.ignore_bodyrate = ignore_bodyrate && _offboard_control_mode.ignore_bodyrate;
+			_offboard_control_mode.ignore_attitude = ignore_attitude && _offboard_control_mode.ignore_attitude;
+		} else {
+			_offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
+			_offboard_control_mode.ignore_attitude = ignore_attitude;
+		}
+
+		_offboard_control_mode.ignore_position = true;
+		_offboard_control_mode.ignore_velocity = true;
+		_offboard_control_mode.ignore_acceleration_force = true;
+
+		_offboard_control_mode.timestamp = hrt_absolute_time();
+
+		if (_offboard_control_mode_pub < 0) {
+			_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &_offboard_control_mode);
+
+		} else {
+			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &_offboard_control_mode);
+		}
+
+		/* If we are in offboard control mode and offboard control loop through is enabled
+		 * also publish the setpoint topic which is read by the controller */
+		if (_mavlink->get_forward_externalsp()) {
+			bool updated;
+			orb_check(_control_mode_sub, &updated);
+			if (updated) {
+				orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+			}
+
+			if (_control_mode.flag_control_offboard_enabled) {
+
+				/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
+				if (!(_offboard_control_mode.ignore_attitude)) {
+					static struct vehicle_attitude_setpoint_s att_sp = {};
+					att_sp.timestamp = hrt_absolute_time();
+					mavlink_quaternion_to_euler(set_attitude_target.q,
+							&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
+					mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
+					att_sp.R_valid = true;
+					if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
+						att_sp.thrust = set_attitude_target.thrust;
+					}
+					att_sp.yaw_sp_move_rate = 0.0;
+					memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
+					att_sp.q_d_valid = true;
+					if (_att_sp_pub < 0) {
+						_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
+					} else {
+						orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
+					}
+				}
+
+				/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
+				///XXX add support for ignoring individual axes
+				if (!(_offboard_control_mode.ignore_bodyrate)) {
+					_rates_sp.timestamp = hrt_absolute_time();
+					_rates_sp.roll = set_attitude_target.body_roll_rate;
+					_rates_sp.pitch = set_attitude_target.body_pitch_rate;
+					_rates_sp.yaw = set_attitude_target.body_yaw_rate;
+					if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
+						_rates_sp.thrust = set_attitude_target.thrust;
+					}
+
+					if (_att_sp_pub < 0) {
+						_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
+					} else {
+						orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp);
+					}
+				}
+			}
+
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
+{
+	/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
+	if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
+		mavlink_radio_status_t rstatus;
+		mavlink_msg_radio_status_decode(msg, &rstatus);
+
+		struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
+
+		tstatus.timestamp = hrt_absolute_time();
+		tstatus.telem_time = tstatus.timestamp;
+		/* tstatus.heartbeat_time is set by system heartbeats */
+		tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
+		tstatus.rssi = rstatus.rssi;
+		tstatus.remote_rssi = rstatus.remrssi;
+		tstatus.txbuf = rstatus.txbuf;
+		tstatus.noise = rstatus.noise;
+		tstatus.remote_noise = rstatus.remnoise;
+		tstatus.rxerrors = rstatus.rxerrors;
+		tstatus.fixed = rstatus.fixed;
+		tstatus.system_id = msg->sysid;
+		tstatus.component_id = msg->compid;
+
+		if (_telemetry_status_pub < 0) {
+			_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
+
+		} else {
+			orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
+{
+	mavlink_manual_control_t man;
+	mavlink_msg_manual_control_decode(msg, &man);
+
+	struct manual_control_setpoint_s manual;
+	memset(&manual, 0, sizeof(manual));
+
+	manual.timestamp = hrt_absolute_time();
+	manual.x = man.x / 1000.0f;
+	manual.y = man.y / 1000.0f;
+	manual.r = man.r / 1000.0f;
+	manual.z = man.z / 1000.0f;
+
+	// warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
+
+	if (_manual_pub < 0) {
+		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
+
+	} else {
+		orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
+	}
+}
+
+void
+MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
+{
+	/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
+	if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
+		mavlink_heartbeat_t hb;
+		mavlink_msg_heartbeat_decode(msg, &hb);
+
+		/* ignore own heartbeats, accept only heartbeats from GCS */
+		if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
+
+			struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
+
+			/* set heartbeat time and topic time and publish -
+			 * the telem status also gets updated on telemetry events
+			 */
+			tstatus.timestamp = hrt_absolute_time();
+			tstatus.heartbeat_time = tstatus.timestamp;
+
+			if (_telemetry_status_pub < 0) {
+				_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
+
+			} else {
+				orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
+			}
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
+{
+	mavlink_request_data_stream_t req;
+	mavlink_msg_request_data_stream_decode(msg, &req);
+
+	if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid && req.req_message_rate != 0) {
+		float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
+
+		MavlinkStream *stream;
+		LL_FOREACH(_mavlink->get_streams(), stream) {
+			if (req.req_stream_id == stream->get_id()) {
+				_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
+			}
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
+{
+	mavlink_system_time_t time;
+	mavlink_msg_system_time_decode(msg, &time);
+
+	timespec tv;
+	clock_gettime(CLOCK_REALTIME, &tv);
+
+	// date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009
+	bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS;
+	bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL;
+
+	if (!onb_unix_valid && ofb_unix_valid) {
+		tv.tv_sec = time.time_unix_usec / 1000000ULL;
+		tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
+		if(clock_settime(CLOCK_REALTIME, &tv)) {
+			warn("failed setting clock");
+		}
+		else {
+		warnx("[timesync] UTC time synced.");
+		}
+	}
+
+}
+
+void
+MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
+{
+	mavlink_timesync_t tsync;
+	mavlink_msg_timesync_decode(msg, &tsync);
+
+	uint64_t now_ns = hrt_absolute_time() * 1000LL ;
+
+	if (tsync.tc1 == 0) {
+
+		mavlink_timesync_t rsync; // return timestamped sync message
+
+		rsync.tc1 = now_ns;
+		rsync.ts1 = tsync.ts1;
+
+		_mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &rsync);
+
+		return;
+
+	} else if (tsync.tc1 > 0) {
+
+		int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ;
+		int64_t dt = _time_offset - offset_ns;
+
+		if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
+			_time_offset = offset_ns;
+			warnx("[timesync] Hard setting offset.");
+		} else {
+			smooth_time_offset(offset_ns);
+		}
+	}
+
+}
+
+void
+MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
+{
+	mavlink_hil_sensor_t imu;
+	mavlink_msg_hil_sensor_decode(msg, &imu);
+
+	uint64_t timestamp = hrt_absolute_time();
+
+	/* airspeed */
+	{
+		struct airspeed_s airspeed;
+		memset(&airspeed, 0, sizeof(airspeed));
+
+		float ias = calc_indicated_airspeed(imu.diff_pressure * 1e2f);
+		// XXX need to fix this
+		float tas = ias;
+
+		airspeed.timestamp = timestamp;
+		airspeed.indicated_airspeed_m_s = ias;
+		airspeed.true_airspeed_m_s = tas;
+
+		if (_airspeed_pub < 0) {
+			_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
+
+		} else {
+			orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed);
+		}
+	}
+
+	/* gyro */
+	{
+		struct gyro_report gyro;
+		memset(&gyro, 0, sizeof(gyro));
+
+		gyro.timestamp = timestamp;
+		gyro.x_raw = imu.xgyro * 1000.0f;
+		gyro.y_raw = imu.ygyro * 1000.0f;
+		gyro.z_raw = imu.zgyro * 1000.0f;
+		gyro.x = imu.xgyro;
+		gyro.y = imu.ygyro;
+		gyro.z = imu.zgyro;
+		gyro.temperature = imu.temperature;
+
+		if (_gyro_pub < 0) {
+			_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
+
+		} else {
+			orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
+		}
+	}
+
+	/* accelerometer */
+	{
+		struct accel_report accel;
+		memset(&accel, 0, sizeof(accel));
+
+		accel.timestamp = timestamp;
+		accel.x_raw = imu.xacc / mg2ms2;
+		accel.y_raw = imu.yacc / mg2ms2;
+		accel.z_raw = imu.zacc / mg2ms2;
+		accel.x = imu.xacc;
+		accel.y = imu.yacc;
+		accel.z = imu.zacc;
+		accel.temperature = imu.temperature;
+
+		if (_accel_pub < 0) {
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+
+		} else {
+			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+		}
+	}
+
+	/* magnetometer */
+	{
+		struct mag_report mag;
+		memset(&mag, 0, sizeof(mag));
+
+		mag.timestamp = timestamp;
+		mag.x_raw = imu.xmag * 1000.0f;
+		mag.y_raw = imu.ymag * 1000.0f;
+		mag.z_raw = imu.zmag * 1000.0f;
+		mag.x = imu.xmag;
+		mag.y = imu.ymag;
+		mag.z = imu.zmag;
+
+		if (_mag_pub < 0) {
+			/* publish to the first mag topic */
+			_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
+
+		} else {
+			orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
+		}
+	}
+
+	/* baro */
+	{
+		struct baro_report baro;
+		memset(&baro, 0, sizeof(baro));
+
+		baro.timestamp = timestamp;
+		baro.pressure = imu.abs_pressure;
+		baro.altitude = imu.pressure_alt;
+		baro.temperature = imu.temperature;
+
+		if (_baro_pub < 0) {
+			_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
+
+		} else {
+			orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
+		}
+	}
+
+	/* sensor combined */
+	{
+		struct sensor_combined_s hil_sensors;
+		memset(&hil_sensors, 0, sizeof(hil_sensors));
+
+		hil_sensors.timestamp = timestamp;
+
+		hil_sensors.gyro_raw[0] = imu.xgyro * 1000.0f;
+		hil_sensors.gyro_raw[1] = imu.ygyro * 1000.0f;
+		hil_sensors.gyro_raw[2] = imu.zgyro * 1000.0f;
+		hil_sensors.gyro_rad_s[0] = imu.xgyro;
+		hil_sensors.gyro_rad_s[1] = imu.ygyro;
+		hil_sensors.gyro_rad_s[2] = imu.zgyro;
+
+		hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
+		hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
+		hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
+		hil_sensors.accelerometer_m_s2[0] = imu.xacc;
+		hil_sensors.accelerometer_m_s2[1] = imu.yacc;
+		hil_sensors.accelerometer_m_s2[2] = imu.zacc;
+		hil_sensors.accelerometer_mode = 0; // TODO what is this?
+		hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
+		hil_sensors.accelerometer_timestamp = timestamp;
+
+		hil_sensors.adc_voltage_v[0] = 0.0f;
+		hil_sensors.adc_voltage_v[1] = 0.0f;
+		hil_sensors.adc_voltage_v[2] = 0.0f;
+
+		hil_sensors.magnetometer_raw[0] = imu.xmag * 1000.0f;
+		hil_sensors.magnetometer_raw[1] = imu.ymag * 1000.0f;
+		hil_sensors.magnetometer_raw[2] = imu.zmag * 1000.0f;
+		hil_sensors.magnetometer_ga[0] = imu.xmag;
+		hil_sensors.magnetometer_ga[1] = imu.ymag;
+		hil_sensors.magnetometer_ga[2] = imu.zmag;
+		hil_sensors.magnetometer_range_ga = 32.7f; // int16
+		hil_sensors.magnetometer_mode = 0; // TODO what is this
+		hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
+		hil_sensors.magnetometer_timestamp = timestamp;
+
+		hil_sensors.baro_pres_mbar = imu.abs_pressure;
+		hil_sensors.baro_alt_meter = imu.pressure_alt;
+		hil_sensors.baro_temp_celcius = imu.temperature;
+		hil_sensors.baro_timestamp = timestamp;
+
+		hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
+		hil_sensors.differential_pressure_timestamp = timestamp;
+
+		/* publish combined sensor topic */
+		if (_sensors_pub < 0) {
+			_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+
+		} else {
+			orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors);
+		}
+	}
+
+	/* battery status */
+	{
+		struct battery_status_s hil_battery_status;
+		memset(&hil_battery_status, 0, sizeof(hil_battery_status));
+
+		hil_battery_status.timestamp = timestamp;
+		hil_battery_status.voltage_v = 11.1f;
+		hil_battery_status.voltage_filtered_v = 11.1f;
+		hil_battery_status.current_a = 10.0f;
+		hil_battery_status.discharged_mah = -1.0f;
+
+		if (_battery_pub < 0) {
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+
+		} else {
+			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
+		}
+	}
+
+	/* increment counters */
+	_hil_frames++;
+
+	/* print HIL sensors rate */
+	if ((timestamp - _old_timestamp) > 10000000) {
+		// printf("receiving HIL sensors at %d hz\n", _hil_frames / 10);
+		_old_timestamp = timestamp;
+		_hil_frames = 0;
+	}
+}
+
+void
+MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
+{
+	mavlink_hil_gps_t gps;
+	mavlink_msg_hil_gps_decode(msg, &gps);
+
+	uint64_t timestamp = hrt_absolute_time();
+
+	struct vehicle_gps_position_s hil_gps;
+	memset(&hil_gps, 0, sizeof(hil_gps));
+
+	hil_gps.timestamp_time = timestamp;
+	hil_gps.time_utc_usec = gps.time_usec;
+
+	hil_gps.timestamp_position = timestamp;
+	hil_gps.lat = gps.lat;
+	hil_gps.lon = gps.lon;
+	hil_gps.alt = gps.alt;
+	hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
+	hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
+
+	hil_gps.timestamp_variance = timestamp;
+	hil_gps.s_variance_m_s = 5.0f;
+
+	hil_gps.timestamp_velocity = timestamp;
+	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
+	hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
+	hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
+	hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
+	hil_gps.vel_ned_valid = true;
+	hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
+
+	hil_gps.fix_type = gps.fix_type;
+	hil_gps.satellites_used = gps.satellites_visible;  //TODO: rename mavlink_hil_gps_t sats visible to used?
+
+	if (_gps_pub < 0) {
+		_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+
+	} else {
+		orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps);
+	}
+}
+
+void
+MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
+{
+	mavlink_hil_state_quaternion_t hil_state;
+	mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
+
+	uint64_t timestamp = hrt_absolute_time();
+
+	/* airspeed */
+	{
+		struct airspeed_s airspeed;
+		memset(&airspeed, 0, sizeof(airspeed));
+
+		airspeed.timestamp = timestamp;
+		airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
+		airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
+
+		if (_airspeed_pub < 0) {
+			_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
+
+		} else {
+			orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed);
+		}
+	}
+
+	/* attitude */
+	struct vehicle_attitude_s hil_attitude;
+	{
+		memset(&hil_attitude, 0, sizeof(hil_attitude));
+		math::Quaternion q(hil_state.attitude_quaternion);
+		math::Matrix<3, 3> C_nb = q.to_dcm();
+		math::Vector<3> euler = C_nb.to_euler();
+
+		hil_attitude.timestamp = timestamp;
+		memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R));
+		hil_attitude.R_valid = true;
+
+		hil_attitude.q[0] = q(0);
+		hil_attitude.q[1] = q(1);
+		hil_attitude.q[2] = q(2);
+		hil_attitude.q[3] = q(3);
+		hil_attitude.q_valid = true;
+
+		hil_attitude.roll = euler(0);
+		hil_attitude.pitch = euler(1);
+		hil_attitude.yaw = euler(2);
+		hil_attitude.rollspeed = hil_state.rollspeed;
+		hil_attitude.pitchspeed = hil_state.pitchspeed;
+		hil_attitude.yawspeed = hil_state.yawspeed;
+
+		if (_attitude_pub < 0) {
+			_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
+
+		} else {
+			orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude);
+		}
+	}
+
+	/* global position */
+	{
+		struct vehicle_global_position_s hil_global_pos;
+		memset(&hil_global_pos, 0, sizeof(hil_global_pos));
+
+		hil_global_pos.timestamp = timestamp;
+		hil_global_pos.lat = hil_state.lat;
+		hil_global_pos.lon = hil_state.lon;
+		hil_global_pos.alt = hil_state.alt / 1000.0f;
+		hil_global_pos.vel_n = hil_state.vx / 100.0f;
+		hil_global_pos.vel_e = hil_state.vy / 100.0f;
+		hil_global_pos.vel_d = hil_state.vz / 100.0f;
+		hil_global_pos.yaw = hil_attitude.yaw;
+		hil_global_pos.eph = 2.0f;
+		hil_global_pos.epv = 4.0f;
+
+		if (_global_pos_pub < 0) {
+			_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
+
+		} else {
+			orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos);
+		}
+	}
+
+	/* local position */
+	{
+		double lat = hil_state.lat * 1e-7;
+		double lon = hil_state.lon * 1e-7;
+
+		if (!_hil_local_proj_inited) {
+			_hil_local_proj_inited = true;
+			_hil_local_alt0 = hil_state.alt / 1000.0f;
+			map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
+			hil_local_pos.ref_timestamp = timestamp;
+			hil_local_pos.ref_lat = lat;
+			hil_local_pos.ref_lon = lon;
+			hil_local_pos.ref_alt = _hil_local_alt0;
+		}
+
+		float x;
+		float y;
+		map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
+		hil_local_pos.timestamp = timestamp;
+		hil_local_pos.xy_valid = true;
+		hil_local_pos.z_valid = true;
+		hil_local_pos.v_xy_valid = true;
+		hil_local_pos.v_z_valid = true;
+		hil_local_pos.x = x;
+		hil_local_pos.y = y;
+		hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f;
+		hil_local_pos.vx = hil_state.vx / 100.0f;
+		hil_local_pos.vy = hil_state.vy / 100.0f;
+		hil_local_pos.vz = hil_state.vz / 100.0f;
+		hil_local_pos.yaw = hil_attitude.yaw;
+		hil_local_pos.xy_global = true;
+		hil_local_pos.z_global = true;
+
+		if (_local_pos_pub < 0) {
+			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
+
+		} else {
+			orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
+		}
+	}
+
+	/* land detector */
+	{
+		bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve?
+		if(hil_land_detector.landed != landed) {
+			hil_land_detector.landed = landed;
+			hil_land_detector.timestamp = hrt_absolute_time();
+
+			if (_land_detector_pub < 0) {
+				_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector);
+
+			} else {
+				orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &hil_land_detector);
+			}
+		}
+	}
+
+	/* accelerometer */
+	{
+		struct accel_report accel;
+		memset(&accel, 0, sizeof(accel));
+
+		accel.timestamp = timestamp;
+		accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f;
+		accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f;
+		accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f;
+		accel.x = hil_state.xacc;
+		accel.y = hil_state.yacc;
+		accel.z = hil_state.zacc;
+		accel.temperature = 25.0f;
+
+		if (_accel_pub < 0) {
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+
+		} else {
+			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+		}
+	}
+
+	/* battery status */
+	{
+		struct battery_status_s	hil_battery_status;
+		memset(&hil_battery_status, 0, sizeof(hil_battery_status));
+
+		hil_battery_status.timestamp = timestamp;
+		hil_battery_status.voltage_v = 11.1f;
+		hil_battery_status.voltage_filtered_v = 11.1f;
+		hil_battery_status.current_a = 10.0f;
+		hil_battery_status.discharged_mah = -1.0f;
+
+		if (_battery_pub < 0) {
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+
+		} else {
+			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
+		}
+	}
+}
+
+
+/**
+ * Receive data from UART.
+ */
+void *
+MavlinkReceiver::receive_thread(void *arg)
+{
+	int uart_fd = _mavlink->get_uart_fd();
+
+	const int timeout = 500;
+	uint8_t buf[32];
+
+	mavlink_message_t msg;
+
+	/* set thread name */
+	char thread_name[24];
+	sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
+	prctl(PR_SET_NAME, thread_name, getpid());
+
+	struct pollfd fds[1];
+	fds[0].fd = uart_fd;
+	fds[0].events = POLLIN;
+
+	ssize_t nread = 0;
+
+	while (!_mavlink->_task_should_exit) {
+		if (poll(fds, 1, timeout) > 0) {
+
+			/* non-blocking read. read may return negative values */
+			if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) {
+				/* to avoid reading very small chunks wait for data before reading */
+				usleep(1000);
+			}
+
+			/* if read failed, this loop won't execute */
+			for (ssize_t i = 0; i < nread; i++) {
+				if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) {
+					/* handle generic messages and commands */
+					handle_message(&msg);
+
+					/* handle packet with parent object */
+					_mavlink->handle_message(&msg);
+				}
+			}
+
+			/* count received bytes */
+			_mavlink->count_rxbytes(nread);
+		}
+	}
+
+	return NULL;
+}
+
+void MavlinkReceiver::print_status()
+{
+
+}
+
+uint64_t MavlinkReceiver::to_hrt(uint64_t usec)
+{
+	return usec - (_time_offset / 1000) ;
+}
+
+
+void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns)
+{
+	/* alpha = 0.6 fixed for now. The closer alpha is to 1.0,
+         * the faster the moving average updates in response to
+	 * new offset samples.
+	 */
+
+ 	_time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset;
+}
+
+
+void *MavlinkReceiver::start_helper(void *context)
+{
+	MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);
+
+	rcv->receive_thread(NULL);
+
+	delete rcv;
+
+	return nullptr;
+}
+
+pthread_t
+MavlinkReceiver::receive_start(Mavlink *parent)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+
+	// set to non-blocking read
+	int flags = fcntl(parent->get_uart_fd(), F_GETFL, 0);
+	fcntl(parent->get_uart_fd(), F_SETFL, flags | O_NONBLOCK);
+
+	struct sched_param param;
+	(void)pthread_attr_getschedparam(&receiveloop_attr, &param);
+	param.sched_priority = SCHED_PRIORITY_MAX - 80;
+	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+	pthread_attr_setstacksize(&receiveloop_attr, 1800);
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
+
+	pthread_attr_destroy(&receiveloop_attr);
+	return thread;
+}
diff --git a/src/modules/mavlink/mavlink_tests/module.mk b/src/modules/mavlink/mavlink_tests/module.mk
index b46d2bd35..030706cc4 100644
--- a/src/modules/mavlink/mavlink_tests/module.mk
+++ b/src/modules/mavlink/mavlink_tests/module.mk
@@ -38,8 +38,12 @@
 MODULE_COMMAND		= mavlink_tests
 SRCS			= mavlink_tests.cpp \
 			mavlink_ftp_test.cpp \
-			../mavlink_ftp.cpp \
 			../mavlink.c
+ifeq ($(PX4_TARGET_NUTTX),nuttx)
+SRCS += 		../mavlink_ftp_nuttx.cpp 
+else
+SRCS += 		../mavlink_ftp_linux.cpp 
+endif
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index 10f283e6c..1740c6b77 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -36,16 +36,17 @@
 #
 
 MODULE_COMMAND	 = mavlink
-ifeq ($(PX$_TARGET_OS),nuttx)
+ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		 += 	mavlink_main_nuttx.cpp \
-			mavlink_ftp_nuttx.cpp
+			mavlink_ftp_nuttx.cpp \
+			mavlink_receiver_nuttx.cpp 
 else
 SRCS		 += 	mavlink_main_linux.cpp \
-			mavlink_ftp_linux.cpp
+			mavlink_ftp_linux.cpp \
+			mavlink_receiver_linux.cpp 
 endif
 
 SRCS 		 +=	mavlink.c \
-			mavlink_receiver.cpp \
 			mavlink_mission.cpp \
 			mavlink_parameters.cpp \
 			mavlink_orb_subscription.cpp \
diff --git a/src/modules/uORB/MuORB.cpp b/src/modules/uORB/MuORB.cpp
index ffa51bae8..9dcab26b1 100644
--- a/src/modules/uORB/MuORB.cpp
+++ b/src/modules/uORB/MuORB.cpp
@@ -197,7 +197,7 @@ ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const
 	_priority(priority)
 {
 	// enable debug() calls
-	_debug_enabled = true;
+	//_debug_enabled = true;
 }
 
 ORBDevNode::~ORBDevNode()
@@ -702,7 +702,7 @@ namespace
 
 ORBDevMaster	*g_dev;
 bool pubsubtest_passed = false;
-bool pubsubtest_print = false;
+bool pubsubtest_print = true;
 int pubsubtest_res = PX4_OK;
 
 struct orb_test {
@@ -818,7 +818,8 @@ int pubsublatency_main(void)
 
 	if (pubsubtest_print) {
 		char fname[32];
-		sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
+		//sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
+		sprintf(fname, "/tmp/timings%u.txt", timingsgroup);
 		FILE *f = fopen(fname, "w");
 		if (f == NULL) {
 			warnx("Error opening file!\n");
@@ -971,6 +972,7 @@ test()
 template<typename S> int
 latency_test(orb_id_t T, bool print)
 {
+	test_note("---------------- LATENCY TEST ------------------");
 	S t;
 	t.val = 308;
 	t.time = hrt_absolute_time();
diff --git a/src/platforms/linux/px4_layer/drv_hrt.c b/src/platforms/linux/px4_layer/drv_hrt.c
index ad6aee474..066abe70d 100644
--- a/src/platforms/linux/px4_layer/drv_hrt.c
+++ b/src/platforms/linux/px4_layer/drv_hrt.c
@@ -79,11 +79,6 @@ hrt_abstime ts_to_abstime(struct timespec *ts)
 }
 
 /*
- * Convert absolute time to a timespec.
- */
-void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
-
-/*
  * Compute the delta between a timestamp taken in the past
  * and now.
  *
@@ -289,3 +284,10 @@ void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callo
 	hrt_call_internal(entry, calltime, 0, callout, arg);
 }
 
+#if 0
+/*
+ * Convert absolute time to a timespec.
+ */
+void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
+#endif
+
diff --git a/src/platforms/linux/px4_layer/px4_linux_tasks.c b/src/platforms/linux/px4_layer/px4_linux_tasks.c
index f62f4227f..fa832a168 100644
--- a/src/platforms/linux/px4_layer/px4_linux_tasks.c
+++ b/src/platforms/linux/px4_layer/px4_linux_tasks.c
@@ -96,7 +96,9 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	unsigned long structsize;
 	char * p = (char *)argv;
 
-        px4_task_t task;
+        pthread_t task;
+	pthread_attr_t attr;
+	struct sched_param param;
 
 	// Calculate argc
 	while (p != (char *)0) {
@@ -125,14 +127,36 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	// Must add NULL at end of argv
 	taskdata->argv[argc] = (char *)0;
 
-	//printf("Called px4_task_spawn_cmd\n");
-	// FIXME - add handling for scheduler and priority
-        rv = pthread_create (&task, NULL, (void *)&entry_adapter, (void *) taskdata);
+	rv = pthread_attr_init(&attr);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to init thread attrs\n");
+		return (rv < 0) ? rv : -rv;
+	}
+	rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to set inherit sched\n");
+		return (rv < 0) ? rv : -rv;
+	}
+	rv = pthread_attr_setschedpolicy(&attr, scheduler);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to set sched policy\n");
+		return (rv < 0) ? rv : -rv;
+	}
 
-	if (rv != 0)
-	{
+	param.sched_priority = priority;
+
+	rv = pthread_attr_setschedparam(&attr, &param);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to set sched param\n");
 		return (rv < 0) ? rv : -rv;
 	}
+
+        rv = pthread_create (&task, &attr, (void *)&entry_adapter, (void *) taskdata);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to create thread\n");
+		return (rv < 0) ? rv : -rv;
+	}
+
 	//printf("pthread_create task=%d rv=%d\n",(int)task, rv);
 
 	for (i=0; i<PX4_MAX_TASKS; ++i) {
diff --git a/src/platforms/linux/hello/hello_example.cpp b/src/platforms/linux/tests/hello/hello_example.cpp
index a30aeb57b..a30aeb57b 100644
--- a/src/platforms/linux/hello/hello_example.cpp
+++ b/src/platforms/linux/tests/hello/hello_example.cpp
diff --git a/src/platforms/linux/hello/hello_example.h b/src/platforms/linux/tests/hello/hello_example.h
index a4ae51705..a4ae51705 100644
--- a/src/platforms/linux/hello/hello_example.h
+++ b/src/platforms/linux/tests/hello/hello_example.h
diff --git a/src/platforms/linux/hello/hello_main.cpp b/src/platforms/linux/tests/hello/hello_main.cpp
index 69e8c21ec..69e8c21ec 100644
--- a/src/platforms/linux/hello/hello_main.cpp
+++ b/src/platforms/linux/tests/hello/hello_main.cpp
diff --git a/src/platforms/linux/hello/hello_start_linux.cpp b/src/platforms/linux/tests/hello/hello_start_linux.cpp
index 240c5d845..240c5d845 100644
--- a/src/platforms/linux/hello/hello_start_linux.cpp
+++ b/src/platforms/linux/tests/hello/hello_start_linux.cpp
diff --git a/src/platforms/linux/hello/module.mk b/src/platforms/linux/tests/hello/module.mk
index 730f9189e..730f9189e 100644
--- a/src/platforms/linux/hello/module.mk
+++ b/src/platforms/linux/tests/hello/module.mk
diff --git a/src/platforms/linux/tests/hrt_test/hrt_test.cpp b/src/platforms/linux/tests/hrt_test/hrt_test.cpp
new file mode 100644
index 000000000..d5e446bcc
--- /dev/null
+++ b/src/platforms/linux/tests/hrt_test/hrt_test.cpp
@@ -0,0 +1,66 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hrt_test.cpp
+ * Test High Resolution Timers in Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include <drivers/drv_hrt.h>
+#include "hrt_test.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState HRTTest::appState;
+
+int HRTTest::main()
+{
+	appState.setRunning(true);
+
+	hrt_abstime t = hrt_absolute_time();
+	usleep(1000000);
+	hrt_abstime elt = hrt_elapsed_time(&t);
+	printf("Elapsed time %llu in 1 sec (usleep)\n", elt);
+	printf("Start time %llu\n", t);
+
+	t = hrt_absolute_time();
+	sleep(1);
+	elt = hrt_elapsed_time(&t);
+	printf("Elapsed time %llu in 1 sec (sleep)\n", elt);
+	printf("Start time %llu\n", t);
+
+	return 0;
+}
diff --git a/src/platforms/linux/tests/hrt_test/hrt_test.h b/src/platforms/linux/tests/hrt_test/hrt_test.h
new file mode 100644
index 000000000..c4c97be6d
--- /dev/null
+++ b/src/platforms/linux/tests/hrt_test/hrt_test.h
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hrt_test.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class HRTTest {
+public:
+	HRTTest() {};
+
+	~HRTTest() {};
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+};
diff --git a/src/platforms/linux/tests/hrt_test/hrt_test_main.cpp b/src/platforms/linux/tests/hrt_test/hrt_test_main.cpp
new file mode 100644
index 000000000..b7c332cd3
--- /dev/null
+++ b/src/platforms/linux/tests/hrt_test/hrt_test_main.cpp
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "hrt_test.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "hello");
+
+	printf("hello\n");
+	HRTTest test;
+	test.main();
+
+	printf("goodbye\n");
+	return 0;
+}
diff --git a/src/platforms/linux/tests/hrt_test/hrt_test_start_linux.cpp b/src/platforms/linux/tests/hrt_test/hrt_test_start_linux.cpp
new file mode 100644
index 000000000..bc53f4e52
--- /dev/null
+++ b/src/platforms/linux/tests/hrt_test/hrt_test_start_linux.cpp
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 Mark Charlebois. 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 hrt_test_start_linux.cpp
+ *
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "hrt_test.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+extern "C" __EXPORT int hrttest_main(int argc, char *argv[]);
+int hrttest_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		printf("usage: hrttest_main {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (HRTTest::appState.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("hrttest",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		HRTTest::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (HRTTest::appState.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: hrttest_main {start|stop|status}\n");
+	return 1;
+}
diff --git a/src/platforms/linux/tests/hrt_test/module.mk b/src/platforms/linux/tests/hrt_test/module.mk
new file mode 100644
index 000000000..559427cd4
--- /dev/null
+++ b/src/platforms/linux/tests/hrt_test/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= hrttest
+
+SRCS		= hrt_test_main.cpp \
+		  hrt_test_start_linux.cpp \
+		  hrt_test.cpp
+
diff --git a/src/platforms/linux/vcdev_test/module.mk b/src/platforms/linux/tests/vcdev_test/module.mk
index 72cde9e2e..72cde9e2e 100644
--- a/src/platforms/linux/vcdev_test/module.mk
+++ b/src/platforms/linux/tests/vcdev_test/module.mk
diff --git a/src/platforms/linux/vcdev_test/vcdevtest_example.cpp b/src/platforms/linux/tests/vcdev_test/vcdevtest_example.cpp
index c773da8ba..c773da8ba 100644
--- a/src/platforms/linux/vcdev_test/vcdevtest_example.cpp
+++ b/src/platforms/linux/tests/vcdev_test/vcdevtest_example.cpp
diff --git a/src/platforms/linux/vcdev_test/vcdevtest_example.h b/src/platforms/linux/tests/vcdev_test/vcdevtest_example.h
index 4898210df..4898210df 100644
--- a/src/platforms/linux/vcdev_test/vcdevtest_example.h
+++ b/src/platforms/linux/tests/vcdev_test/vcdevtest_example.h
diff --git a/src/platforms/linux/vcdev_test/vcdevtest_main.cpp b/src/platforms/linux/tests/vcdev_test/vcdevtest_main.cpp
index 6d8d31a4c..6d8d31a4c 100644
--- a/src/platforms/linux/vcdev_test/vcdevtest_main.cpp
+++ b/src/platforms/linux/tests/vcdev_test/vcdevtest_main.cpp
diff --git a/src/platforms/linux/vcdev_test/vcdevtest_start_linux.cpp b/src/platforms/linux/tests/vcdev_test/vcdevtest_start_linux.cpp
index 9adb65085..9adb65085 100644
--- a/src/platforms/linux/vcdev_test/vcdevtest_start_linux.cpp
+++ b/src/platforms/linux/tests/vcdev_test/vcdevtest_start_linux.cpp
diff --git a/src/platforms/px4_posix.h b/src/platforms/px4_posix.h
index ea56c3425..037ec1622 100644
--- a/src/platforms/px4_posix.h
+++ b/src/platforms/px4_posix.h
@@ -55,8 +55,8 @@
 #define PX4_DEVIOCSPUBBLOCK     3
 #define PX4_DEVIOCGPUBBLOCK     4
 
-//#define PX4_DEBUG(...)
-#define PX4_DEBUG(...) printf(__VA_ARGS__)
+#define PX4_DEBUG(...)
+//#define PX4_DEBUG(...) printf(__VA_ARGS__)
 
 __BEGIN_DECLS