Merge branch 'beta' into rtl_heading

26 files changed, 1085 insertions, 181 deletions

diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 771f2128f..524151c90 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -76,8 +76,8 @@
 
 #include <drivers/airspeed/airspeed.h>
 
-Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
-	I2C("Airspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
+Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) :
+	I2C("Airspeed", path, bus, address, 100000),
 	_reports(nullptr),
 	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
 	_max_differential_pressure_pa(0),
diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h
index c27b1bcd8..186602eda 100644
--- a/src/drivers/airspeed/airspeed.h
+++ b/src/drivers/airspeed/airspeed.h
@@ -90,7 +90,7 @@ static const int ERROR = -1;
 class __EXPORT Airspeed : public device::I2C
 {
 public:
-	Airspeed(int bus, int address, unsigned conversion_interval);
+	Airspeed(int bus, int address, unsigned conversion_interval, const char* path);
 	virtual ~Airspeed();
 
 	virtual int	init();
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index 8bbef5cfa..b6e80ce1d 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -77,6 +77,7 @@
 
 /* I2C bus address */
 #define I2C_ADDRESS	0x75	/* 7-bit address. 8-bit address is 0xEA */
+#define ETS_PATH	"/dev/ets_airspeed"
 
 /* Register address */
 #define READ_CMD	0x07	/* Read the data */
@@ -93,7 +94,7 @@
 class ETSAirspeed : public Airspeed
 {
 public:
-	ETSAirspeed(int bus, int address = I2C_ADDRESS);
+	ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH);
 
 protected:
 
@@ -112,8 +113,8 @@ protected:
  */
 extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
 
-ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address,
-	CONVERSION_INTERVAL)
+ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
+	CONVERSION_INTERVAL, path)
 {
 
 }
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 05ae21c1f..06d89abf7 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -50,6 +50,7 @@
  *    - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
  */
 
+
 #include <nuttx/config.h>
 
 #include <drivers/device/i2c.h>
@@ -89,8 +90,10 @@
 
 /* I2C bus address is 1010001x */
 #define I2C_ADDRESS_MS4525DO	0x28	//0x51 /* 7-bit address. */
+#define PATH_MS4525		"/dev/ms4525"
 /* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
 #define I2C_ADDRESS_MS5525DSO	0x77	//0x77/* 7-bit address, addr. pin pulled low */
+#define PATH_MS5525		"/dev/ms5525"
 
 /* Register address */
 #define ADDR_READ_MR			0x00	/* write to this address to start conversion */
@@ -101,7 +104,7 @@
 class MEASAirspeed : public Airspeed
 {
 public:
-	MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO);
+	MEASAirspeed(int bus, int address = I2C_ADDRESS_MS4525DO, const char* path = PATH_MS4525);
 
 protected:
 
@@ -120,8 +123,8 @@ protected:
  */
 extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
 
-MEASAirspeed::MEASAirspeed(int bus, int address) : Airspeed(bus, address,
-			CONVERSION_INTERVAL)
+MEASAirspeed::MEASAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
+			CONVERSION_INTERVAL, path)
 {
 
 }
@@ -304,7 +307,7 @@ start(int i2c_bus)
 		errx(1, "already started");
 
 	/* create the driver, try the MS4525DO first */
-	g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO);
+	g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);
 
 	/* check if the MS4525DO was instantiated */
 	if (g_dev == nullptr)
@@ -313,7 +316,7 @@ start(int i2c_bus)
 	/* try the MS5525DSO next if init fails */
 	if (OK != g_dev->Airspeed::init()) {
 		delete g_dev;
-		g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO);
+		g_dev = new MEASAirspeed(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525);
 
 		/* check if the MS5525DSO was instantiated */
 		if (g_dev == nullptr)
@@ -386,7 +389,7 @@ test()
 		err(1, "immediate read failed");
 
 	warnx("single read");
-	warnx("diff pressure: %d pa", (double)report.differential_pressure_pa);
+	warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@@ -411,7 +414,7 @@ test()
 			err(1, "periodic read failed");
 
 		warnx("periodic read %u", i);
-		warnx("diff pressure: %d pa", report.differential_pressure_pa);
+		warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
 		warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
 	}
 
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index ec5f77d74..705e98eea 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -705,7 +705,7 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C)
 			Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
 			foundMotorCount++;
 
-			if (Motor[i].MaxPWM == 250) {
+			if ((Motor[i].MaxPWM & 252) == 248) {
 				Motor[i].Version = BLCTRL_NEW;
 
 			} else {
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index bf80c9cff..ac75682c4 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1353,6 +1353,7 @@ MPU6000::print_info()
 MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
 	CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO),
 	_parent(parent),
+	_gyro_topic(-1),
 	_gyro_class_instance(-1)
 {
 }
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index 63a8981aa..45d7957f1 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -45,28 +45,46 @@
 #include <systemlib/param/param.h>
 
 /*
- * Launch detection parameters, accessible via MAVLink
+ * Catapult launch detection parameters, accessible via MAVLink
  *
  */
 
-/* Catapult Launch detection */
-
-// @DisplayName		Switch to enable launchdetection
-// @Description		if set to 1 launchdetection is enabled
-// @Range		0 or 1
+/**
+ * Enable launch detection.
+ *
+ * @min 0
+ * @max 1
+ * @group Launch detection
+ */
 PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
 
-// @DisplayName		Catapult Accelerometer Threshold
-// @Description		LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
-// @Range		> 0
+/**
+ * Catapult accelerometer theshold.
+ *
+ * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
+ *
+ * @min 0
+ * @group Launch detection
+ */
 PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
 
-// @DisplayName		Catapult Time Threshold
-// @Description		LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection
-// @Range		> 0, in seconds
+/**
+ * Catapult time theshold.
+ *
+ * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
+ *
+ * @min 0
+ * @group Launch detection
+ */
 PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
 
-// @DisplayName		Throttle setting while detecting the launch
-// @Description		The throttle is set to this value while the system is waiting for the takeoff
-// @Range		0 to 1
+/**
+ * Throttle setting while detecting launch.
+ *
+ * The throttle is set to this value while the system is waiting for the take-off.
+ *
+ * @min 0
+ * @max 1
+ * @group Launch detection
+ */
 PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f);
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index c039b8573..6d14472f3 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -152,6 +152,7 @@ static uint64_t last_print_mode_reject_time = 0;
 static bool on_usb_power = false;
 
 static float takeoff_alt = 5.0f;
+static int parachute_enabled = 0;
 
 static struct vehicle_status_s status;
 static struct actuator_armed_s armed;
@@ -429,7 +430,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			arming_res = TRANSITION_NOT_CHANGED;
 
 			if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-				if ((safety->safety_switch_available && !safety->safety_off) && status->hil_state == HIL_STATE_OFF) {
+				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
 					print_reject_arm("NOT ARMING: Press safety switch first.");
 					arming_res = TRANSITION_DENIED;
 
@@ -515,7 +516,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			transition_result_t arming_res = TRANSITION_NOT_CHANGED;
 
 			if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
-				if (safety->safety_switch_available && !safety->safety_off) {
+				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
 					print_reject_arm("NOT ARMING: Press safety switch first.");
 					arming_res = TRANSITION_DENIED;
 
@@ -563,7 +564,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		/* Flight termination */
 	case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
 
-			if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
+			//XXX: to enable the parachute, a param needs to be set
+			//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
+			if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
 				transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
 				result = VEHICLE_CMD_RESULT_ACCEPTED;
 				ret = true;
@@ -615,6 +618,7 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_system_id = param_find("MAV_SYS_ID");
 	param_t _param_component_id = param_find("MAV_COMP_ID");
 	param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
+	param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
 
 	/* welcome user */
 	warnx("starting");
@@ -860,10 +864,10 @@ int commander_thread_main(int argc, char *argv[])
 
 				/* re-check RC calibration */
 				rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
-
-				/* navigation parameters */
-				param_get(_param_takeoff_alt, &takeoff_alt);
 			}
+			/* navigation parameters */
+			param_get(_param_takeoff_alt, &takeoff_alt);
+			param_get(_param_enable_parachute, &parachute_enabled);
 		}
 
 		orb_check(sp_man_sub, &updated);
@@ -1152,7 +1156,7 @@ int commander_thread_main(int argc, char *argv[])
 			if (status.arming_state == ARMING_STATE_STANDBY &&
 			    sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
 				if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
-					if (safety.safety_switch_available && !safety.safety_off) {
+					if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
 						print_reject_arm("NOT ARMING: Press safety switch first.");
 
 					} else if (status.main_state != MAIN_STATE_MANUAL) {
@@ -1251,7 +1255,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		// TODO remove this hack
 		/* flight termination in manual mode if assisted switch is on easy position */
-		if (!status.is_rotary_wing && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
+		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
 			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
 				tune_positive();
 			}
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index d3155f7bf..80ca68f21 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -48,7 +48,39 @@
 PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
 PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
 PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
+
+/**
+ * Empty cell voltage.
+ *
+ * Defines the voltage where a single cell of the battery is considered empty.
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
+
+/**
+ * Full cell voltage.
+ *
+ * Defines the voltage where a single cell of the battery is considered full.
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
+
+/**
+ * Number of cells.
+ *
+ * Defines the number of cells the attached battery consists of.
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
+
+/**
+ * Battery capacity.
+ *
+ * Defines the capacity of the attached battery.
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 512ca7b8a..62a340e90 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -40,12 +40,10 @@
  */
 
 #include <nuttx/config.h>
-
 #include <systemlib/param/param.h>
 
 /*
  * Controller parameters, accessible via MAVLink
- *
  */
 
 /**
@@ -119,58 +117,268 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
  */
 PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
 
-
+/**
+ * Controller roll limit
+ *
+ * The maximum roll the controller will output.
+ *
+ * @unit degrees
+ * @min 0.0
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
 
+/**
+ * Throttle limit max
+ *
+ * This is the maximum throttle % that can be used by the controller. 
+ * For overpowered aircraft, this should be reduced to a value that 
+ * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
+ *
+ * @group L1 Control
+ */
+PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
 
+/**
+ * Throttle limit min
+ *
+ * This is the minimum throttle % that can be used by the controller. 
+ * For electric aircraft this will normally be set to zero, but can be set 
+ * to a small non-zero value if a folding prop is fitted to prevent the 
+ * prop from folding and unfolding repeatedly in-flight or to provide 
+ * some aerodynamic drag from a turning prop to improve the descent rate.
+ *
+ * For aircraft with internal combustion engine this parameter should be set
+ * for desired idle rpm.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 
-
-PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
-
+/**
+ * Throttle limit value before flare
+ *
+ * This throttle value will be set as throttle limit at FW_LND_TLALT, 
+ * before arcraft will flare.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
+/**
+ * Maximum climb rate
+ *
+ * This is the best climb rate that the aircraft can achieve with 
+ * the throttle set to THR_MAX and the airspeed set to the 
+ * default value. For electric aircraft make sure this number can be 
+ * achieved towards the end of flight when the battery voltage has reduced. 
+ * The setting of this parameter can be checked by commanding a positive 
+ * altitude change of 100m in loiter, RTL or guided mode. If the throttle 
+ * required to climb is close to THR_MAX and the aircraft is maintaining 
+ * airspeed, then this parameter is set correctly. If the airspeed starts 
+ * to reduce, then the parameter is set to high, and if the throttle 
+ * demand required to climb and maintain speed is noticeably less than 
+ * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or 
+ * FW_THR_MAX reduced.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
 
-
+/**
+ * Minimum descent rate
+ *
+ * This is the sink rate of the aircraft with the throttle 
+ * set to THR_MIN and flown at the same airspeed as used 
+ * to measure FW_T_CLMB_MAX.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
 
+/**
+ * Maximum descent rate
+ *
+ * This sets the maximum descent rate that the controller will use. 
+ * If this value is too large, the aircraft can over-speed on descent. 
+ * This should be set to a value that can be achieved without 
+ * exceeding the lower pitch angle limit and without over-speeding 
+ * the aircraft.
+ *
+ * @group L1 Control
+ */
+PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 
+/**
+ * TECS time constant
+ *
+ * This is the time constant of the TECS control algorithm (in seconds). 
+ * Smaller values make it faster to respond, larger values make it slower
+ * to respond.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
 
-
+/**
+ * Throttle damping factor
+ *
+ * This is the damping gain for the throttle demand loop. 
+ * Increase to add damping to correct for oscillations in speed and height.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
 
-
+/**
+ * Integrator gain
+ *
+ * This is the integrator gain on the control loop. 
+ * Increasing this gain increases the speed at which speed 
+ * and height offsets are trimmed out, but reduces damping and 
+ * increases overshoot.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
 
-
+/**
+ * Maximum vertical acceleration
+ *
+ * This is the maximum vertical acceleration (in metres/second^2) 
+ * either up or down that the controller will use to correct speed 
+ * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) 
+ * allows for reasonably aggressive pitch changes if required to recover 
+ * from under-speed conditions.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 
-
+/**
+ * Complementary filter "omega" parameter for height
+ *
+ * This is the cross-over frequency (in radians/second) of the complementary 
+ * filter used to fuse vertical acceleration and barometric height to obtain 
+ * an estimate of height rate and height. Increasing this frequency weights 
+ * the solution more towards use of the barometer, whilst reducing it weights 
+ * the solution more towards use of the accelerometer data.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
 
-
+/**
+ * Complementary filter "omega" parameter for speed
+ *
+ * This is the cross-over frequency (in radians/second) of the complementary 
+ * filter used to fuse longitudinal acceleration and airspeed to obtain an 
+ * improved airspeed estimate. Increasing this frequency weights the solution
+ * more towards use of the arispeed sensor, whilst reducing it weights the 
+ * solution more towards use of the accelerometer data.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
 
-
+/**
+ * Roll -> Throttle feedforward
+ *
+ * Increasing this gain turn increases the amount of throttle that will 
+ * be used to compensate for the additional drag created by turning. 
+ * Ideally this should be set to  approximately 10 x the extra sink rate 
+ * in m/s created by a 45 degree bank turn. Increase this gain if 
+ * the aircraft initially loses energy in turns and reduce if the 
+ * aircraft initially gains energy in turns. Efficient high aspect-ratio 
+ * aircraft (eg powered sailplanes) can use a lower value, whereas 
+ * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
 
-
+/**
+ * Speed <--> Altitude priority
+ *
+ * This parameter adjusts the amount of weighting that the pitch control 
+ * applies to speed vs height errors. Setting it to 0.0 will cause the 
+ * pitch control to control height and ignore speed errors. This will 
+ * normally improve height accuracy but give larger airspeed errors. 
+ * Setting it to 2.0 will cause the pitch control loop to control speed 
+ * and ignore height errors. This will normally reduce airspeed errors, 
+ * but give larger height errors. The default value of 1.0 allows the pitch 
+ * control to simultaneously control height and speed. 
+ * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
+ * adjust its pitch angle to maintain airspeed, ignoring changes in height).
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
 
-
+/**
+ * Pitch damping factor
+ *
+ * This is the damping gain for the pitch demand loop. Increase to add 
+ * damping to correct for oscillations in height. The default value of 0.0 
+ * will work well provided the pitch to servo controller has been tuned 
+ * properly.
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
 
-
-PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
-
+/**
+ * Height rate P factor
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
+
+/**
+ * Speed rate P factor
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
 
+/**
+ * Landing slope angle
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
+
+/**
+ * Landing slope length
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
+
+/**
+ *
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
+
+/**
+ * Landing flare altitude (relative)
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
+
+/**
+ * Landing throttle limit altitude (relative)
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
+
+/**
+ * Landing heading hold horizontal distance
+ *
+ * @group L1 Control
+ */
 PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 4d975066f..ade4469c5 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -76,8 +76,20 @@
 #include <uORB/topics/mission_result.h>
 
 /* define MAVLink specific parameters */
+/**
+ * MAVLink system ID
+ * @group MAVLink
+ */
 PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
+/**
+ * MAVLink component ID
+ * @group MAVLink
+ */
 PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
+/**
+ * MAVLink type
+ * @group MAVLink
+ */
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
 
 __EXPORT int mavlink_main(int argc, char *argv[]);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index a371a499e..1dbe56495 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -351,7 +351,7 @@ handle_message(mavlink_message_t *msg)
 		tstatus.rxerrors = rstatus.rxerrors;
 		tstatus.fixed = rstatus.fixed;
 
-		if (telemetry_status_pub == 0) {
+		if (telemetry_status_pub <= 0) {
 			telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
 
 		} else {
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index db5e2e9bb..24226880e 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -53,11 +53,9 @@
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
-#include <fcntl.h>
 #include <errno.h>
 #include <math.h>
 #include <poll.h>
-#include <time.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
@@ -71,7 +69,6 @@
 #include <uORB/topics/parameter_update.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
-#include <systemlib/pid/pid.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
 #include <mathlib/mathlib.h>
@@ -84,9 +81,9 @@
  */
 extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
 
-#define MIN_TAKEOFF_THROTTLE	0.3f
 #define YAW_DEADZONE	0.05f
-#define RATES_I_LIMIT	0.5f
+#define MIN_TAKEOFF_THRUST    0.2f
+#define RATES_I_LIMIT	0.3f
 
 class MulticopterAttitudeControl
 {
@@ -135,15 +132,13 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
-	math::Matrix<3, 3>	_R_sp;			/**< attitude setpoint rotation matrix */
-	math::Matrix<3, 3>	_R;				/**< rotation matrix for current state */
 	math::Vector<3>		_rates_prev;	/**< angular rates on previous step */
 	math::Vector<3>		_rates_sp;		/**< angular rates setpoint */
 	math::Vector<3>		_rates_int;		/**< angular rates integral error */
 	float				_thrust_sp;		/**< thrust setpoint */
 	math::Vector<3>		_att_control;	/**< attitude control vector */
 
-	math::Matrix<3, 3>	I;				/**< identity matrix */
+	math::Matrix<3, 3>  _I;				/**< identity matrix */
 
 	bool	_reset_yaw_sp;			/**< reset yaw setpoint flag */
 
@@ -262,7 +257,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_actuators_0_pub(-1),
 
 /* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control"))
+	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
 
 {
 	memset(&_v_att, 0, sizeof(_v_att));
@@ -276,15 +271,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_params.rate_i.zero();
 	_params.rate_d.zero();
 
-	_R_sp.identity();
-	_R.identity();
 	_rates_prev.zero();
 	_rates_sp.zero();
 	_rates_int.zero();
 	_thrust_sp = 0.0f;
 	_att_control.zero();
 
-	I.identity();
+	_I.identity();
 
 	_params_handles.roll_p			= 	param_find("MC_ROLL_P");
 	_params_handles.roll_rate_p		= 	param_find("MC_ROLLRATE_P");
@@ -535,16 +528,18 @@ MulticopterAttitudeControl::control_attitude(float dt)
 	_thrust_sp = _v_att_sp.thrust;
 
 	/* construct attitude setpoint rotation matrix */
+	math::Matrix<3, 3> R_sp;
+
 	if (_v_att_sp.R_valid) {
 		/* rotation matrix in _att_sp is valid, use it */
-		_R_sp.set(&_v_att_sp.R_body[0][0]);
+		R_sp.set(&_v_att_sp.R_body[0][0]);
 
 	} else {
 		/* rotation matrix in _att_sp is not valid, use euler angles instead */
-		_R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
+		R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body);
 
 		/* copy rotation matrix back to setpoint struct */
-		memcpy(&_v_att_sp.R_body[0][0], &_R_sp.data[0][0], sizeof(_v_att_sp.R_body));
+		memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body));
 		_v_att_sp.R_valid = true;
 	}
 
@@ -561,23 +556,24 @@ MulticopterAttitudeControl::control_attitude(float dt)
 	}
 
 	/* rotation matrix for current state */
-	_R.set(_v_att.R);
+	math::Matrix<3, 3> R;
+	R.set(_v_att.R);
 
 	/* all input data is ready, run controller itself */
 
 	/* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */
-	math::Vector<3> R_z(_R(0, 2), _R(1, 2), _R(2, 2));
-	math::Vector<3> R_sp_z(_R_sp(0, 2), _R_sp(1, 2), _R_sp(2, 2));
+	math::Vector<3> R_z(R(0, 2), R(1, 2), R(2, 2));
+	math::Vector<3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
 
 	/* axis and sin(angle) of desired rotation */
-	math::Vector<3> e_R = _R.transposed() * (R_z % R_sp_z);
+	math::Vector<3> e_R = R.transposed() * (R_z % R_sp_z);
 
 	/* calculate angle error */
 	float e_R_z_sin = e_R.length();
 	float e_R_z_cos = R_z * R_sp_z;
 
 	/* calculate weight for yaw control */
-	float yaw_w = _R_sp(2, 2) * _R_sp(2, 2);
+	float yaw_w = R_sp(2, 2) * R_sp(2, 2);
 
 	/* calculate rotation matrix after roll/pitch only rotation */
 	math::Matrix<3, 3> R_rp;
@@ -600,15 +596,15 @@ MulticopterAttitudeControl::control_attitude(float dt)
 		e_R_cp(2, 1) = e_R_z_axis(0);
 
 		/* rotation matrix for roll/pitch only rotation */
-		R_rp = _R * (I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
+		R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
 
 	} else {
 		/* zero roll/pitch rotation */
-		R_rp = _R;
+		R_rp = R;
 	}
 
-	/* R_rp and _R_sp has the same Z axis, calculate yaw error */
-	math::Vector<3> R_sp_x(_R_sp(0, 0), _R_sp(1, 0), _R_sp(2, 0));
+	/* R_rp and R_sp has the same Z axis, calculate yaw error */
+	math::Vector<3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0));
 	math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0));
 	e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w;
 
@@ -616,7 +612,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
 		/* for large thrust vector rotations use another rotation method:
 		 * calculate angle and axis for R -> R_sp rotation directly */
 		math::Quaternion q;
-		q.from_dcm(_R.transposed() * _R_sp);
+		q.from_dcm(R.transposed() * R_sp);
 		math::Vector<3> e_R_d = q.imag();
 		e_R_d.normalize();
 		e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0));
@@ -658,7 +654,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 	_rates_prev = rates;
 
 	/* update integral only if not saturated on low limit */
-	if (_thrust_sp > 0.1f) {
+	if (_thrust_sp > MIN_TAKEOFF_THRUST) {
 		for (int i = 0; i < 3; i++) {
 			if (fabsf(_att_control(i)) < _thrust_sp) {
 				float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
@@ -695,9 +691,6 @@ MulticopterAttitudeControl::task_main()
 	_manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
-	/* rate limit attitude updates to 200Hz, failsafe against spam, normally runs at the same rate as attitude estimator */
-	orb_set_interval(_v_att_sub, 5);
-
 	/* initialize parameters cache */
 	parameters_update();
 
@@ -767,10 +760,12 @@ MulticopterAttitudeControl::task_main()
 				}
 
 			} else {
-				/* attitude controller disabled */
-				// TODO poll 'attitude_rates_setpoint' topic
-				_rates_sp.zero();
-				_thrust_sp = 0.0f;
+				/* attitude controller disabled, poll rates setpoint topic */
+				vehicle_rates_setpoint_poll();
+				_rates_sp(0) = _v_rates_sp.roll;
+				_rates_sp(1) = _v_rates_sp.pitch;
+				_rates_sp(2) = _v_rates_sp.yaw;
+				_thrust_sp = _v_rates_sp.thrust;
 			}
 
 			if (_v_control_mode.flag_control_rates_enabled) {
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 27a45b6bb..488107d58 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -41,16 +41,135 @@
 
 #include <systemlib/param/param.h>
 
+/**
+ * Roll P gain
+ *
+ * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
+
+/**
+ * Roll rate P gain
+ *
+ * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
+
+/**
+ * Roll rate I gain
+ *
+ * Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
+
+/**
+ * Roll rate D gain
+ *
+ * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
+
+/**
+ * Pitch P gain
+ *
+ * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
+ *
+ * @unit 1/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
+
+/**
+ * Pitch rate P gain
+ *
+ * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
+
+/**
+ * Pitch rate I gain
+ *
+ * Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
+
+/**
+ * Pitch rate D gain
+ *
+ * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
+
+/**
+ * Yaw P gain
+ *
+ * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
+ *
+ * @unit 1/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
+
+/**
+ * Yaw rate P gain
+ *
+ * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
+
+/**
+ * Yaw rate I gain
+ *
+ * Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+
+/**
+ * Yaw rate D gain
+ *
+ * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+
+/**
+ * Yaw feed forward
+ *
+ * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Multicopter Attitude Control
+ */
 PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 25d34c872..b06655385 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -51,7 +51,6 @@
 #include <errno.h>
 #include <math.h>
 #include <poll.h>
-#include <time.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 #include <uORB/uORB.h>
@@ -68,7 +67,6 @@
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
-#include <systemlib/pid/pid.h>
 #include <systemlib/systemlib.h>
 #include <mathlib/mathlib.h>
 #include <lib/geo/geo.h>
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 9eb56545d..0082a5e6a 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -39,20 +39,164 @@
 
 #include <systemlib/param/param.h>
 
-PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
+/**
+ * Minimum thrust
+ *
+ * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
+
+/**
+ * Maximum thrust
+ *
+ * Limit max allowed thrust.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
+
+/**
+ * Proportional gain for vertical position error
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
+
+/**
+ * Proportional gain for vertical velocity error
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
+
+/**
+ * Integral gain for vertical velocity error
+ *
+ * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
+
+/**
+ * Differential gain for vertical velocity error
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
+
+/**
+ * Maximum vertical velocity
+ *
+ * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY).
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
+
+/**
+ * Vertical velocity feed forward
+ *
+ * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
+
+/**
+ * Proportional gain for horizontal position error
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
+
+/**
+ * Proportional gain for horizontal velocity error
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
+
+/**
+ * Integral gain for horizontal velocity error
+ *
+ * Non-zero value allows to resist wind.
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
+
+/**
+ * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
+
+/**
+ * Maximum horizontal velocity
+ *
+ * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY).
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
+
+/**
+ * Horizontal velocity feed forward
+ *
+ * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
+
+/**
+ * Maximum tilt
+ *
+ * Limits maximum tilt in AUTO and EASY modes.
+ *
+ * @min 0.0
+ * @max 1.57
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);
+
+/**
+ * Landing descend rate
+ *
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
+
+/**
+ * Maximum landing tilt
+ *
+ * Limits maximum tilt on landing.
+ *
+ * @min 0.0
+ * @max 1.57
+ * @group Multicopter Position Control
+ */
 PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f);
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
index 20dd1fe2f..5831a0ca9 100644
--- a/src/modules/navigator/geofence_params.c
+++ b/src/modules/navigator/geofence_params.c
@@ -45,11 +45,17 @@
 #include <systemlib/param/param.h>
 
 /*
- * geofence parameters, accessible via MAVLink
- *
+ * Geofence parameters, accessible via MAVLink
  */
 
-// @DisplayName		Switch to enable geofence
-// @Description		if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present
-// @Range		0 or 1
+/**
+ * Enable geofence.
+ *
+ * Set to 1 to enable geofence.
+ * Defaults to 1 because geofence is only enabled when the geofence.txt file is present.
+ *
+ * @min 0
+ * @max 1
+ * @group Geofence
+ */
 PARAM_DEFINE_INT32(GF_ON, 1);
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index d7f6fd16a..0ed12d106 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -306,6 +306,12 @@ private:
 	void		start_land_home();
 
 	/**
+	 * Fork for state transitions
+	 */
+	void		request_loiter_or_ready();
+	void		request_mission_if_available();
+
+	/**
 	 * Guards offboard mission
 	 */
 	bool		offboard_mission_available(unsigned relative_index);
@@ -699,24 +705,17 @@ Navigator::task_main()
 					} else {
 						/* MISSION switch */
 						if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
-							dispatch(EVENT_LOITER_REQUESTED);
+							request_loiter_or_ready();
 							stick_mode = true;
 
 						} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
-							/* switch to mission only if available */
-							if (_mission.current_mission_available()) {
-								dispatch(EVENT_MISSION_REQUESTED);
-
-							} else {
-								dispatch(EVENT_LOITER_REQUESTED);
-							}
-
+							request_mission_if_available();
 							stick_mode = true;
 						}
 
 						if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
 							/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
-							dispatch(EVENT_LOITER_REQUESTED);
+							request_mission_if_available();
 							stick_mode = true;
 						}
 					}
@@ -733,17 +732,11 @@ Navigator::task_main()
 							break;
 
 						case NAV_STATE_LOITER:
-							dispatch(EVENT_LOITER_REQUESTED);
+							request_loiter_or_ready();
 							break;
 
 						case NAV_STATE_MISSION:
-							if (_mission.current_mission_available()) {
-								dispatch(EVENT_MISSION_REQUESTED);
-
-							} else {
-								dispatch(EVENT_LOITER_REQUESTED);
-							}
-
+							request_mission_if_available();
 							break;
 
 						case NAV_STATE_RTL:
@@ -770,12 +763,7 @@ Navigator::task_main()
 					} else {
 						/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
 						if (myState == NAV_STATE_NONE) {
-							if (_mission.current_mission_available()) {
-								dispatch(EVENT_MISSION_REQUESTED);
-
-							} else {
-								dispatch(EVENT_LOITER_REQUESTED);
-							}
+							request_mission_if_available();
 						}
 					}
 				}
@@ -1071,7 +1059,7 @@ Navigator::start_loiter()
 		float min_alt_amsl = _parameters.min_altitude + _home_pos.alt;
 
 		/* use current altitude if above min altitude set by parameter */
-		if (_global_pos.alt < min_alt_amsl) {
+		if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) {
 			_pos_sp_triplet.current.alt = min_alt_amsl;
 			mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
 
@@ -1080,9 +1068,8 @@ Navigator::start_loiter()
 			mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
 		}
 
-		_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
 	}
-
+	_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
 	_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
 	_pos_sp_triplet.current.loiter_direction = 1;
 	_pos_sp_triplet.previous.valid = false;
@@ -1406,6 +1393,28 @@ Navigator::set_rtl_item()
 }
 
 void
+Navigator::request_loiter_or_ready()
+{
+	if (_vstatus.condition_landed) {
+		dispatch(EVENT_READY_REQUESTED);
+
+	} else {
+		dispatch(EVENT_LOITER_REQUESTED);
+	}
+}
+
+void
+Navigator::request_mission_if_available()
+{
+	if (_mission.current_mission_available()) {
+		dispatch(EVENT_MISSION_REQUESTED);
+
+	} else {
+		request_loiter_or_ready();
+	}
+}
+
+void
 Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item)
 {
 	sp->valid = true;
@@ -1574,13 +1583,7 @@ Navigator::on_mission_item_reached()
 			/* loiter at last waypoint */
 			_reset_loiter_pos = false;
 			mavlink_log_info(_mavlink_fd, "[navigator] mission completed");
-
-			if (_vstatus.condition_landed) {
-				dispatch(EVENT_READY_REQUESTED);
-
-			} else {
-				dispatch(EVENT_LOITER_REQUESTED);
-			}
+			request_loiter_or_ready();
 		}
 
 	} else if (myState == NAV_STATE_RTL) {
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index 1ba159a8e..9ef359c6d 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -50,14 +50,91 @@
 
 /*
  * Navigator parameters, accessible via MAVLink
- *
  */
 
+/**
+ * Minimum altitude (fixed wing only)
+ *
+ * Minimum altitude above home for LOITER.
+ *
+ * @unit meters
+ * @group Navigation
+ */
 PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
+
+/**
+ * Waypoint acceptance radius
+ *
+ * Default value of acceptance radius (if not specified in mission item).
+ *
+ * @unit meters
+ * @min 0.0
+ * @group Navigation
+ */
 PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
+
+/**
+ * Loiter radius (fixed wing only)
+ *
+ * Default value of loiter radius (if not specified in mission item).
+ *
+ * @unit meters
+ * @min 0.0
+ * @group Navigation
+ */
 PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
+
+/**
+ * Enable onboard mission
+ *
+ * @group Navigation
+ */
 PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
-PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f);	// default TAKEOFF altitude
-PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);		// slow descend from this altitude when landing
-PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f);		// min altitude for going home in RTL mode
-PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f);	// delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT
+
+/**
+ * Take-off altitude
+ *
+ * Even if first waypoint has altitude less then NAV_TAKEOFF_ALT above home position, system will climb to NAV_TAKEOFF_ALT on takeoff, then go to waypoint.
+ *
+ * @unit meters
+ * @group Navigation
+ */
+PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f);
+
+/**
+ * Landing altitude
+ *
+ * Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.
+ *
+ * @unit meters
+ * @group Navigation
+ */
+PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);
+
+/**
+ * Return-To-Launch altitude
+ *
+ * Minimum altitude above home position for going home in RTL mode.
+ *
+ * @unit meters
+ * @group Navigation
+ */
+PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f);
+
+/**
+ * Return-To-Launch delay
+ *
+ * Delay after descend before landing in RTL mode.
+ * If set to -1 the system will not land but loiter at NAV_LAND_ALT.
+ *
+ * @unit seconds
+ * @group Navigation
+ */
+PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f);
+
+/**
+ * Enable parachute deployment
+ *
+ * @group Navigation
+ */
+PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0);
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index bf4f7ae97..ad363efe0 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -42,14 +42,11 @@
 #include <stdio.h>
 #include <stdbool.h>
 #include <fcntl.h>
-#include <float.h>
 #include <string.h>
 #include <nuttx/config.h>
 #include <nuttx/sched.h>
 #include <sys/prctl.h>
 #include <termios.h>
-#include <errno.h>
-#include <limits.h>
 #include <math.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/parameter_update.h>
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index f39fcf7ec..6a4429461 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -179,7 +179,7 @@ mixer_tick(void)
 							    ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
 		/* and there is valid input via or mixer */         &&   (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) )
 		/* or direct PWM is set */               || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
-		/* or failsafe was set manually */	 || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
+		/* or failsafe was set manually */	 || ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) && !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK))
 						     )
 	);
 
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 3c218e21f..68e6a7469 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -82,6 +82,7 @@
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/esc_status.h>
+#include <uORB/topics/telemetry_status.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -758,6 +759,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct esc_status_s esc;
 		struct vehicle_global_velocity_setpoint_s global_vel_sp;
 		struct battery_status_s battery;
+		struct telemetry_status_s telemetry;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -783,6 +785,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int esc_sub;
 		int global_vel_sp_sub;
 		int battery_sub;
+		int telemetry_sub;
 	} subs;
 
 	/* log message buffer: header + body */
@@ -811,6 +814,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GVSP_s log_GVSP;
 			struct log_BATT_s log_BATT;
 			struct log_DIST_s log_DIST;
+			struct log_TELE_s log_TELE;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -946,6 +950,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- TELEMETRY STATUS --- */
+	subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
+	fds[fdsc_count].fd = subs.telemetry_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* WARNING: If you get the error message below,
 	 * then the number of registered messages (fdsc)
 	 * differs from the number of messages in the above list.
@@ -1347,6 +1357,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(BATT);
 			}
 
+			/* --- TELEMETRY --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry);
+				log_msg.msg_type = LOG_TELE_MSG;
+				log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
+				log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
+				log_msg.body.log_TELE.noise = buf.telemetry.noise;
+				log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
+				log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
+				log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
+				log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
+				LOGBUFFER_WRITE_AND_COUNT(TELE);
+			}
+
 			/* signal the other thread new data, but not yet unlock */
 			if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 				/* only request write if several packets can be written at once */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index db87e3a6a..16bfc355d 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -264,6 +264,18 @@ struct log_DIST_s {
 	uint8_t flags;
 };
 
+/* --- TELE - TELEMETRY STATUS --- */
+#define LOG_TELE_MSG 22
+struct log_TELE_s {
+    uint8_t rssi;
+    uint8_t remote_rssi;
+    uint8_t noise;
+    uint8_t remote_noise;
+    uint16_t rxerrors;
+    uint16_t fixed;
+    uint8_t txbuf;
+};
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -311,6 +323,8 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
 	LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
+	LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
+
 	/* system-level messages, ID >= 0x80 */
 	// FMT: don't write format of format message, it's useless
 	LOG_FORMAT(TIME, "Q", "StartTime"),
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 30659fd3a..288c6e00a 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -42,13 +42,10 @@
  */
 
 #include <nuttx/config.h>
-
 #include <systemlib/param/param.h>
 
 /**
- * Gyro X offset
- *
- * This is an X-axis offset for the gyro. Adjust it according to the calibration data.
+ * Gyro X-axis offset
  *
  * @min -10.0
  * @max 10.0
@@ -57,7 +54,7 @@
 PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
 
 /**
- * Gyro Y offset
+ * Gyro Y-axis offset
  *
  * @min -10.0
  * @max 10.0
@@ -66,7 +63,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
 
 /**
- * Gyro Z offset
+ * Gyro Z-axis offset
  *
  * @min -5.0
  * @max 5.0
@@ -75,9 +72,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
 
 /**
- * Gyro X scaling
- *
- * X-axis scaling.
+ * Gyro X-axis scaling factor
  *
  * @min -1.5
  * @max 1.5
@@ -86,9 +81,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
 
 /**
- * Gyro Y scaling
- *
- * Y-axis scaling.
+ * Gyro Y-axis scaling factor
  *
  * @min -1.5
  * @max 1.5
@@ -97,9 +90,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
 PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
 
 /**
- * Gyro Z scaling
- *
- * Z-axis scaling.
+ * Gyro Z-axis scaling factor
  *
  * @min -1.5
  * @max 1.5
@@ -107,10 +98,9 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
  */
 PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
 
+
 /**
- * Magnetometer X offset
- *
- * This is an X-axis offset for the magnetometer.
+ * Magnetometer X-axis offset
  *
  * @min -500.0
  * @max 500.0
@@ -119,9 +109,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
 PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
 
 /**
- * Magnetometer Y offset
- *
- * This is an Y-axis offset for the magnetometer.
+ * Magnetometer Y-axis offset
  *
  * @min -500.0
  * @max 500.0
@@ -130,9 +118,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
 
 /**
- * Magnetometer Z offset
- *
- * This is an Z-axis offset for the magnetometer.
+ * Magnetometer Z-axis offset
  *
  * @min -500.0
  * @max 500.0
@@ -140,24 +126,134 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
  */
 PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
 
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f);
 
+
+/**
+ * Accelerometer X-axis offset
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f);
+
+/**
+ * Accelerometer Y-axis offset
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);
+
+/**
+ * Accelerometer Z-axis offset
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f);
 
+/**
+ * Accelerometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f);
+
+/**
+ * Accelerometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f);
+
+/**
+ * Accelerometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
 
+
+/**
+ * Differential pressure sensor offset
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
+
+/**
+ * Differential pressure sensor analog enabled
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
 
+
+/**
+ * Board rotation
+ *
+ * This parameter defines the rotation of the FMU board relative to the platform.
+ * Possible values are:
+ *    0 = No rotation
+ *    1 = Yaw 45°
+ *    2 = Yaw 90°
+ *    3 = Yaw 135°
+ *    4 = Yaw 180°
+ *    5 = Yaw 225°
+ *    6 = Yaw 270°
+ *    7 = Yaw 315°
+ *    8 = Roll 180°
+ *    9 = Roll 180°, Yaw 45°
+ *   10 = Roll 180°, Yaw 90°
+ *   11 = Roll 180°, Yaw 135°
+ *   12 = Pitch 180°
+ *   13 = Roll 180°, Yaw 225°
+ *   14 = Roll 180°, Yaw 270°
+ *   15 = Roll 180°, Yaw 315°
+ *   16 = Roll 90°
+ *   17 = Roll 90°, Yaw 45°
+ *   18 = Roll 90°, Yaw 90°
+ *   19 = Roll 90°, Yaw 135°
+ *   20 = Roll 270°
+ *   21 = Roll 270°, Yaw 45°
+ *   22 = Roll 270°, Yaw 90°
+ *   23 = Roll 270°, Yaw 135°
+ *   24 = Pitch 90°
+ *   25 = Pitch 270°
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
+
+/**
+ * External magnetometer rotation
+ *
+ * This parameter defines the rotation of the external magnetometer relative
+ * to the platform (not relative to the FMU).
+ * See SENS_BOARD_ROT for possible values.
+ *
+ * @group Sensor Calibration
+ */
 PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
 
+
 /**
  * RC Channel 1 Minimum
  *
@@ -367,20 +463,52 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
 #endif
-PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
 
+/**
+ * DSM binding trigger.
+ *
+ * -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind
+ *
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
+
+
+/**
+ * Scaling factor for battery voltage sensor on PX4IO.
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
+
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+/**
+ * Scaling factor for battery voltage sensor on FMU v2.
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
 #else
-/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
-/* PX4IOAR: 0.00838095238 */
-/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */
-/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */
+/**
+ * Scaling factor for battery voltage sensor on FMU v1.
+ *
+ * FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
+ * FMUv1 with PX4IO: 0.00459340659
+ * FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
 #endif
+
+/**
+ * Scaling factor for battery current sensor.
+ *
+ * @group Battery Calibration
+ */
 PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124);	/* scaling for 3DR power brick */
 
+
 /**
  * Roll control channel mapping.
  *
@@ -446,22 +574,127 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
  * @group Radio Calibration
  */
 PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
+
+/**
+ * Return switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
+
+/**
+ * Assist switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
+
+/**
+ * Mission switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
 
 //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 
+/**
+ * Flaps channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
 
-PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);	/**< default function: camera pitch */
+/**
+ * Auxiliary switch 1 channel mapping.
+ *
+ * Default function: Camera pitch
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);
+
+/**
+ * Auxiliary switch 2 channel mapping.
+ *
+ * Default function: Camera roll
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);	/**< default function: camera roll */
-PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);	/**< default function: camera azimuth / yaw */
 
+/**
+ * Auxiliary switch 3 channel mapping.
+ *
+ * Default function: Camera azimuth / yaw
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
+
+
+/**
+ * Roll scaling factor
+ *
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
+
+/**
+ * Pitch scaling factor
+ *
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
+
+/**
+ * Yaw scaling factor
+ *
+ * @group Radio Calibration
+ */
 PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
 
-PARAM_DEFINE_INT32(RC_FS_CH, 0);	/**< RC failsafe channel, 0 = disable */
-PARAM_DEFINE_INT32(RC_FS_MODE, 0);	/**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */
-PARAM_DEFINE_FLOAT(RC_FS_THR, 800);	/**< RC failsafe PWM threshold */
+
+/**
+ * Failsafe channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_FS_CH, 0);
+
+/**
+ * Failsafe channel mode.
+ *
+ * 0 = too low means signal loss,
+ * 1 = too high means signal loss
+ *
+ * @min 0
+ * @max 1
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_FS_MODE, 0);
+
+/**
+ * Failsafe channel PWM threshold.
+ *
+ * @min 0
+ * @max 1
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_FLOAT(RC_FS_THR, 800);
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index 75be090f8..cb35a2541 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -40,8 +40,23 @@
 #include <nuttx/config.h>
 #include <systemlib/param/param.h>
 
-// Auto-start script with index #n
+/**
+ * Auto-start script index.
+ *
+ * Defines the auto-start script used to bootstrap the system.
+ *
+ * @group System
+ */
 PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
 
-// Automatically configure default values
+/**
+ * Automatically configure default values.
+ *
+ * Set to 1 to set platform-specific parameters to their default
+ * values on next system startup. 
+ *
+ * @min 0
+ * @max 1
+ * @group System
+ */
 PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 828fb31cc..5192d4d58 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -58,10 +58,10 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 struct telemetry_status_s {
 	uint64_t timestamp;
     enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
-	unsigned rssi;              /**< local signal strength                      */
-    unsigned remote_rssi;       /**< remote signal strength                     */
-    unsigned rxerrors;          /**< receive errors                             */
-    unsigned fixed;             /**< count of error corrected packets           */
+    uint8_t rssi;              /**< local signal strength                      */
+    uint8_t remote_rssi;       /**< remote signal strength                     */
+    uint16_t rxerrors;          /**< receive errors                             */
+    uint16_t fixed;             /**< count of error corrected packets           */
     uint8_t noise;              /**< background noise level                     */
     uint8_t remote_noise;       /**< remote background noise level              */
     uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
@@ -73,4 +73,4 @@ struct telemetry_status_s {
 
 ORB_DECLARE(telemetry_status);
 
-#endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file
+#endif /* TOPIC_TELEMETRY_STATUS_H */