From 36679fbb39a57139c03cce85d7d0fbd25383a98a Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Sat, 10 Aug 2013 11:22:08 -0400
Subject: Some DSM satellites are fussier about bind pulse timing

These values work better
---
 src/drivers/px4io/px4io.cpp     | 3 +--
 src/modules/px4iofirmware/dsm.c | 4 ++--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index ae56b70b3..5089ce3c7 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1445,9 +1445,8 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); 
 		usleep(500000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
-		usleep(1000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
-		usleep(100000);
+		usleep(50000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
 		break;
 
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index ab6e3fec4..b2c0db425 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -125,9 +125,9 @@ dsm_bind(uint16_t cmd, int pulses)
 	case dsm_bind_send_pulses:
 		for (int i = 0; i < pulses; i++) {
 			stm32_gpiowrite(usart1RxAsOutp, false);
-			up_udelay(50);
+			up_udelay(25);
 			stm32_gpiowrite(usart1RxAsOutp, true);
-			up_udelay(50);
+			up_udelay(25);
 		}
 		break;
 	case dsm_bind_reinit_uart:
-- 
cgit v1.2.3


From 1d408b80ad70bd8ea873ce7215c8a92a62461b0f Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Sun, 11 Aug 2013 17:19:54 -0400
Subject: Support DSM bind via QGroundControl

---
 Documentation/dsm_bind.odt          | Bin 27043 -> 27123 bytes
 Documentation/dsm_bind.pdf          | Bin 34300 -> 323311 bytes
 src/drivers/px4io/px4io.cpp         |  46 ++++++++++++++++++++----------------
 src/modules/sensors/sensor_params.c |   1 +
 src/modules/sensors/sensors.cpp     |  12 ----------
 5 files changed, 26 insertions(+), 33 deletions(-)

diff --git a/Documentation/dsm_bind.odt b/Documentation/dsm_bind.odt
index 66ea1f1be..587a38883 100644
Binary files a/Documentation/dsm_bind.odt and b/Documentation/dsm_bind.odt differ
diff --git a/Documentation/dsm_bind.pdf b/Documentation/dsm_bind.pdf
index e62d1ed83..76155569e 100644
Binary files a/Documentation/dsm_bind.pdf and b/Documentation/dsm_bind.pdf differ
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 5089ce3c7..cb61d4aae 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -188,6 +188,12 @@ private:
 
 	bool			_dsm_vcc_ctl;
 
+	/**
+	 * System armed
+	 */
+
+	bool			_system_armed;
+
 	/**
 	 * Trampoline to the worker task
 	 */
@@ -355,7 +361,8 @@ PX4IO::PX4IO() :
 	_battery_amp_bias(0),
 	_battery_mamphour_total(0),
 	_battery_last_timestamp(0),
-	_dsm_vcc_ctl(false)
+	_dsm_vcc_ctl(false),
+	_system_armed(false)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -672,6 +679,17 @@ PX4IO::task_main()
 			 */
 			if (fds[3].revents & POLLIN) {
 				parameter_update_s pupdate;
+				int32_t dsm_bind_param;
+
+				// See if bind parameter has been set, and reset it to 0
+				param_get(param_find("RC_DSM_BIND"), &dsm_bind_param);
+				if (dsm_bind_param) {
+					if (((dsm_bind_param == 1) || (dsm_bind_param == 2)) && !_system_armed) {
+						ioctl(nullptr, DSM_BIND_START, dsm_bind_param == 1 ? 3 : 7);
+					}
+					dsm_bind_param = 0;
+					param_set(param_find("RC_DSM_BIND"), &dsm_bind_param);
+				}
 
 				/* copy to reset the notification */
 				orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
@@ -737,6 +755,8 @@ PX4IO::io_set_arming_state()
 	uint16_t set = 0;
 	uint16_t clear = 0;
 
+	_system_armed = vstatus.flag_system_armed;
+
 	if (armed.armed && !armed.lockdown) {
 		set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	} else {
@@ -1448,6 +1468,8 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
 		usleep(50000);
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
+		usleep(50000);
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
 		break;
 
 	case DSM_BIND_STOP:
@@ -1695,30 +1717,12 @@ bind(int argc, char *argv[])
 	else 
 		errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
 
-	/* Open console directly to grab CTRL-C signal */
-	int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
-	if (!console)
-		errx(1, "failed opening console");
-
 	warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
-	warnx("Press CTRL-C or 'c' when done.");
 
 	g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
 
-	for (;;) {
-		usleep(500000L);
-		/* Check if user wants to quit */
-		char c;
-		if (read(console, &c, 1) == 1) {
-			if (c == 0x03 || c == 0x63) {
-				warnx("Done\n");
-				g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
-				g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
-				close(console);
-	            exit(0);
-            }
-		}
-	}
+	exit(0);
+
 }
 
 void
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 133cda8d6..bd431c9eb 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -156,6 +156,7 @@ PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
 
 PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */
 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
+PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */
 
 /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f));
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f7b41b120..42268b971 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -257,8 +257,6 @@ private:
 
 		float battery_voltage_scaling;
 
-		int   rc_rl1_DSM_VCC_control;
-
 	}		_parameters;			/**< local copies of interesting parameters */
 
 	struct {
@@ -308,8 +306,6 @@ private:
 
 		param_t battery_voltage_scaling;
 
-		param_t rc_rl1_DSM_VCC_control;
-
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -544,9 +540,6 @@ Sensors::Sensors() :
 
 	_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
 
-	/* DSM VCC relay control */
-	_parameter_handles.rc_rl1_DSM_VCC_control = param_find("RC_RL1_DSM_VCC");
-
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -738,11 +731,6 @@ Sensors::parameters_update()
 		warnx("Failed updating voltage scaling param");
 	}
 
-	/* relay 1 DSM VCC control */
-	if (param_get(_parameter_handles.rc_rl1_DSM_VCC_control, &(_parameters.rc_rl1_DSM_VCC_control)) != OK) {
-		warnx("Failed updating relay 1 DSM VCC control");
-	}
-
 	return OK;
 }
 
-- 
cgit v1.2.3


From 35ec651cee89081ceaca63a1641541d8ed0a1467 Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Sun, 11 Aug 2013 18:07:25 -0400
Subject: Remove unused IOCTLs

---
 src/drivers/drv_pwm_output.h | 5 +----
 src/drivers/px4io/px4io.cpp  | 6 ------
 2 files changed, 1 insertion(+), 10 deletions(-)

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 52a667403..ec9d4ca09 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -118,11 +118,8 @@ ORB_DECLARE(output_pwm);
 /** start DSM bind */
 #define DSM_BIND_START	_IOC(_PWM_SERVO_BASE, 7)
 
-/** stop DSM bind */
-#define DSM_BIND_STOP	_IOC(_PWM_SERVO_BASE, 8)
-
 /** Power up DSM receiver */
-#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 9)
+#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
 
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index cb61d4aae..10ab10ef3 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1472,12 +1472,6 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
 		break;
 
-	case DSM_BIND_STOP:
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
-		usleep(500000);
-		break;
-
 	case DSM_BIND_POWER_UP:
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
 		break;
-- 
cgit v1.2.3


From 0b935550439a17856f5218fdcd6be8b864cfd346 Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Sun, 11 Aug 2013 21:16:55 -0400
Subject: Tell mavlink about bind results

---
 src/drivers/px4io/px4io.cpp | 24 +++++++++++++++++-------
 1 file changed, 17 insertions(+), 7 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 10ab10ef3..960ac06ff 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -577,9 +577,11 @@ void
 PX4IO::task_main()
 {
 	hrt_abstime last_poll_time = 0;
+	int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
 
 	log("starting");
 
+
 	/*
 	 * Subscribe to the appropriate PWM output topic based on whether we are the
 	 * primary PWM output or not.
@@ -679,16 +681,24 @@ PX4IO::task_main()
 			 */
 			if (fds[3].revents & POLLIN) {
 				parameter_update_s pupdate;
-				int32_t dsm_bind_param;
+				int32_t dsm_bind_val;
+				param_t dsm_bind_param;
 
 				// See if bind parameter has been set, and reset it to 0
-				param_get(param_find("RC_DSM_BIND"), &dsm_bind_param);
-				if (dsm_bind_param) {
-					if (((dsm_bind_param == 1) || (dsm_bind_param == 2)) && !_system_armed) {
-						ioctl(nullptr, DSM_BIND_START, dsm_bind_param == 1 ? 3 : 7);
+				param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
+				if (dsm_bind_val) {
+					if (!_system_armed) {
+						if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
+							mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
+							ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
+						} else {
+							mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
+						}
+					} else {
+						mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected"); 
 					}
-					dsm_bind_param = 0;
-					param_set(param_find("RC_DSM_BIND"), &dsm_bind_param);
+					dsm_bind_val = 0;
+					param_set(dsm_bind_param, &dsm_bind_val);
 				}
 
 				/* copy to reset the notification */
-- 
cgit v1.2.3


From 3a21cacdbbf507f47a45035af7fda04ac787f9b0 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Wed, 14 Aug 2013 16:00:35 +0200
Subject: Fix bug where IO was in override mode for copter (workaround was to
 disconnect and reconnect Rx

---
 src/modules/px4iofirmware/controls.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 43d96fb06..fbd82a4c6 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -300,6 +300,8 @@ controls_tick() {
 		} else {
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
 		}
+	} else {
+		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
 	}
 }
 
-- 
cgit v1.2.3


From 75e56285901cdb95f0ebbad62d841fbe9d38c1a1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 15 Aug 2013 12:52:07 +0200
Subject: Fixed Doxygen

---
 Documentation/Doxyfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Documentation/Doxyfile b/Documentation/Doxyfile
index 4802ef818..fd997baaa 100644
--- a/Documentation/Doxyfile
+++ b/Documentation/Doxyfile
@@ -569,7 +569,7 @@ WARN_LOGFILE           = doxy.log
 # directories like "/usr/src/myproject". Separate the files or directories
 # with spaces.
 
-INPUT                  = ../apps
+INPUT                  = ../src
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
-- 
cgit v1.2.3


From a1e0581facd28c8c3f2797e72f810a6674216aa5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 15 Aug 2013 12:55:16 +0200
Subject: Hotfix: More Doxygen fixes

---
 .gitignore             | 4 +++-
 Documentation/Doxyfile | 4 +---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.gitignore b/.gitignore
index 0372b60c8..6ae5baecc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -24,4 +24,6 @@ Firmware.sublime-workspace
 Images/*.bin
 Images/*.px4
 mavlink/include/mavlink/v0.9/
-NuttX
\ No newline at end of file
+/NuttX
+/Documentation/doxy.log
+/Documentation/html/
\ No newline at end of file
diff --git a/Documentation/Doxyfile b/Documentation/Doxyfile
index fd997baaa..f45fe8b21 100644
--- a/Documentation/Doxyfile
+++ b/Documentation/Doxyfile
@@ -599,9 +599,7 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.
 
-EXCLUDE                = ../dist/ \
-						 ../docs/html/ \
-						 html
+EXCLUDE                = ../src/mathlib/CMSIS
 
 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded
-- 
cgit v1.2.3


From ca877e0bc480e6f28e58a492a64b99a8afe59a21 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 15 Aug 2013 13:00:42 +0200
Subject: Fixed file exclude

---
 Documentation/Doxyfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Documentation/Doxyfile b/Documentation/Doxyfile
index f45fe8b21..6283cfc9c 100644
--- a/Documentation/Doxyfile
+++ b/Documentation/Doxyfile
@@ -599,7 +599,7 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.
 
-EXCLUDE                = ../src/mathlib/CMSIS
+EXCLUDE                = ../src/modules/mathlib/CMSIS
 
 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded
-- 
cgit v1.2.3


From 74d519d9d0560cd0f54ba2667c8c198d1c933fe3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 15 Aug 2013 13:38:59 +0200
Subject: Hotfix: Fixed Doxygen tags for uORB topics

---
 .gitignore                                                    |  3 ++-
 src/modules/uORB/objects_common.cpp                           |  4 ++++
 src/modules/uORB/topics/actuator_controls.h                   |  9 +++++++++
 src/modules/uORB/topics/actuator_controls_effective.h         |  9 +++++++++
 src/modules/uORB/topics/actuator_outputs.h                    |  9 +++++++++
 src/modules/uORB/topics/debug_key_value.h                     |  1 +
 src/modules/uORB/topics/esc_status.h                          | 11 ++++++-----
 src/modules/uORB/topics/mission.h                             | 10 +++++-----
 src/modules/uORB/topics/offboard_control_setpoint.h           | 10 +++++-----
 src/modules/uORB/topics/omnidirectional_flow.h                |  1 +
 src/modules/uORB/topics/parameter_update.h                    |  9 +++++++++
 src/modules/uORB/topics/rc_channels.h                         | 10 +++++-----
 src/modules/uORB/topics/sensor_combined.h                     | 10 +++++-----
 src/modules/uORB/topics/subsystem_info.h                      |  8 ++++----
 src/modules/uORB/topics/telemetry_status.h                    |  9 +++++++++
 src/modules/uORB/topics/vehicle_attitude.h                    |  1 +
 src/modules/uORB/topics/vehicle_command.h                     |  9 ++++-----
 src/modules/uORB/topics/vehicle_global_position_set_triplet.h |  4 ++--
 src/modules/uORB/topics/vehicle_status.h                      |  8 ++++----
 19 files changed, 94 insertions(+), 41 deletions(-)

diff --git a/.gitignore b/.gitignore
index 6ae5baecc..3fdc1bf2a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,4 +26,5 @@ Images/*.px4
 mavlink/include/mavlink/v0.9/
 /NuttX
 /Documentation/doxy.log
-/Documentation/html/
\ No newline at end of file
+/Documentation/html/
+/Documentation/doxygen*objdb*tmp
\ No newline at end of file
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index ae5fc6c61..301cfa255 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -37,6 +37,10 @@
  * Common object definitions without a better home.
  */
 
+/**
+ * @defgroup topics List of all uORB topics.
+ */
+
 #include <nuttx/config.h>
 
 #include <drivers/drv_orb_dev.h>
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index b7c4196c0..a27095be5 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -52,11 +52,20 @@
 #define NUM_ACTUATOR_CONTROLS		8
 #define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_controls_s {
 	uint64_t timestamp;
 	float	control[NUM_ACTUATOR_CONTROLS];
 };
 
+/**
+ * @}
+ */
+
 /* actuator control sets; this list can be expanded as more controllers emerge */
 ORB_DECLARE(actuator_controls_0);
 ORB_DECLARE(actuator_controls_1);
diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h
index 088c4fc8f..d7b404ad4 100644
--- a/src/modules/uORB/topics/actuator_controls_effective.h
+++ b/src/modules/uORB/topics/actuator_controls_effective.h
@@ -53,11 +53,20 @@
 #define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
 #define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_controls_effective_s {
 	uint64_t timestamp;
 	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
 };
 
+/**
+ * @}
+ */
+
 /* actuator control sets; this list can be expanded as more controllers emerge */
 ORB_DECLARE(actuator_controls_effective_0);
 ORB_DECLARE(actuator_controls_effective_1);
diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h
index bbe429073..30895ca83 100644
--- a/src/modules/uORB/topics/actuator_outputs.h
+++ b/src/modules/uORB/topics/actuator_outputs.h
@@ -52,12 +52,21 @@
 #define NUM_ACTUATOR_OUTPUTS		16
 #define NUM_ACTUATOR_OUTPUT_GROUPS	4	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_outputs_s {
 	uint64_t timestamp;				/**< output timestamp in us since system boot */
 	float	output[NUM_ACTUATOR_OUTPUTS];		/**< output data, in natural output units */
 	int noutputs;					/**< valid outputs */
 };
 
+/**
+ * @}
+ */
+
 /* actuator output sets; this list can be expanded as more drivers emerge */
 ORB_DECLARE(actuator_outputs_0);
 ORB_DECLARE(actuator_outputs_1);
diff --git a/src/modules/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h
index a9d1b83fd..9253c787d 100644
--- a/src/modules/uORB/topics/debug_key_value.h
+++ b/src/modules/uORB/topics/debug_key_value.h
@@ -47,6 +47,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
index 00cf59b28..11332d7a7 100644
--- a/src/modules/uORB/topics/esc_status.h
+++ b/src/modules/uORB/topics/esc_status.h
@@ -51,10 +51,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics @{
- */
-
 /**
  * The number of ESCs supported.
  * Current (Q2/2013) we support 8 ESCs,
@@ -76,7 +72,12 @@ enum ESC_CONNECTION_TYPE {
 };
 
 /**
- *
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Electronic speed controller status.
  */
 struct esc_status_s
 {
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index 253f444b3..978a3383a 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -46,11 +46,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 enum NAV_CMD {
 	NAV_CMD_WAYPOINT = 0,
 	NAV_CMD_LOITER_TURN_COUNT,
@@ -61,6 +56,11 @@ enum NAV_CMD {
 	NAV_CMD_TAKEOFF
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Global position setpoint in WGS84 coordinates.
  *
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 2e895c59c..7901b930a 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -43,11 +43,6 @@
 #include <stdint.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 /**
  * Off-board control inputs.
  * 
@@ -66,6 +61,11 @@ enum OFFBOARD_CONTROL_MODE
 	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct offboard_control_setpoint_s {
 	uint64_t timestamp;
 
diff --git a/src/modules/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h
index 8f4be3b3f..a6ad8a131 100644
--- a/src/modules/uORB/topics/omnidirectional_flow.h
+++ b/src/modules/uORB/topics/omnidirectional_flow.h
@@ -46,6 +46,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h
index 300e895c7..68964deb0 100644
--- a/src/modules/uORB/topics/parameter_update.h
+++ b/src/modules/uORB/topics/parameter_update.h
@@ -42,11 +42,20 @@
 #include <stdint.h>
 #include "../uORB.h"
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct parameter_update_s {
 	/** time at which the latest parameter was updated */
 	uint64_t	timestamp;
 };
 
+/**
+ * @}
+ */
+
 ORB_DECLARE(parameter_update);
 
 #endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 9dd54df91..e69335b3d 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -45,11 +45,6 @@
 #include <stdint.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 /**
  * The number of RC channel inputs supported.
  * Current (Q1/2013) radios support up to 18 channels,
@@ -83,6 +78,11 @@ enum RC_CHANNELS_FUNCTION
   RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct rc_channels_s {
 
 	uint64_t timestamp;                 /**< In microseconds since boot time. */
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index 9a76b5182..ad164555e 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -46,17 +46,17 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 enum MAGNETOMETER_MODE {
 	MAGNETOMETER_MODE_NORMAL = 0,
 	MAGNETOMETER_MODE_POSITIVE_BIAS,
 	MAGNETOMETER_MODE_NEGATIVE_BIAS
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Sensor readings in raw and SI-unit form.
  *
diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
index c415e832e..cfe0bf69e 100644
--- a/src/modules/uORB/topics/subsystem_info.h
+++ b/src/modules/uORB/topics/subsystem_info.h
@@ -50,10 +50,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- */
-
 enum SUBSYSTEM_TYPE
 {
 	SUBSYSTEM_TYPE_GYRO = 1,
@@ -75,6 +71,10 @@ enum SUBSYSTEM_TYPE
 	SUBSYSTEM_TYPE_RANGEFINDER = 131072
 };
 
+/**
+ * @addtogroup topics
+ */
+
 /**
  * State of individual sub systems
  */
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index f30852de5..828fb31cc 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -50,6 +50,11 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
     TELEMETRY_STATUS_RADIO_TYPE_WIRE
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct telemetry_status_s {
 	uint64_t timestamp;
     enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
@@ -62,6 +67,10 @@ struct telemetry_status_s {
     uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
 };
 
+/**
+ * @}
+ */
+
 ORB_DECLARE(telemetry_status);
 
 #endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file
diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h
index c31c81d0c..4380a5ee7 100755
--- a/src/modules/uORB/topics/vehicle_attitude.h
+++ b/src/modules/uORB/topics/vehicle_attitude.h
@@ -48,6 +48,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index fac571659..31ff014de 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -45,11 +45,6 @@
 #include <stdint.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 /**
  * Commands for commander app.
  *
@@ -110,6 +105,10 @@ enum VEHICLE_CMD_RESULT
 	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
 
 struct vehicle_command_s
 {
diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
index 318abba89..8516b263f 100644
--- a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
+++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
@@ -60,8 +60,8 @@
  */
 struct vehicle_global_position_set_triplet_s
 {
-	bool previous_valid;
-	bool next_valid;
+	bool previous_valid;					/**< flag indicating previous position is valid */
+	bool next_valid;					/**< flag indicating next position is valid */
 
 	struct vehicle_global_position_setpoint_s previous;
 	struct vehicle_global_position_setpoint_s current;
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index c7c1048f6..94068a9ac 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -54,10 +54,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics @{
- */
-
 /* State Machine */
 typedef enum
 {
@@ -137,6 +133,10 @@ enum VEHICLE_BATTERY_WARNING {
     VEHICLE_BATTERY_WARNING_ALERT            /**< aleting of low voltage 2. stage */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
 
 /**
  * state machine / state of vehicle.
-- 
cgit v1.2.3


From b83d07e94a0db879ff59a45f69450152ae330150 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 15 Aug 2013 13:47:36 +0200
Subject: Hotfix: Excluding codegen code

---
 Documentation/Doxyfile | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Documentation/Doxyfile b/Documentation/Doxyfile
index 6283cfc9c..65274d4a4 100644
--- a/Documentation/Doxyfile
+++ b/Documentation/Doxyfile
@@ -599,7 +599,8 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.
 
-EXCLUDE                = ../src/modules/mathlib/CMSIS
+EXCLUDE                = ../src/modules/mathlib/CMSIS \
+			 ../src/modules/attitude_estimator_ekf/codegen
 
 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or
 # directories that are symbolic links (a Unix filesystem feature) are excluded
-- 
cgit v1.2.3


From 6113be111e84a57715f3f3bfe81077bf1b267e52 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 16 Aug 2013 14:25:21 +0200
Subject: Hotfix: Do not create bug/test lists, adding noise

---
 Documentation/Doxyfile | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Documentation/Doxyfile b/Documentation/Doxyfile
index 65274d4a4..241702811 100644
--- a/Documentation/Doxyfile
+++ b/Documentation/Doxyfile
@@ -429,19 +429,19 @@ SORT_BY_SCOPE_NAME     = NO
 # disable (NO) the todo list. This list is created by putting \todo
 # commands in the documentation.
 
-GENERATE_TODOLIST      = YES
+GENERATE_TODOLIST      = NO
 
 # The GENERATE_TESTLIST tag can be used to enable (YES) or
 # disable (NO) the test list. This list is created by putting \test
 # commands in the documentation.
 
-GENERATE_TESTLIST      = YES
+GENERATE_TESTLIST      = NO
 
 # The GENERATE_BUGLIST tag can be used to enable (YES) or
 # disable (NO) the bug list. This list is created by putting \bug
 # commands in the documentation.
 
-GENERATE_BUGLIST       = YES
+GENERATE_BUGLIST       = NO
 
 # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
 # disable (NO) the deprecated list. This list is created by putting
-- 
cgit v1.2.3