16 files changed, 380 insertions, 125 deletions

diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x
index 94ed2be18..e9f07b4a2 100644
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ b/ROMFS/scripts/rc.FMU_quad_x
@@ -9,7 +9,7 @@ echo "[init] eeprom"
 eeprom start
 if [ -f /eeprom/parameters ]
 then
-	eeprom load_param /eeprom/parameters
+	param load
 fi
 
 echo "[init] sensors"
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
index 532dd6a25..382d8e25c 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -19,7 +19,7 @@ echo "[init] eeprom"
 eeprom start
 if [ -f /eeprom/parameters ]
 then
-	eeprom load_param /eeprom/parameters
+	param load
 fi
  
 #
diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/scripts/rc.standalone
index 7dfd98a16..8ccdb577b 100644
--- a/ROMFS/scripts/rc.standalone
+++ b/ROMFS/scripts/rc.standalone
@@ -11,6 +11,16 @@ echo "[init] doing standalone PX4FMU startup..."
 uorb start
 
 #
+# Init the EEPROM
+#
+echo "[init] eeprom"
+eeprom start
+if [ -f /eeprom/parameters ]
+then
+	param load
+fi
+
+#
 # Start the sensors.
 #
 #sh /etc/init.d/rc.sensors
diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp
index 8cd7f6a7c..c554df9ae 100644
--- a/apps/drivers/bma180/bma180.cpp
+++ b/apps/drivers/bma180/bma180.cpp
@@ -410,8 +410,8 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 				/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT:
-				/* XXX 500Hz is just a wild guess */
-				return ioctl(filp, SENSORIOCSPOLLRATE, 500);
+				/* With internal low pass filters enabled, 250 Hz is sufficient */
+				return ioctl(filp, SENSORIOCSPOLLRATE, 250);
 
 				/* adjust to a legal polling interval in Hz */
 			default: {
diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp
index bfdabe273..9401fdd4a 100644
--- a/apps/drivers/l3gd20/l3gd20.cpp
+++ b/apps/drivers/l3gd20/l3gd20.cpp
@@ -420,8 +420,8 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 				/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT:
-				/* XXX 500Hz is just a wild guess */
-				return ioctl(filp, SENSORIOCSPOLLRATE, 500);
+				/* With internal low pass filters enabled, 250 Hz is sufficient */
+				return ioctl(filp, SENSORIOCSPOLLRATE, 250);
 
 				/* adjust to a legal polling interval in Hz */
 			default: {
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
index 8a658b623..b1655afd7 100644
--- a/apps/gps/ubx.c
+++ b/apps/gps/ubx.c
@@ -781,6 +781,8 @@ void *ubx_watchdog_loop(void *args)
 		} else {
 			/* gps healthy */
 			ubx_success_count++;
+			ubx_healthy = true;
+			ubx_fail_count = 0;
 
 			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
 				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 7106edc6b..b84b58406 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -101,8 +101,6 @@ extern "C" {
 /* PPM Settings */
 #  define PPM_MIN 1000
 #  define PPM_MAX 2000
-/* Internal resolution is 10000 */
-#  define PPM_SCALE 10000/((PPM_MAX-PPM_MIN)/2)
 #  define PPM_MID (PPM_MIN+PPM_MAX)/2
 #endif
 
@@ -136,10 +134,6 @@ public:
 private:	
 	static const unsigned _rc_max_chan_count = 8;	/**< maximum number of r/c channels we handle */
 
-	/* legacy sensor descriptors */
-	int 		_fd_bma180;			/**< old accel driver */
-	int 		_fd_gyro_l3gd20;		/**< old gyro driver */
-
 #if CONFIG_HRT_PPM
 	hrt_abstime	_ppm_last_valid;		/**< last time we got a valid ppm signal */
 
@@ -334,8 +328,6 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
-	_fd_bma180(-1),
-	_fd_gyro_l3gd20(-1),
 	_ppm_last_valid(0),
 
 	_fd_adc(-1),
@@ -562,19 +554,7 @@ Sensors::accel_init()
 	fd = open(ACCEL_DEVICE_PATH, 0);
 	if (fd < 0) {
 		warn("%s", ACCEL_DEVICE_PATH);
-
-		/* fall back to bma180 here (new driver would be better...) */
-		_fd_bma180 = open("/dev/bma180", O_RDONLY);
-		if (_fd_bma180 < 0) {
-			warn("/dev/bma180");
-			warn("FATAL: no accelerometer found");
-		}
-	
-		/* discard first (junk) reading */
-		int16_t junk_buf[3];
-		read(_fd_bma180, junk_buf, sizeof(junk_buf));
-
-		warnx("using BMA180");
+		errx(1, "FATAL: no accelerometer found");
 	} else {
 		/* set the accel internal sampling rate up to at leat 500Hz */
 		ioctl(fd, ACCELIOCSSAMPLERATE, 500);
@@ -595,19 +575,7 @@ Sensors::gyro_init()
 	fd = open(GYRO_DEVICE_PATH, 0);
 	if (fd < 0) {
 		warn("%s", GYRO_DEVICE_PATH);
-
-		/* fall back to bma180 here (new driver would be better...) */
-		_fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY);
-		if (_fd_gyro_l3gd20 < 0) {
-			warn("/dev/l3gd20");
-			warn("FATAL: no gyro found");
-		}
-
-		/* discard first (junk) reading */
-		int16_t junk_buf[3];
-		read(_fd_gyro_l3gd20, junk_buf, sizeof(junk_buf));
-
-		warn("using L3GD20");
+		errx(1, "FATAL: no gyro found");
 	} else {
 		/* set the gyro internal sampling rate up to at leat 500Hz */
 		ioctl(fd, GYROIOCSSAMPLERATE, 500);
@@ -648,7 +616,7 @@ Sensors::baro_init()
 	fd = open(BARO_DEVICE_PATH, 0);
 	if (fd < 0) {
 		warn("%s", BARO_DEVICE_PATH);
-		errx(1, "FATAL: no barometer found");
+		warnx("No barometer found, ignoring");
 	}
 
 	/* set the driver to poll at 150Hz */
@@ -671,67 +639,36 @@ Sensors::adc_init()
 void
 Sensors::accel_poll(struct sensor_combined_s &raw)
 {
-	struct accel_report	accel_report;
+	bool accel_updated;
+	orb_check(_accel_sub, &accel_updated);
 
-	if (_fd_bma180 >= 0) {
-		/* do ORB emulation for BMA180 */
-		int16_t		buf[3];
+	if (accel_updated) {
+		struct accel_report	accel_report;
 
-		read(_fd_bma180, buf, sizeof(buf));
+		orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
 
-		accel_report.timestamp = hrt_absolute_time();
+		raw.accelerometer_m_s2[0] = accel_report.x;
+		raw.accelerometer_m_s2[1] = accel_report.y;
+		raw.accelerometer_m_s2[2] = accel_report.z;
 
-		accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1];
-		accel_report.y_raw = buf[0];
-		accel_report.z_raw = buf[2];
+		raw.accelerometer_raw[0] = accel_report.x_raw;
+		raw.accelerometer_raw[1] = accel_report.y_raw;
+		raw.accelerometer_raw[2] = accel_report.z_raw;
 
-		const float range_g = 4.0f;
-		/* scale from 14 bit to m/s2 */
-		accel_report.x = (((accel_report.x_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
-		accel_report.y = (((accel_report.y_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
-		accel_report.z = (((accel_report.z_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
 		raw.accelerometer_counter++;
-
-	} else {
-		bool accel_updated;
-		orb_check(_accel_sub, &accel_updated);
-
-		if (accel_updated) {
-			orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
-			raw.accelerometer_counter++;
-		}
 	}
-
-	raw.accelerometer_m_s2[0] = accel_report.x;
-	raw.accelerometer_m_s2[1] = accel_report.y;
-	raw.accelerometer_m_s2[2] = accel_report.z;
-
-	raw.accelerometer_raw[0] = accel_report.x_raw;
-	raw.accelerometer_raw[1] = accel_report.y_raw;
-	raw.accelerometer_raw[2] = accel_report.z_raw;
 }
 
 void
 Sensors::gyro_poll(struct sensor_combined_s &raw)
 {
-	struct gyro_report	gyro_report;
+	bool gyro_updated;
+	orb_check(_gyro_sub, &gyro_updated);
 
-	if (_fd_gyro_l3gd20 >= 0) {
-		/* do ORB emulation for L3GD20 */
-		int16_t		buf[3];
+	if (gyro_updated) {
+		struct gyro_report	gyro_report;
 
-		read(_fd_gyro_l3gd20, buf, sizeof(buf));
-
-		gyro_report.timestamp = hrt_absolute_time();
-
-		gyro_report.x_raw = buf[1];
-		gyro_report.y_raw = ((buf[0] == -32768) ? 32767 : -buf[0]);
-		gyro_report.z_raw = buf[2];
-
-		/* scaling calculated as: raw * (1/(32768*(500/180*PI))) */
-		gyro_report.x = (gyro_report.x_raw - _parameters.gyro_offset[0]) * 0.000266316109f;
-		gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f;
-		gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f;
+		orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
 
 		raw.gyro_rad_s[0] = gyro_report.x;
 		raw.gyro_rad_s[1] = gyro_report.y;
@@ -742,25 +679,6 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 		raw.gyro_raw[2] = gyro_report.z_raw;
 
 		raw.gyro_counter++;
-
-	} else {
-
-		bool gyro_updated;
-		orb_check(_gyro_sub, &gyro_updated);
-
-		if (gyro_updated) {
-			orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
-
-			raw.gyro_rad_s[0] = gyro_report.x;
-			raw.gyro_rad_s[1] = gyro_report.y;
-			raw.gyro_rad_s[2] = gyro_report.z;
-
-			raw.gyro_raw[0] = gyro_report.x_raw;
-			raw.gyro_raw[1] = gyro_report.y_raw;
-			raw.gyro_raw[2] = gyro_report.z_raw;
-
-			raw.gyro_counter++;
-		}
 	}
 }
 
@@ -974,7 +892,13 @@ Sensors::ppm_poll()
 		}
 
 		/* reverse channel if required */
-		_rc.chan[i].scaled *= _parameters.rev[i];
+		if (i == _rc.function[THROTTLE]) {
+			if ((int)_parameters.rev[i] == -1) {
+				_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
+			}
+		} else {
+			_rc.chan[i].scaled *= _parameters.rev[i];
+		}
 
 		/* handle any parameter-induced blowups */
 		if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled))
diff --git a/apps/systemcmds/bl_update/bl_update.c b/apps/systemcmds/bl_update/bl_update.c
index 8bfc29234..752c01986 100644
--- a/apps/systemcmds/bl_update/bl_update.c
+++ b/apps/systemcmds/bl_update/bl_update.c
@@ -51,16 +51,20 @@
 #include <arch/board/board.h>
 
 #include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
 #include "systemlib/err.h"
 
 __EXPORT int bl_update_main(int argc, char *argv[]);
 
+static void setopt(void);
+
 int
 bl_update_main(int argc, char *argv[])
 {
 	if (argc != 2)
-		errx(1, "missing firmware filename");
+		errx(1, "missing firmware filename or command");
+
+	if (!strcmp(argv[1], "setopt"))
+		setopt();
 
 	int fd = open(argv[1], O_RDONLY);
 	if (fd < 0)
@@ -172,3 +176,33 @@ flash_end:
 	free(buf);
 	exit(0);
 }
+
+static void
+setopt(void)
+{
+	volatile uint32_t *optcr = (volatile uint32_t *)0x40023c14;
+
+	const uint16_t opt_mask = (3 << 2);		/* BOR_LEV bitmask */
+	const uint16_t opt_bits = (0 << 2);		/* BOR = 0, setting for 2.7-3.6V operation */
+
+	if ((*optcr & opt_mask) == opt_bits)
+		errx(0, "option bits are already set as required");
+
+	/* unlock the control register */
+	volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08;
+	*optkeyr = 0x08192a3bU;
+	*optkeyr = 0x4c5d6e7fU;
+
+	if (*optcr & 1)
+		errx(1, "option control register unlock failed");
+
+	/* program the new option value */
+	*optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1);
+
+	usleep(1000);
+
+	if ((*optcr & opt_mask) == opt_bits)
+		errx(0, "option bits set");
+	errx(1, "option bits setting failed; readback 0x%04x", *optcr);
+
+}
\ No newline at end of file
diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c
index a0b15f77b..fa88fa09e 100644
--- a/apps/systemcmds/eeprom/eeprom.c
+++ b/apps/systemcmds/eeprom/eeprom.c
@@ -193,6 +193,8 @@ eeprom_save(const char *name)
 	if (!name) 
 		err(1, "missing argument for device name, try '/eeprom/parameters'");
 
+	warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
+
 	/* delete the file in case it exists */
 	unlink(name);
 
@@ -222,6 +224,8 @@ eeprom_load(const char *name)
 	if (!name) 
 		err(1, "missing argument for device name, try '/eeprom/parameters'");
 	
+	warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
+
 	int fd = open(name, O_RDONLY);
 
 	if (fd < 0)
diff --git a/apps/systemcmds/param/Makefile b/apps/systemcmds/param/Makefile
new file mode 100644
index 000000000..603746a20
--- /dev/null
+++ b/apps/systemcmds/param/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build the parameters tool.
+#
+
+APPNAME		 = param
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 4096
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c
new file mode 100644
index 000000000..199bffed5
--- /dev/null
+++ b/apps/systemcmds/param/param.c
@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file param.c
+ *
+ * Parameter tool.
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
+#include "systemlib/err.h"
+
+__EXPORT int param_main(int argc, char *argv[]);
+
+static void	do_save(void);
+static void	do_load(void);
+static void	do_import(void);
+static void	do_show(void);
+static void	do_show_print(void *arg, param_t param);
+
+static const char *param_file_name = "/eeprom/parameters";
+
+int
+param_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "save"))
+			do_save();
+		if (!strcmp(argv[1], "load"))
+			do_load();
+		if (!strcmp(argv[1], "import"))
+			do_import();
+		if (!strcmp(argv[1], "show"))
+			do_show();
+	}
+
+	errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
+}
+
+static void
+do_save(void)
+{
+	/* delete the parameter file in case it exists */
+	unlink(param_file_name);
+
+	/* create the file */
+	int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0)
+		err(1, "opening '%s' failed", param_file_name);
+
+	int result = param_export(fd, false);
+	close(fd);
+
+	if (result < 0) {
+		unlink(param_file_name);
+		errx(1, "error exporting to '%s'", param_file_name);
+	}
+
+	exit(0);
+}
+
+static void
+do_load(void)
+{
+	int fd = open(param_file_name, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "open '%s'", param_file_name);
+
+	int result = param_load(fd);
+	close(fd);
+
+	if (result < 0)
+		errx(1, "error importing from '%s'", param_file_name);
+
+	exit(0);
+}
+
+static void
+do_import(void)
+{
+	int fd = open(param_file_name, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "open '%s'", param_file_name);
+
+	int result = param_import(fd);
+	close(fd);
+
+	if (result < 0)
+		errx(1, "error importing from '%s'", param_file_name);
+
+	exit(0);
+}
+
+static void
+do_show(void)
+{
+	printf(" + = saved, * = unsaved  (warning, floating-point values are often printed with the decimal point wrong)\n");
+	param_foreach(do_show_print, NULL, false);
+
+	exit(0);
+}
+
+static void
+do_show_print(void *arg, param_t param)
+{
+	int32_t i;
+	float f;
+
+	printf("%c %s: ",
+		param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+		param_name(param));
+
+	/*
+	 * This case can be expanded to handle printing common structure types.
+	 */
+
+	switch (param_type(param)) {
+	case PARAM_TYPE_INT32:
+		if (!param_get(param, &i)) {
+			printf("%d\n", i);
+			return;
+		}
+		break;
+	case PARAM_TYPE_FLOAT:
+		if (!param_get(param, &f)) {
+			printf("%4.4f\n", (double)f);
+			return;
+		}
+		break;
+	case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
+		printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param));
+		return;
+	default:
+		printf("<unknown type %d>\n", 0 + param_type(param));
+		return;
+	}
+	printf("<error fetching parameter %d>\n", param);
+}
diff --git a/apps/systemlib/bson/tinybson.c b/apps/systemlib/bson/tinybson.c
index 46ced013d..10b736fd6 100644
--- a/apps/systemlib/bson/tinybson.c
+++ b/apps/systemlib/bson/tinybson.c
@@ -106,7 +106,9 @@ bson_decoder_next(bson_decoder_t decoder)
 
 		/* if the nesting level is now zero, the top-level document is done */
 		if (decoder->nesting == 0) {
-			CODER_KILL(decoder, "nesting is zero, document is done");
+			/* like kill but not an error */
+			debug("nesting is zero, document is done");
+			decoder->fd = -1;
 
 			/* return end-of-file to the caller */
 			return 0;
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
index 0ab7c0ea3..9e886ea65 100644
--- a/apps/systemlib/param/param.c
+++ b/apps/systemlib/param/param.c
@@ -242,6 +242,25 @@ param_name(param_t param)
 	return NULL;
 }
 
+bool
+param_value_is_default(param_t param)
+{
+	return param_find_changed(param) ? false : true;
+}
+
+bool
+param_value_unsaved(param_t param)
+{
+	static struct param_wbuf_s *s;
+
+	s = param_find_changed(param);
+
+	if (s && s->unsaved)
+		return true;
+
+	return false;
+}
+
 enum param_type_e
 param_type(param_t param)
 {
@@ -330,8 +349,8 @@ param_get(param_t param, void *val)
 	return result;
 }
 
-int
-param_set(param_t param, const void *val)
+static int
+param_set_internal(param_t param, const void *val, bool mark_saved)
 {
 	int result = -1;
 	bool params_changed = false;
@@ -394,7 +413,7 @@ param_set(param_t param, const void *val)
 			goto out;
 		}
 
-		s->unsaved = true;
+		s->unsaved = !mark_saved;
 		params_changed = true;
 		result = 0;
 	}
@@ -412,6 +431,12 @@ out:
 	return result;
 }
 
+int
+param_set(param_t param, const void *val)
+{
+	return param_set_internal(param, val, false);
+}
+
 void
 param_reset(param_t param)
 {
@@ -535,6 +560,11 @@ out:
 	return result;
 }
 
+struct param_import_state
+{
+	bool mark_saved;
+};
+
 static int
 param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 {
@@ -542,13 +572,13 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 	int32_t i;
 	void *v, *tmp = NULL;
 	int result = -1;
+	struct param_import_state *state = (struct param_import_state *)private;
 
 	/*
 	 * EOO means the end of the parameter object. (Currently not supporting
 	 * nested BSON objects).
 	 */
 	if (node->type == BSON_EOO) {
-		*(bool *)private = true;
 		debug("end of parameters");
 		return 0;
 	}
@@ -621,7 +651,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 		goto out;
 	}
 
-	if (param_set(param, v)) {
+	if (param_set_internal(param, v, state->mark_saved)) {
 		debug("error setting value for '%s'", node->name);
 		goto out;
 	}
@@ -642,19 +672,19 @@ out:
 	return result;
 }
 
-int
-param_import(int fd)
+static int
+param_import_internal(int fd, bool mark_saved)
 {
-	bool done;
 	struct bson_decoder_s decoder;
 	int result = -1;
+	struct param_import_state state;
 
-	if (bson_decoder_init(&decoder, fd, param_import_callback, &done)) {
+	if (bson_decoder_init(&decoder, fd, param_import_callback, &state)) {
 		debug("decoder init failed");
 		goto out;
 	}
 
-	done = false;
+	state.mark_saved = mark_saved;
 
 	do {
 		result = bson_decoder_next(&decoder);
@@ -669,10 +699,16 @@ out:
 }
 
 int
+param_import(int fd)
+{
+	return param_import_internal(fd, false);
+}
+
+int
 param_load(int fd)
 {
 	param_reset_all();
-	return param_import(fd);
+	return param_import_internal(fd, true);
 }
 
 void
diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h
index ffce07a4e..41e268db0 100644
--- a/apps/systemlib/param/param.h
+++ b/apps/systemlib/param/param.h
@@ -122,6 +122,20 @@ __EXPORT int		param_get_index(param_t param);
 __EXPORT const char	*param_name(param_t param);
 
 /**
+ * Test whether a parameter's value has changed from the default.
+ *
+ * @return		If true, the parameter's value has not been changed from the default.
+ */
+__EXPORT bool		param_value_is_default(param_t param);
+
+/**
+ * Test whether a parameter's value has been changed but not saved.
+ *
+ * @return		If true, the parameter's value has not been saved.
+ */
+__EXPORT bool		param_value_unsaved(param_t param);
+
+/**
  * Obtain the type of a parameter.
  *
  * @param param		A handle returned by param_find or passed by param_foreach.
@@ -160,7 +174,8 @@ __EXPORT int		param_set(param_t param, const void *val);
 /**
  * Reset a parameter to its default value.
  *
- * This function frees any storage used by struct parameters, but scalar parameters 
+ * This function frees any storage used by struct parameters, and returns the parameter
+ * to its default value.
  *
  * @param param		A handle returned by param_find or passed by param_foreach.
  */
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index e76c4cf48..be0a3d1d7 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -53,6 +53,7 @@ CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
 CONFIGURED_APPS += systemcmds/eeprom
 CONFIGURED_APPS += systemcmds/led
+CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/bl_update
 #CONFIGURED_APPS += systemcmds/calibration
 
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index 45934e800..c2656217d 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -236,11 +236,11 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SERIAL_CONSOLE_REINIT=y
 
-CONFIG_USART1_SERIAL_CONSOLE=n
+CONFIG_USART1_SERIAL_CONSOLE=y
 CONFIG_USART2_SERIAL_CONSOLE=n
 CONFIG_USART3_SERIAL_CONSOLE=n
 CONFIG_UART4_SERIAL_CONSOLE=n
-CONFIG_UART5_SERIAL_CONSOLE=y
+CONFIG_UART5_SERIAL_CONSOLE=n
 CONFIG_USART6_SERIAL_CONSOLE=n
 
 #Mavlink messages can be bigger than 128