9 files changed, 46 insertions, 16 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index a0a18bc2e..46db788a6 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -151,9 +151,6 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
-//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_ff = 0;
-
 	/* input conditioning */
 	if (!isfinite(airspeed)) {
 		/* airspeed is NaN, +- INF or not available, pick center of band */
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index d2a231694..9894a34d7 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -114,9 +114,6 @@ float ECL_RollController::control_bodyrate(float pitch,
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
-//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_ff = 0; //xxx: param
-
 	/* input conditioning */
 //	warnx("airspeed pre %.4f", (double)airspeed);
 	if (!isfinite(airspeed)) {
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index 79184e2cd..fe03b8065 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -84,7 +84,7 @@ float ECL_YawController::control_attitude(float roll, float pitch,
 	_rate_setpoint = 0.0f;
 	if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) {
 		float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
-		if(denumerator != 0.0f) { //XXX: floating point comparison
+		if(fabsf(denumerator) > FLT_EPSILON) {
 			_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
 //			warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
 		}
@@ -132,11 +132,6 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
-
-//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_ff = 0;
-
-
 	/* input conditioning */
 	if (!isfinite(airspeed)) {
 	/* airspeed is NaN, +- INF or not available, pick center of band */
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 87c1cf460..8b286af36 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -50,7 +50,7 @@
 
 __BEGIN_DECLS
 
-#include "geo_mag_declination.h"
+#include "geo_lookup/geo_mag_declination.h"
 
 #include <stdbool.h>
 
diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk
index 9500a2bcc..d08ca4532 100644
--- a/src/lib/geo/module.mk
+++ b/src/lib/geo/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,5 +35,4 @@
 # Geo library
 #
 
-SRCS		=	geo.c \
-			geo_mag_declination.c
+SRCS		=	geo.c
diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo_lookup/geo_mag_declination.c
index 09eac38f4..09eac38f4 100644
--- a/src/lib/geo/geo_mag_declination.c
+++ b/src/lib/geo_lookup/geo_mag_declination.c
diff --git a/src/lib/geo/geo_mag_declination.h b/src/lib/geo_lookup/geo_mag_declination.h
index 0ac062d6d..0ac062d6d 100644
--- a/src/lib/geo/geo_mag_declination.h
+++ b/src/lib/geo_lookup/geo_mag_declination.h
diff --git a/src/lib/geo_lookup/module.mk b/src/lib/geo_lookup/module.mk
new file mode 100644
index 000000000..d7a10df2d
--- /dev/null
+++ b/src/lib/geo_lookup/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Geo lookup table / data library
+#
+
+SRCS		 =	geo_mag_declination.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk
index de0174e37..d92f0bb45 100644
--- a/src/lib/launchdetection/module.mk
+++ b/src/lib/launchdetection/module.mk
@@ -38,3 +38,5 @@
 SRCS		 = 	LaunchDetector.cpp \
 			CatapultLaunchMethod.cpp \
 			launchdetection_params.c
+
+MAXOPTIMIZATION	 = -Os