From 559c62b6bc4923854e106be5987db92197e0bae1 Mon Sep 17 00:00:00 2001
From: TickTock- <TjckTock@gmail.com>
Date: Fri, 9 May 2014 15:17:38 -0700
Subject: Changed low threshold in px4io firmware to 10% to ensure
 compatibility with user configured single channel, mode switches

---
 src/modules/px4iofirmware/controls.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 56c5aa005..a8c560d40 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -47,8 +47,8 @@
 #include "px4io.h"
 
 #define RC_FAILSAFE_TIMEOUT		2000000		/**< two seconds failsafe timeout */
-#define RC_CHANNEL_HIGH_THRESH		5000
-#define RC_CHANNEL_LOW_THRESH		-5000
+#define RC_CHANNEL_HIGH_THRESH		5000	/* 75% threshold */
+#define RC_CHANNEL_LOW_THRESH		-8000	/* 10% threshold */
 
 static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
 
-- 
cgit v1.2.3


From 456e628e129b446d18246ab8ad312a15beea5996 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sat, 28 Jun 2014 00:54:27 +0200
Subject: navigator: NavigatorMode and MissionBlock API cleanup

---
 src/modules/navigator/loiter.cpp         | 18 ++++++---
 src/modules/navigator/loiter.h           | 14 +------
 src/modules/navigator/mission.cpp        | 14 +++++--
 src/modules/navigator/mission.h          | 14 +------
 src/modules/navigator/mission_block.cpp  | 65 ++++++++++++++++++--------------
 src/modules/navigator/mission_block.h    | 14 +++----
 src/modules/navigator/navigator_main.cpp |  6 +--
 src/modules/navigator/navigator_mode.cpp | 34 +++++++++++++++--
 src/modules/navigator/navigator_mode.h   | 12 +++++-
 src/modules/navigator/rtl.cpp            | 62 ++++++++++++++----------------
 src/modules/navigator/rtl.h              | 20 ++--------
 11 files changed, 144 insertions(+), 129 deletions(-)

diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 542483fb1..5e7067b0e 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -65,14 +65,22 @@ Loiter::~Loiter()
 {
 }
 
-bool
-Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+Loiter::on_inactive()
 {
-	/* set loiter item, don't reuse an existing position setpoint */
-	return set_loiter_item(pos_sp_triplet);
 }
 
 void
-Loiter::on_inactive()
+Loiter::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
+{
+	set_loiter_item(pos_sp_triplet);
+	pos_sp_triplet->previous.valid = false;
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	pos_sp_triplet->next.valid = false;
+}
+
+bool
+Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
+	return false;
 }
diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h
index 65ff5c31e..5ce86d2a7 100644
--- a/src/modules/navigator/loiter.h
+++ b/src/modules/navigator/loiter.h
@@ -50,24 +50,14 @@
 class Loiter : public MissionBlock
 {
 public:
-	/**
-	 * Constructor
-	 */
 	Loiter(Navigator *navigator, const char *name);
 
-	/**
-	 * Destructor
-	 */
 	~Loiter();
 
-	/**
-	 * This function is called while the mode is inactive
-	 */
 	virtual void on_inactive();
 
-	/**
-	 * This function is called while the mode is active
-	 */
+	virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet);
+
 	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 };
 
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 72255103b..395669698 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -82,8 +82,6 @@ Mission::~Mission()
 void
 Mission::on_inactive()
 {
-	_first_run = true;
-
 	/* check anyway if missions have changed so that feedback to groundstation is given */
 	bool onboard_updated;
 	orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -98,6 +96,12 @@ Mission::on_inactive()
 	}
 }
 
+void
+Mission::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
+{
+	set_mission_items(pos_sp_triplet);
+}
+
 bool
 Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
@@ -117,10 +121,9 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 	}
 
 	/* reset mission items if needed */
-	if (onboard_updated || offboard_updated || _first_run) {
+	if (onboard_updated || offboard_updated) {
 		set_mission_items(pos_sp_triplet);
 		updated = true;
-		_first_run = false;
 	}
 
 	/* lets check if we reached the current mission item */
@@ -255,6 +258,9 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
         _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
 
 		set_loiter_item(pos_sp_triplet);
+		pos_sp_triplet->previous.valid = false;
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+		pos_sp_triplet->next.valid = false;
 		reset_mission_item_reached();
 		report_mission_finished();
 	}
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 6e4761946..38a4f7612 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -65,24 +65,14 @@ class Navigator;
 class Mission : public MissionBlock
 {
 public:
-	/**
-	 * Constructor
-	 */
 	Mission(Navigator *navigator, const char *name);
 
-	/**
-	 * Destructor
-	 */
 	virtual ~Mission();
 
-	/**
-	 * This function is called while the mode is inactive
-	 */
 	virtual void on_inactive();
 
-	/**
-	 * This function is called while the mode is active
-	 */
+	virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet);
+
 	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 
 private:
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 9b8d3d9c7..acf3ad569 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -45,6 +45,7 @@
 
 #include <systemlib/err.h>
 #include <geo/geo.h>
+#include <mavlink/mavlink_log.h>
 
 #include <uORB/uORB.h>
 
@@ -207,36 +208,44 @@ MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_
     }
 }
 
-bool
+void
 MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
-    /* don't change setpoint if 'can_loiter_at_sp' flag set */
-	if (!(_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) {
-		/* use current position */
-		pos_sp_triplet->current.lat = _navigator->get_global_position()->lat;
-		pos_sp_triplet->current.lon = _navigator->get_global_position()->lon;
-		pos_sp_triplet->current.alt = _navigator->get_global_position()->alt;
-		pos_sp_triplet->current.yaw = NAN;	/* NAN means to use current yaw */
-
-	    _navigator->set_can_loiter_at_sp(true);
-	}
+	if (_navigator->get_vstatus()->condition_landed) {
+		/* landed, don't takeoff, but switch to IDLE mode */
+		_mission_item.nav_cmd = NAV_CMD_IDLE;
 
-    if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER
-            || pos_sp_triplet->current.loiter_radius != _navigator->get_loiter_radius()
-            || pos_sp_triplet->current.loiter_direction != 1
-            || pos_sp_triplet->previous.valid
-            || !pos_sp_triplet->current.valid
-            || pos_sp_triplet->next.valid) {
-        /* position setpoint triplet should be updated */
-        pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
-        pos_sp_triplet->current.loiter_radius = _navigator->get_loiter_radius();
-        pos_sp_triplet->current.loiter_direction = 1;
-
-        pos_sp_triplet->previous.valid = false;
-        pos_sp_triplet->current.valid = true;
-        pos_sp_triplet->next.valid = false;
-        return true;
-    }
+		_navigator->set_can_loiter_at_sp(false);
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "landed, switch to IDLE");
+
+	} else {
+		_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
 
-    return false;
+		if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) {
+			/* use current position setpoint */
+			_mission_item.lat = pos_sp_triplet->current.lat;
+			_mission_item.lon = pos_sp_triplet->current.lon;
+			_mission_item.altitude = pos_sp_triplet->current.alt;
+
+		} else {
+			/* use current position */
+			_mission_item.lat = _navigator->get_global_position()->lat;
+			_mission_item.lon = _navigator->get_global_position()->lon;
+			_mission_item.altitude = _navigator->get_global_position()->alt;
+		}
+
+		_mission_item.altitude_is_relative = false;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = false;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_can_loiter_at_sp(true);
+		mavlink_log_info(_navigator->get_mavlink_fd(), "switch to LOITER");
+	}
 }
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
index f99002752..4f79238f4 100644
--- a/src/modules/navigator/mission_block.h
+++ b/src/modules/navigator/mission_block.h
@@ -64,6 +64,7 @@ public:
 	 */
 	virtual ~MissionBlock();
 
+protected:
 	/**
 	 * Check if mission item has been reached
 	 * @return true if successfully reached
@@ -88,19 +89,16 @@ public:
 	void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet);
 
 	/**
-	 * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
-	 *
-	 * @param the position setpoint triplet to set
-	 * @return true if setpoint has changed
+	 * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
 	 */
-	bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet);
+	// TODO remove argument, get position setpoint from navigator, add to arguments pointer to mission item instead
+	void set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet);
 
+	mission_item_s _mission_item;
+	bool _mission_item_valid;
 	bool _waypoint_position_reached;
 	bool _waypoint_yaw_reached;
 	hrt_abstime _time_first_inside_orbit;
-
-	mission_item_s _mission_item;
-	bool _mission_item_valid;
 };
 
 #endif
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 546602741..266114e38 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -371,11 +371,7 @@ Navigator::task_main()
 
 		/* iterate through navigation modes and set active/inactive for each */
 		for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
-			if (_navigation_mode == _navigation_mode_array[i]) {
-				_update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet);
-			} else {
-				_navigation_mode_array[i]->on_inactive();
-			}
+			_update_triplet = _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i], &_pos_sp_triplet);
 		}
 
 		/* if nothing is running, set position setpoint triplet invalid */
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp
index 25e767c2b..6361ea9c8 100644
--- a/src/modules/navigator/navigator_mode.cpp
+++ b/src/modules/navigator/navigator_mode.cpp
@@ -33,9 +33,10 @@
 /**
  * @file navigator_mode.cpp
  *
- * Helper class for different modes in navigator
+ * Base class for different modes in navigator
  *
  * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include "navigator_mode.h"
@@ -55,16 +56,41 @@ NavigatorMode::~NavigatorMode()
 {
 }
 
+bool
+NavigatorMode::run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet) {
+	if (active) {
+		if (_first_run) {
+			/* first run */
+			_first_run = false;
+			on_activation(pos_sp_triplet);
+			return true;
+
+		} else {
+			/* periodic updates when active */
+			on_active(pos_sp_triplet);
+		}
+
+	} else {
+		/* periodic updates when inactive */
+		_first_run = true;
+		on_inactive();
+	}
+}
+
 void
 NavigatorMode::on_inactive()
 {
-	_first_run = true;
+}
+
+void
+NavigatorMode::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
+{
+	/* invalidate position setpoint by default */
+	pos_sp_triplet->current.valid = false;
 }
 
 bool
 NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
-	pos_sp_triplet->current.valid = false;
-	_first_run = false;
 	return false;
 }
diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h
index cbb53d91b..5c36af1fe 100644
--- a/src/modules/navigator/navigator_mode.h
+++ b/src/modules/navigator/navigator_mode.h
@@ -33,9 +33,10 @@
 /**
  * @file navigator_mode.h
  *
- * Helper class for different modes in navigator
+ * Base class for different modes in navigator
  *
  * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef NAVIGATOR_MODE_H
@@ -65,11 +66,18 @@ public:
 	 */
 	virtual ~NavigatorMode();
 
+	bool run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet);
+
 	/**
 	 * This function is called while the mode is inactive
 	 */
 	virtual void on_inactive();
 
+	/**
+	 * This function is called one time when mode become active, poos_sp_triplet must be initialized here
+	 */
+	virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet);
+
 	/**
 	 * This function is called while the mode is active
 	 *
@@ -80,6 +88,8 @@ public:
 
 protected:
 	Navigator *_navigator;
+
+private:
 	bool _first_run;
 };
 
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 043f773a4..7cf6bb1a8 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -75,53 +75,49 @@ RTL::~RTL()
 void
 RTL::on_inactive()
 {
-	_first_run = true;
-
 	/* reset RTL state only if setpoint moved */
 	if (!_navigator->get_can_loiter_at_sp()) {
 		_rtl_state = RTL_STATE_NONE;
 	}
 }
 
-bool
-RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
-	bool updated = false;
-
-	if (_first_run) {
-		_first_run = false;
-
-		/* decide where to enter the RTL procedure when we switch into it */
-		if (_rtl_state == RTL_STATE_NONE) {
-			/* for safety reasons don't go into RTL if landed */
-			if (_navigator->get_vstatus()->condition_landed) {
-				_rtl_state = RTL_STATE_LANDED;
-				mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
-
-			/* if lower than return altitude, climb up first */
-			} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
-				   + _param_return_alt.get()) {
-				_rtl_state = RTL_STATE_CLIMB;
-
-			/* otherwise go straight to return */
-			} else {
-				/* set altitude setpoint to current altitude */
-				_rtl_state = RTL_STATE_RETURN;
-				_mission_item.altitude_is_relative = false;
-				_mission_item.altitude = _navigator->get_global_position()->alt;
-			}
+	/* decide where to enter the RTL procedure when we switch into it */
+	if (_rtl_state == RTL_STATE_NONE) {
+		/* for safety reasons don't go into RTL if landed */
+		if (_navigator->get_vstatus()->condition_landed) {
+			_rtl_state = RTL_STATE_LANDED;
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
+
+		/* if lower than return altitude, climb up first */
+		} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+			   + _param_return_alt.get()) {
+			_rtl_state = RTL_STATE_CLIMB;
+
+		/* otherwise go straight to return */
+		} else {
+			/* set altitude setpoint to current altitude */
+			_rtl_state = RTL_STATE_RETURN;
+			_mission_item.altitude_is_relative = false;
+			_mission_item.altitude = _navigator->get_global_position()->alt;
 		}
+	}
 
-		set_rtl_item(pos_sp_triplet);
-		updated = true;
+	set_rtl_item(pos_sp_triplet);
+}
 
-	} else if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
+bool
+RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+{
+	if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
 		advance_rtl();
 		set_rtl_item(pos_sp_triplet);
-		updated = true;
+		return true;
 	}
 
-	return updated;
+	return false;
 }
 
 void
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index b4b729e89..9c8b3fdfc 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -57,29 +57,15 @@ class Navigator;
 class RTL : public MissionBlock
 {
 public:
-	/**
-	 * Constructor
-	 */
 	RTL(Navigator *navigator, const char *name);
 
-	/**
-	 * Destructor
-	 */
 	~RTL();
 
-	/**
-	 * This function is called while the mode is inactive
-	 */
-	void on_inactive();
+	virtual void on_inactive();
 
-	/**
-	 * This function is called while the mode is active
-	 *
-	 * @param position setpoint triplet that needs to be set
-	 * @return true if updated
-	 */
-	bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_activation(position_setpoint_triplet_s *pos_sp_triplet);
 
+	virtual bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
 
 private:
 	/**
-- 
cgit v1.2.3


From 12be974bd67676ef243d069593b179108976da22 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 29 Jun 2014 13:07:38 +0200
Subject: navigator: whitespace fix

---
 src/modules/navigator/mission.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 395669698..ab99a6b7e 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -255,7 +255,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
 					"#audio: no mission available");
 		}
 		_mission_type = MISSION_TYPE_NONE;
-        _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
+		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
 
 		set_loiter_item(pos_sp_triplet);
 		pos_sp_triplet->previous.valid = false;
-- 
cgit v1.2.3


From 628477ee2c75d16758688f53c0f8d9f29457f831 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 29 Jun 2014 14:01:58 +0200
Subject: Update estimator from Paul

---
 .../ekf_att_pos_estimator/estimator_23states.cpp   | 610 ++++++++++++++++-----
 .../ekf_att_pos_estimator/estimator_23states.h     |  20 +-
 .../ekf_att_pos_estimator/estimator_utilities.cpp  |  19 +
 .../ekf_att_pos_estimator/estimator_utilities.h    |   3 +-
 4 files changed, 509 insertions(+), 143 deletions(-)

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index e4b0c2b14..d77f4a6e3 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -25,6 +25,7 @@ AttPosEKF::AttPosEKF()
     useAirspeed = true;
     useCompass = true;
     useRangeFinder = true;
+    useOpticalFlow = true;
     numericalProtection = true;
     refSet = false;
     storeIndex = 0;
@@ -227,10 +228,22 @@ void AttPosEKF::CovariancePrediction(float dt)
     // scale gyro bias noise when on ground to allow for faster bias estimation
     for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma;
     processNoise[13] = dVelBiasSigma;
-    for (uint8_t i=14; i<=15; i++) processNoise[i] = dt * windVelSigma;
-    for (uint8_t i=16; i<=18; i++) processNoise[i] = dt * magEarthSigma;
-    for (uint8_t i=19; i<=21; i++) processNoise[i] = dt * magBodySigma;
-    processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma;
+    if (!inhibitWindStates) {
+        for (uint8_t i=14; i<=15; i++) processNoise[i] = dt * windVelSigma;
+    } else {
+        for (uint8_t i=14; i<=15; i++) processNoise[i] = 0;
+    }
+    if (!inhibitMagStates) {
+        for (uint8_t i=16; i<=18; i++) processNoise[i] = dt * magEarthSigma;
+        for (uint8_t i=19; i<=21; i++) processNoise[i] = dt * magBodySigma;
+    } else {
+        for (uint8_t i=16; i<=21; i++) processNoise[i] = 0;
+    }
+    if (!inhibitGndHgtState) {
+        processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma;
+    } else {
+        processNoise[22] = 0;
+    }
 
     // square all sigmas
     for (unsigned i = 0; i < n_states; i++) processNoise[i] = sq(processNoise[i]);
@@ -842,30 +855,6 @@ void AttPosEKF::CovariancePrediction(float dt)
         nextP[i][i] = nextP[i][i] + processNoise[i];
     }
 
-    // If on ground or no magnetometer fitted, inhibit magnetometer bias updates by
-    // setting the coresponding covariance terms to zero.
-    if (onGround || !useCompass)
-    {
-        zeroRows(nextP,16,21);
-        zeroCols(nextP,16,21);
-    }
-
-    // If on ground or not using airspeed sensing, inhibit wind velocity
-    // covariance growth.
-    if (onGround || !useAirspeed)
-    {
-        zeroRows(nextP,14,15);
-        zeroCols(nextP,14,15);
-    }
-
-    // If on ground, inhibit terrain offset updates by
-    // setting the coresponding covariance terms to zero.
-    if (onGround)
-    {
-        zeroRows(nextP,22,22);
-        zeroCols(nextP,22,22);
-    }
-
     // If the total position variance exceds 1E6 (1000m), then stop covariance
     // growth by setting the predicted to the previous values
     // This prevent an ill conditioned matrix from occurring for long periods
@@ -882,48 +871,22 @@ void AttPosEKF::CovariancePrediction(float dt)
         }
     }
 
-    if (onGround || staticMode) {
-        // copy the portion of the variances we want to
-        // propagate
-        for (unsigned i = 0; i <= 13; i++) {
-            P[i][i] = nextP[i][i];
-        }
-
-        // force symmetry for observable states
-        // force zero for non-observable states
-        for (unsigned i = 1; i < n_states; i++)
-        {
-            for (uint8_t j = 0; j < i; j++)
-            {
-                if ((i > 13) || (j > 13)) {
-                    P[i][j] = 0.0f;
-                } else {
-                    P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
-                }
-                P[j][i] = P[i][j];
-            }
-        }
-
-    } else {
-
-        // Copy covariance
-        for (unsigned i = 0; i < n_states; i++) {
-            P[i][i] = nextP[i][i];
-        }
+    // Copy covariance
+    for (unsigned i = 0; i < n_states; i++) {
+        P[i][i] = nextP[i][i];
+    }
 
-        // force symmetry for observable states
-        for (unsigned i = 1; i < n_states; i++)
+    // force symmetry for observable states
+    for (unsigned i = 1; i < n_states; i++)
+    {
+        for (uint8_t j = 0; j < i; j++)
         {
-            for (uint8_t j = 0; j < i; j++)
-            {
-                P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
-                P[j][i] = P[i][j];
-            }
+            P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
+            P[j][i] = P[i][j];
         }
-
     }
 
-    ConstrainVariances();
+        ConstrainVariances();
 }
 
 void AttPosEKF::FuseVelposNED()
@@ -944,7 +907,7 @@ void AttPosEKF::FuseVelposNED()
     bool fuseData[6] = {false,false,false,false,false,false};
     uint8_t stateIndex;
     uint8_t obsIndex;
-    uint8_t indexLimit;
+    uint8_t indexLimit = 22;
 
 // declare variables used by state and covariance update calculations
     float velErr;
@@ -981,11 +944,6 @@ void AttPosEKF::FuseVelposNED()
         R_OBS[4] = R_OBS[3];
         R_OBS[5] = sq(posDSigma) + sq(posErr);
 
-        // Set innovation variances to zero default
-        for (uint8_t i = 0; i<=5; i++)
-        {
-            varInnovVelPos[i] = 0.0f;
-        }
         // calculate innovations and check GPS data validity using an innovation consistency check
         if (fuseVelData)
         {
@@ -1071,15 +1029,6 @@ void AttPosEKF::FuseVelposNED()
         {
             fuseData[5] = true;
         }
-        // Limit range of states modified when on ground
-        if(!onGround)
-        {
-            indexLimit = 22;
-        }
-        else
-        {
-            indexLimit = 13;
-        }
         // Fuse measurements sequentially
         for (obsIndex=0; obsIndex<=5; obsIndex++)
         {
@@ -1113,6 +1062,22 @@ void AttPosEKF::FuseVelposNED()
                 if (obsIndex != 5) {
                     Kfusion[13] = 0;
                 }
+                // Don't update wind states if inhibited
+                if (inhibitWindStates) {
+                    Kfusion[14] = 0;
+                    Kfusion[15] = 0;
+                }
+                // Don't update magnetic field states if inhibited
+                if (inhibitMagStates) {
+                    for (uint8_t i = 16; i<=21; i++)
+                    {
+                        Kfusion[i] = 0;
+                    }
+                }
+                // Don't update terrain state if inhibited
+                if (inhibitGndHgtState) {
+                    Kfusion[22] = 0;
+               }
 
                 // Calculate state corrections and re-normalise the quaternions
                 for (uint8_t i = 0; i<=indexLimit; i++)
@@ -1179,7 +1144,6 @@ void AttPosEKF::FuseMagnetometer()
     for (uint8_t i = 0; i < n_states; i++) {
         H_MAG[i] = 0.0f;
     }
-    unsigned indexLimit;
 
 // Perform sequential fusion of Magnetometer measurements.
 // This assumes that the errors in the different components are
@@ -1189,19 +1153,6 @@ void AttPosEKF::FuseMagnetometer()
 // associated with sequential fusion
     if (useCompass && fuseMagData && (obsIndex < 3))
     {
-        // Limit range of states modified when on ground
-        if(!onGround)
-        {
-            indexLimit = n_states;
-        }
-        else
-        {
-            indexLimit = 13 + 1;
-        }
-
-        // Sequential fusion of XYZ components to spread processing load across
-        // three prediction time steps.
-
         // Calculate observation jacobians and Kalman gains
         if (obsIndex == 0)
         {
@@ -1287,15 +1238,31 @@ void AttPosEKF::FuseMagnetometer()
             Kfusion[12] = SK_MX[0]*(P[12][19] + P[12][1]*SH_MAG[0] + P[12][3]*SH_MAG[2] + P[12][0]*SK_MX[3] - P[12][2]*SK_MX[2] - P[12][16]*SK_MX[1] + P[12][17]*SK_MX[5] - P[12][18]*SK_MX[4]);
             // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
             Kfusion[13] = 0.0f;//SK_MX[0]*(P[13][19] + P[13][1]*SH_MAG[0] + P[13][3]*SH_MAG[2] + P[13][0]*SK_MX[3] - P[13][2]*SK_MX[2] - P[13][16]*SK_MX[1] + P[13][17]*SK_MX[5] - P[13][18]*SK_MX[4]);
-            Kfusion[14] = SK_MX[0]*(P[14][19] + P[14][1]*SH_MAG[0] + P[14][3]*SH_MAG[2] + P[14][0]*SK_MX[3] - P[14][2]*SK_MX[2] - P[14][16]*SK_MX[1] + P[14][17]*SK_MX[5] - P[14][18]*SK_MX[4]);
-            Kfusion[15] = SK_MX[0]*(P[15][19] + P[15][1]*SH_MAG[0] + P[15][3]*SH_MAG[2] + P[15][0]*SK_MX[3] - P[15][2]*SK_MX[2] - P[15][16]*SK_MX[1] + P[15][17]*SK_MX[5] - P[15][18]*SK_MX[4]);
-            Kfusion[16] = SK_MX[0]*(P[16][19] + P[16][1]*SH_MAG[0] + P[16][3]*SH_MAG[2] + P[16][0]*SK_MX[3] - P[16][2]*SK_MX[2] - P[16][16]*SK_MX[1] + P[16][17]*SK_MX[5] - P[16][18]*SK_MX[4]);
-            Kfusion[17] = SK_MX[0]*(P[17][19] + P[17][1]*SH_MAG[0] + P[17][3]*SH_MAG[2] + P[17][0]*SK_MX[3] - P[17][2]*SK_MX[2] - P[17][16]*SK_MX[1] + P[17][17]*SK_MX[5] - P[17][18]*SK_MX[4]);
-            Kfusion[18] = SK_MX[0]*(P[18][19] + P[18][1]*SH_MAG[0] + P[18][3]*SH_MAG[2] + P[18][0]*SK_MX[3] - P[18][2]*SK_MX[2] - P[18][16]*SK_MX[1] + P[18][17]*SK_MX[5] - P[18][18]*SK_MX[4]);
-            Kfusion[19] = SK_MX[0]*(P[19][19] + P[19][1]*SH_MAG[0] + P[19][3]*SH_MAG[2] + P[19][0]*SK_MX[3] - P[19][2]*SK_MX[2] - P[19][16]*SK_MX[1] + P[19][17]*SK_MX[5] - P[19][18]*SK_MX[4]);
-            Kfusion[20] = SK_MX[0]*(P[20][19] + P[20][1]*SH_MAG[0] + P[20][3]*SH_MAG[2] + P[20][0]*SK_MX[3] - P[20][2]*SK_MX[2] - P[20][16]*SK_MX[1] + P[20][17]*SK_MX[5] - P[20][18]*SK_MX[4]);
-            Kfusion[21] = SK_MX[0]*(P[21][19] + P[21][1]*SH_MAG[0] + P[21][3]*SH_MAG[2] + P[21][0]*SK_MX[3] - P[21][2]*SK_MX[2] - P[21][16]*SK_MX[1] + P[21][17]*SK_MX[5] - P[21][18]*SK_MX[4]);
-            Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]);
+            // Estimation of selected states is inhibited by setting their Kalman gains to zero
+            if (!inhibitWindStates) {
+                Kfusion[14] = SK_MX[0]*(P[14][19] + P[14][1]*SH_MAG[0] + P[14][3]*SH_MAG[2] + P[14][0]*SK_MX[3] - P[14][2]*SK_MX[2] - P[14][16]*SK_MX[1] + P[14][17]*SK_MX[5] - P[14][18]*SK_MX[4]);
+                Kfusion[15] = SK_MX[0]*(P[15][19] + P[15][1]*SH_MAG[0] + P[15][3]*SH_MAG[2] + P[15][0]*SK_MX[3] - P[15][2]*SK_MX[2] - P[15][16]*SK_MX[1] + P[15][17]*SK_MX[5] - P[15][18]*SK_MX[4]);
+            } else {
+                Kfusion[14] = 0;
+                Kfusion[15] = 0;
+            }
+            if (!inhibitMagStates) {
+                Kfusion[16] = SK_MX[0]*(P[16][19] + P[16][1]*SH_MAG[0] + P[16][3]*SH_MAG[2] + P[16][0]*SK_MX[3] - P[16][2]*SK_MX[2] - P[16][16]*SK_MX[1] + P[16][17]*SK_MX[5] - P[16][18]*SK_MX[4]);
+                Kfusion[17] = SK_MX[0]*(P[17][19] + P[17][1]*SH_MAG[0] + P[17][3]*SH_MAG[2] + P[17][0]*SK_MX[3] - P[17][2]*SK_MX[2] - P[17][16]*SK_MX[1] + P[17][17]*SK_MX[5] - P[17][18]*SK_MX[4]);
+                Kfusion[18] = SK_MX[0]*(P[18][19] + P[18][1]*SH_MAG[0] + P[18][3]*SH_MAG[2] + P[18][0]*SK_MX[3] - P[18][2]*SK_MX[2] - P[18][16]*SK_MX[1] + P[18][17]*SK_MX[5] - P[18][18]*SK_MX[4]);
+                Kfusion[19] = SK_MX[0]*(P[19][19] + P[19][1]*SH_MAG[0] + P[19][3]*SH_MAG[2] + P[19][0]*SK_MX[3] - P[19][2]*SK_MX[2] - P[19][16]*SK_MX[1] + P[19][17]*SK_MX[5] - P[19][18]*SK_MX[4]);
+                Kfusion[20] = SK_MX[0]*(P[20][19] + P[20][1]*SH_MAG[0] + P[20][3]*SH_MAG[2] + P[20][0]*SK_MX[3] - P[20][2]*SK_MX[2] - P[20][16]*SK_MX[1] + P[20][17]*SK_MX[5] - P[20][18]*SK_MX[4]);
+                Kfusion[21] = SK_MX[0]*(P[21][19] + P[21][1]*SH_MAG[0] + P[21][3]*SH_MAG[2] + P[21][0]*SK_MX[3] - P[21][2]*SK_MX[2] - P[21][16]*SK_MX[1] + P[21][17]*SK_MX[5] - P[21][18]*SK_MX[4]);
+            } else {
+                for (uint8_t i=16; i <= 21; i++) {
+                    Kfusion[i] = 0;
+                }
+            }
+            if (!inhibitGndHgtState) {
+                Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]);
+            } else {
+                Kfusion[22] = 0;
+            }
             varInnovMag[0] = 1.0f/SK_MX[0];
             innovMag[0] = MagPred[0] - magData.x;
         }
@@ -1342,15 +1309,34 @@ void AttPosEKF::FuseMagnetometer()
             Kfusion[12] = SK_MY[0]*(P[12][20] + P[12][0]*SH_MAG[2] + P[12][1]*SH_MAG[1] + P[12][2]*SH_MAG[0] - P[12][3]*SK_MY[2] - P[12][17]*SK_MY[1] - P[12][16]*SK_MY[3] + P[12][18]*SK_MY[4]);
             // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
             Kfusion[13] = 0.0f;//SK_MY[0]*(P[13][20] + P[13][0]*SH_MAG[2] + P[13][1]*SH_MAG[1] + P[13][2]*SH_MAG[0] - P[13][3]*SK_MY[2] - P[13][17]*SK_MY[1] - P[13][16]*SK_MY[3] + P[13][18]*SK_MY[4]);
-            Kfusion[14] = SK_MY[0]*(P[14][20] + P[14][0]*SH_MAG[2] + P[14][1]*SH_MAG[1] + P[14][2]*SH_MAG[0] - P[14][3]*SK_MY[2] - P[14][17]*SK_MY[1] - P[14][16]*SK_MY[3] + P[14][18]*SK_MY[4]);
-            Kfusion[15] = SK_MY[0]*(P[15][20] + P[15][0]*SH_MAG[2] + P[15][1]*SH_MAG[1] + P[15][2]*SH_MAG[0] - P[15][3]*SK_MY[2] - P[15][17]*SK_MY[1] - P[15][16]*SK_MY[3] + P[15][18]*SK_MY[4]);
-            Kfusion[16] = SK_MY[0]*(P[16][20] + P[16][0]*SH_MAG[2] + P[16][1]*SH_MAG[1] + P[16][2]*SH_MAG[0] - P[16][3]*SK_MY[2] - P[16][17]*SK_MY[1] - P[16][16]*SK_MY[3] + P[16][18]*SK_MY[4]);
-            Kfusion[17] = SK_MY[0]*(P[17][20] + P[17][0]*SH_MAG[2] + P[17][1]*SH_MAG[1] + P[17][2]*SH_MAG[0] - P[17][3]*SK_MY[2] - P[17][17]*SK_MY[1] - P[17][16]*SK_MY[3] + P[17][18]*SK_MY[4]);
-            Kfusion[18] = SK_MY[0]*(P[18][20] + P[18][0]*SH_MAG[2] + P[18][1]*SH_MAG[1] + P[18][2]*SH_MAG[0] - P[18][3]*SK_MY[2] - P[18][17]*SK_MY[1] - P[18][16]*SK_MY[3] + P[18][18]*SK_MY[4]);
-            Kfusion[19] = SK_MY[0]*(P[19][20] + P[19][0]*SH_MAG[2] + P[19][1]*SH_MAG[1] + P[19][2]*SH_MAG[0] - P[19][3]*SK_MY[2] - P[19][17]*SK_MY[1] - P[19][16]*SK_MY[3] + P[19][18]*SK_MY[4]);
-            Kfusion[20] = SK_MY[0]*(P[20][20] + P[20][0]*SH_MAG[2] + P[20][1]*SH_MAG[1] + P[20][2]*SH_MAG[0] - P[20][3]*SK_MY[2] - P[20][17]*SK_MY[1] - P[20][16]*SK_MY[3] + P[20][18]*SK_MY[4]);
-            Kfusion[21] = SK_MY[0]*(P[21][20] + P[21][0]*SH_MAG[2] + P[21][1]*SH_MAG[1] + P[21][2]*SH_MAG[0] - P[21][3]*SK_MY[2] - P[21][17]*SK_MY[1] - P[21][16]*SK_MY[3] + P[21][18]*SK_MY[4]);
-            Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]);
+            // Estimation of selected states is inhibited by setting their Kalman gains to zero
+            if (!inhibitWindStates) {
+                Kfusion[14] = SK_MY[0]*(P[14][20] + P[14][0]*SH_MAG[2] + P[14][1]*SH_MAG[1] + P[14][2]*SH_MAG[0] - P[14][3]*SK_MY[2] - P[14][17]*SK_MY[1] - P[14][16]*SK_MY[3] + P[14][18]*SK_MY[4]);
+                Kfusion[15] = SK_MY[0]*(P[15][20] + P[15][0]*SH_MAG[2] + P[15][1]*SH_MAG[1] + P[15][2]*SH_MAG[0] - P[15][3]*SK_MY[2] - P[15][17]*SK_MY[1] - P[15][16]*SK_MY[3] + P[15][18]*SK_MY[4]);
+            } else {
+                Kfusion[14] = 0;
+                Kfusion[15] = 0;
+            }
+            if (!inhibitMagStates) {
+                Kfusion[16] = SK_MY[0]*(P[16][20] + P[16][0]*SH_MAG[2] + P[16][1]*SH_MAG[1] + P[16][2]*SH_MAG[0] - P[16][3]*SK_MY[2] - P[16][17]*SK_MY[1] - P[16][16]*SK_MY[3] + P[16][18]*SK_MY[4]);
+                Kfusion[17] = SK_MY[0]*(P[17][20] + P[17][0]*SH_MAG[2] + P[17][1]*SH_MAG[1] + P[17][2]*SH_MAG[0] - P[17][3]*SK_MY[2] - P[17][17]*SK_MY[1] - P[17][16]*SK_MY[3] + P[17][18]*SK_MY[4]);
+                Kfusion[18] = SK_MY[0]*(P[18][20] + P[18][0]*SH_MAG[2] + P[18][1]*SH_MAG[1] + P[18][2]*SH_MAG[0] - P[18][3]*SK_MY[2] - P[18][17]*SK_MY[1] - P[18][16]*SK_MY[3] + P[18][18]*SK_MY[4]);
+                Kfusion[19] = SK_MY[0]*(P[19][20] + P[19][0]*SH_MAG[2] + P[19][1]*SH_MAG[1] + P[19][2]*SH_MAG[0] - P[19][3]*SK_MY[2] - P[19][17]*SK_MY[1] - P[19][16]*SK_MY[3] + P[19][18]*SK_MY[4]);
+                Kfusion[20] = SK_MY[0]*(P[20][20] + P[20][0]*SH_MAG[2] + P[20][1]*SH_MAG[1] + P[20][2]*SH_MAG[0] - P[20][3]*SK_MY[2] - P[20][17]*SK_MY[1] - P[20][16]*SK_MY[3] + P[20][18]*SK_MY[4]);
+                Kfusion[21] = SK_MY[0]*(P[21][20] + P[21][0]*SH_MAG[2] + P[21][1]*SH_MAG[1] + P[21][2]*SH_MAG[0] - P[21][3]*SK_MY[2] - P[21][17]*SK_MY[1] - P[21][16]*SK_MY[3] + P[21][18]*SK_MY[4]);
+            } else {
+                Kfusion[16] = 0;
+                Kfusion[17] = 0;
+                Kfusion[18] = 0;
+                Kfusion[19] = 0;
+                Kfusion[20] = 0;
+                Kfusion[21] = 0;
+            }
+            if (!inhibitGndHgtState) {
+                Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]);
+            } else {
+                Kfusion[22] = 0;
+            }
             varInnovMag[1] = 1.0f/SK_MY[0];
             innovMag[1] = MagPred[1] - magData.y;
         }
@@ -1398,15 +1384,34 @@ void AttPosEKF::FuseMagnetometer()
             Kfusion[12] = SK_MZ[0]*(P[12][21] + P[12][0]*SH_MAG[1] + P[12][3]*SH_MAG[0] - P[12][1]*SK_MZ[2] + P[12][2]*SK_MZ[3] + P[12][18]*SK_MZ[1] + P[12][16]*SK_MZ[5] - P[12][17]*SK_MZ[4]);
             // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
             Kfusion[13] = 0.0f;//SK_MZ[0]*(P[13][21] + P[13][0]*SH_MAG[1] + P[13][3]*SH_MAG[0] - P[13][1]*SK_MZ[2] + P[13][2]*SK_MZ[3] + P[13][18]*SK_MZ[1] + P[13][16]*SK_MZ[5] - P[13][17]*SK_MZ[4]);
-            Kfusion[14] = SK_MZ[0]*(P[14][21] + P[14][0]*SH_MAG[1] + P[14][3]*SH_MAG[0] - P[14][1]*SK_MZ[2] + P[14][2]*SK_MZ[3] + P[14][18]*SK_MZ[1] + P[14][16]*SK_MZ[5] - P[14][17]*SK_MZ[4]);
-            Kfusion[15] = SK_MZ[0]*(P[15][21] + P[15][0]*SH_MAG[1] + P[15][3]*SH_MAG[0] - P[15][1]*SK_MZ[2] + P[15][2]*SK_MZ[3] + P[15][18]*SK_MZ[1] + P[15][16]*SK_MZ[5] - P[15][17]*SK_MZ[4]);
-            Kfusion[16] = SK_MZ[0]*(P[16][21] + P[16][0]*SH_MAG[1] + P[16][3]*SH_MAG[0] - P[16][1]*SK_MZ[2] + P[16][2]*SK_MZ[3] + P[16][18]*SK_MZ[1] + P[16][16]*SK_MZ[5] - P[16][17]*SK_MZ[4]);
-            Kfusion[17] = SK_MZ[0]*(P[17][21] + P[17][0]*SH_MAG[1] + P[17][3]*SH_MAG[0] - P[17][1]*SK_MZ[2] + P[17][2]*SK_MZ[3] + P[17][18]*SK_MZ[1] + P[17][16]*SK_MZ[5] - P[17][17]*SK_MZ[4]);
-            Kfusion[18] = SK_MZ[0]*(P[18][21] + P[18][0]*SH_MAG[1] + P[18][3]*SH_MAG[0] - P[18][1]*SK_MZ[2] + P[18][2]*SK_MZ[3] + P[18][18]*SK_MZ[1] + P[18][16]*SK_MZ[5] - P[18][17]*SK_MZ[4]);
-            Kfusion[19] = SK_MZ[0]*(P[19][21] + P[19][0]*SH_MAG[1] + P[19][3]*SH_MAG[0] - P[19][1]*SK_MZ[2] + P[19][2]*SK_MZ[3] + P[19][18]*SK_MZ[1] + P[19][16]*SK_MZ[5] - P[19][17]*SK_MZ[4]);
-            Kfusion[20] = SK_MZ[0]*(P[20][21] + P[20][0]*SH_MAG[1] + P[20][3]*SH_MAG[0] - P[20][1]*SK_MZ[2] + P[20][2]*SK_MZ[3] + P[20][18]*SK_MZ[1] + P[20][16]*SK_MZ[5] - P[20][17]*SK_MZ[4]);
-            Kfusion[21] = SK_MZ[0]*(P[21][21] + P[21][0]*SH_MAG[1] + P[21][3]*SH_MAG[0] - P[21][1]*SK_MZ[2] + P[21][2]*SK_MZ[3] + P[21][18]*SK_MZ[1] + P[21][16]*SK_MZ[5] - P[21][17]*SK_MZ[4]);
-            Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] + P[22][3]*SH_MAG[0] - P[22][1]*SK_MZ[2] + P[22][2]*SK_MZ[3] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[5] - P[22][17]*SK_MZ[4]);
+            // Estimation of selected states is inhibited by setting their Kalman gains to zero
+            if (!inhibitWindStates) {
+                Kfusion[14] = SK_MZ[0]*(P[14][21] + P[14][0]*SH_MAG[1] + P[14][3]*SH_MAG[0] - P[14][1]*SK_MZ[2] + P[14][2]*SK_MZ[3] + P[14][18]*SK_MZ[1] + P[14][16]*SK_MZ[5] - P[14][17]*SK_MZ[4]);
+                Kfusion[15] = SK_MZ[0]*(P[15][21] + P[15][0]*SH_MAG[1] + P[15][3]*SH_MAG[0] - P[15][1]*SK_MZ[2] + P[15][2]*SK_MZ[3] + P[15][18]*SK_MZ[1] + P[15][16]*SK_MZ[5] - P[15][17]*SK_MZ[4]);
+            } else {
+                Kfusion[14] = 0;
+                Kfusion[15] = 0;
+            }
+            if (!inhibitMagStates) {
+                Kfusion[16] = SK_MZ[0]*(P[16][21] + P[16][0]*SH_MAG[1] + P[16][3]*SH_MAG[0] - P[16][1]*SK_MZ[2] + P[16][2]*SK_MZ[3] + P[16][18]*SK_MZ[1] + P[16][16]*SK_MZ[5] - P[16][17]*SK_MZ[4]);
+                Kfusion[17] = SK_MZ[0]*(P[17][21] + P[17][0]*SH_MAG[1] + P[17][3]*SH_MAG[0] - P[17][1]*SK_MZ[2] + P[17][2]*SK_MZ[3] + P[17][18]*SK_MZ[1] + P[17][16]*SK_MZ[5] - P[17][17]*SK_MZ[4]);
+                Kfusion[18] = SK_MZ[0]*(P[18][21] + P[18][0]*SH_MAG[1] + P[18][3]*SH_MAG[0] - P[18][1]*SK_MZ[2] + P[18][2]*SK_MZ[3] + P[18][18]*SK_MZ[1] + P[18][16]*SK_MZ[5] - P[18][17]*SK_MZ[4]);
+                Kfusion[19] = SK_MZ[0]*(P[19][21] + P[19][0]*SH_MAG[1] + P[19][3]*SH_MAG[0] - P[19][1]*SK_MZ[2] + P[19][2]*SK_MZ[3] + P[19][18]*SK_MZ[1] + P[19][16]*SK_MZ[5] - P[19][17]*SK_MZ[4]);
+                Kfusion[20] = SK_MZ[0]*(P[20][21] + P[20][0]*SH_MAG[1] + P[20][3]*SH_MAG[0] - P[20][1]*SK_MZ[2] + P[20][2]*SK_MZ[3] + P[20][18]*SK_MZ[1] + P[20][16]*SK_MZ[5] - P[20][17]*SK_MZ[4]);
+                Kfusion[21] = SK_MZ[0]*(P[21][21] + P[21][0]*SH_MAG[1] + P[21][3]*SH_MAG[0] - P[21][1]*SK_MZ[2] + P[21][2]*SK_MZ[3] + P[21][18]*SK_MZ[1] + P[21][16]*SK_MZ[5] - P[21][17]*SK_MZ[4]);
+            } else {
+                Kfusion[16] = 0;
+                Kfusion[17] = 0;
+                Kfusion[18] = 0;
+                Kfusion[19] = 0;
+                Kfusion[20] = 0;
+                Kfusion[21] = 0;
+            }
+            if (!inhibitGndHgtState) {
+                Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] + P[22][3]*SH_MAG[0] - P[22][1]*SK_MZ[2] + P[22][2]*SK_MZ[3] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[5] - P[22][17]*SK_MZ[4]);
+            } else {
+                Kfusion[22] = 0;
+            }
             varInnovMag[2] = 1.0f/SK_MZ[0];
             innovMag[2] = MagPred[2] - magData.z;
 
@@ -1416,7 +1421,7 @@ void AttPosEKF::FuseMagnetometer()
         if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0f)
         {
             // correct the state vector
-            for (uint8_t j= 0; j < indexLimit; j++)
+            for (uint8_t j= 0; j < n_states; j++)
             {
                 states[j] = states[j] - Kfusion[j] * innovMag[obsIndex];
             }
@@ -1433,7 +1438,7 @@ void AttPosEKF::FuseMagnetometer()
             // correct the covariance P = (I - K*H)*P
             // take advantage of the empty columns in KH to reduce the
             // number of operations
-            for (uint8_t i = 0; i < indexLimit; i++)
+            for (uint8_t i = 0; i < n_states; i++)
             {
                 for (uint8_t j = 0; j <= 3; j++)
                 {
@@ -1455,9 +1460,9 @@ void AttPosEKF::FuseMagnetometer()
                     }
                 }
             }
-            for (uint8_t i = 0; i < indexLimit; i++)
+            for (uint8_t i = 0; i < n_states; i++)
             {
-                for (uint8_t j = 0; j < indexLimit; j++)
+                for (uint8_t j = 0; j < n_states; j++)
                 {
                     KHP[i][j] = 0.0f;
                     for (uint8_t k = 0; k <= 3; k++)
@@ -1474,9 +1479,9 @@ void AttPosEKF::FuseMagnetometer()
                 }
             }
         }
-        for (uint8_t i = 0; i < indexLimit; i++)
+        for (uint8_t i = 0; i < n_states; i++)
         {
-            for (uint8_t j = 0; j < indexLimit; j++)
+            for (uint8_t j = 0; j < n_states; j++)
             {
                 P[i][j] = P[i][j] - KHP[i][j];
             }
@@ -1552,15 +1557,31 @@ void AttPosEKF::FuseAirspeed()
         Kfusion[12] = SK_TAS*(P[12][4]*SH_TAS[2] - P[12][14]*SH_TAS[2] + P[12][5]*SH_TAS[1] - P[12][15]*SH_TAS[1] + P[12][6]*vd*SH_TAS[0]);
         // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
         Kfusion[13] = 0.0f;//SK_TAS*(P[13][4]*SH_TAS[2] - P[13][14]*SH_TAS[2] + P[13][5]*SH_TAS[1] - P[13][15]*SH_TAS[1] + P[13][6]*vd*SH_TAS[0]);
-        Kfusion[14] = SK_TAS*(P[14][4]*SH_TAS[2] - P[14][14]*SH_TAS[2] + P[14][5]*SH_TAS[1] - P[14][15]*SH_TAS[1] + P[14][6]*vd*SH_TAS[0]);
-        Kfusion[15] = SK_TAS*(P[15][4]*SH_TAS[2] - P[15][14]*SH_TAS[2] + P[15][5]*SH_TAS[1] - P[15][15]*SH_TAS[1] + P[15][6]*vd*SH_TAS[0]);
-        Kfusion[16] = SK_TAS*(P[16][4]*SH_TAS[2] - P[16][14]*SH_TAS[2] + P[16][5]*SH_TAS[1] - P[16][15]*SH_TAS[1] + P[16][6]*vd*SH_TAS[0]);
-        Kfusion[17] = SK_TAS*(P[17][4]*SH_TAS[2] - P[17][14]*SH_TAS[2] + P[17][5]*SH_TAS[1] - P[17][15]*SH_TAS[1] + P[17][6]*vd*SH_TAS[0]);
-        Kfusion[18] = SK_TAS*(P[18][4]*SH_TAS[2] - P[18][14]*SH_TAS[2] + P[18][5]*SH_TAS[1] - P[18][15]*SH_TAS[1] + P[18][6]*vd*SH_TAS[0]);
-        Kfusion[19] = SK_TAS*(P[19][4]*SH_TAS[2] - P[19][14]*SH_TAS[2] + P[19][5]*SH_TAS[1] - P[19][15]*SH_TAS[1] + P[19][6]*vd*SH_TAS[0]);
-        Kfusion[20] = SK_TAS*(P[20][4]*SH_TAS[2] - P[20][14]*SH_TAS[2] + P[20][5]*SH_TAS[1] - P[20][15]*SH_TAS[1] + P[20][6]*vd*SH_TAS[0]);
-        Kfusion[21] = SK_TAS*(P[21][4]*SH_TAS[2] - P[21][14]*SH_TAS[2] + P[21][5]*SH_TAS[1] - P[21][15]*SH_TAS[1] + P[21][6]*vd*SH_TAS[0]);
-        Kfusion[22] = SK_TAS*(P[22][4]*SH_TAS[2] - P[22][14]*SH_TAS[2] + P[22][5]*SH_TAS[1] - P[22][15]*SH_TAS[1] + P[22][6]*vd*SH_TAS[0]);
+        // Estimation of selected states is inhibited by setting their Kalman gains to zero
+        if (!inhibitWindStates) {
+            Kfusion[14] = SK_TAS*(P[14][4]*SH_TAS[2] - P[14][14]*SH_TAS[2] + P[14][5]*SH_TAS[1] - P[14][15]*SH_TAS[1] + P[14][6]*vd*SH_TAS[0]);
+            Kfusion[15] = SK_TAS*(P[15][4]*SH_TAS[2] - P[15][14]*SH_TAS[2] + P[15][5]*SH_TAS[1] - P[15][15]*SH_TAS[1] + P[15][6]*vd*SH_TAS[0]);
+        } else {
+            Kfusion[14] = 0;
+            Kfusion[15] = 0;
+        }
+        if (!inhibitMagStates) {
+            Kfusion[16] = SK_TAS*(P[16][4]*SH_TAS[2] - P[16][14]*SH_TAS[2] + P[16][5]*SH_TAS[1] - P[16][15]*SH_TAS[1] + P[16][6]*vd*SH_TAS[0]);
+            Kfusion[17] = SK_TAS*(P[17][4]*SH_TAS[2] - P[17][14]*SH_TAS[2] + P[17][5]*SH_TAS[1] - P[17][15]*SH_TAS[1] + P[17][6]*vd*SH_TAS[0]);
+            Kfusion[18] = SK_TAS*(P[18][4]*SH_TAS[2] - P[18][14]*SH_TAS[2] + P[18][5]*SH_TAS[1] - P[18][15]*SH_TAS[1] + P[18][6]*vd*SH_TAS[0]);
+            Kfusion[19] = SK_TAS*(P[19][4]*SH_TAS[2] - P[19][14]*SH_TAS[2] + P[19][5]*SH_TAS[1] - P[19][15]*SH_TAS[1] + P[19][6]*vd*SH_TAS[0]);
+            Kfusion[20] = SK_TAS*(P[20][4]*SH_TAS[2] - P[20][14]*SH_TAS[2] + P[20][5]*SH_TAS[1] - P[20][15]*SH_TAS[1] + P[20][6]*vd*SH_TAS[0]);
+            Kfusion[21] = SK_TAS*(P[21][4]*SH_TAS[2] - P[21][14]*SH_TAS[2] + P[21][5]*SH_TAS[1] - P[21][15]*SH_TAS[1] + P[21][6]*vd*SH_TAS[0]);
+        } else {
+            for (uint8_t i=16; i <= 21; i++) {
+                Kfusion[i] = 0;
+            }
+        }
+        if (!inhibitGndHgtState) {
+            Kfusion[22] = SK_TAS*(P[22][4]*SH_TAS[2] - P[22][14]*SH_TAS[2] + P[22][5]*SH_TAS[1] - P[22][15]*SH_TAS[1] + P[22][6]*vd*SH_TAS[0]);
+        } else {
+            Kfusion[22] = 0;
+        }
         varInnovVtas = 1.0f/SK_TAS;
 
         // Calculate the measurement innovation
@@ -1662,9 +1683,9 @@ void AttPosEKF::FuseRangeFinder()
     float ptd = statesAtRngTime[22];
 
     // Need to check that our range finder tilt angle is less than 30 degrees and we are using range finder data
-    SH_RNG[4] = sin(rngFinderPitch);
+    SH_RNG[4] = sinf(rngFinderPitch);
     cosRngTilt = - Tbn.z.x * SH_RNG[4] + Tbn.z.z * cosf(rngFinderPitch);
-    if (useRangeFinder && cosRngTilt > 0.87f)
+    if (useRangeFinder && fuseRngData && cosRngTilt > 0.87f)
     {
         // Calculate observation jacobian and Kalman gain ignoring all states other than the terrain offset
         // This prevents the range finder measurement modifying any of the other filter states and significantly reduces computations
@@ -1685,10 +1706,12 @@ void AttPosEKF::FuseRangeFinder()
         SK_RNG[5] = SH_RNG[2];
         Kfusion[22] = SK_RNG[0]*(P[22][9]*SH_RNG[3] - P[22][22]*SH_RNG[3] + P[22][0]*SH_RNG[1]*SK_RNG[2]*SK_RNG[5] - P[22][1]*SH_RNG[1]*SK_RNG[1]*SK_RNG[5] - P[22][2]*SH_RNG[1]*SK_RNG[4]*SK_RNG[5] + P[22][3]*SH_RNG[1]*SK_RNG[3]*SK_RNG[5]);
 
+        // Calculate the innovation variance for data logging
+        varInnovRng = 1.0f/SK_RNG[0];
+
         // Calculate the measurement innovation
         rngPred = (ptd - pd)/cosRngTilt;
         innovRng = rngPred - rngMea;
-        //printf("mea=%5.1f, pred=%5.1f, pd=%5.1f, ptd=%5.2f\n", rngMea, rngPred, pd, ptd);
 
         // Check the innovation for consistency and don't fuse if > 5Sigma
         if ((innovRng*innovRng*SK_RNG[0]) < 25)
@@ -1704,6 +1727,293 @@ void AttPosEKF::FuseRangeFinder()
 
 }
 
+void AttPosEKF::FuseOptFlow()
+{
+    static uint8_t obsIndex;
+    static float SH_LOS[13];
+    static float SKK_LOS[15];
+    static float SK_LOS[2];
+    static float q0 = 0.0f;
+    static float q1 = 0.0f;
+    static float q2 = 0.0f;
+    static float q3 = 1.0f;
+    static float vn = 0.0f;
+    static float ve = 0.0f;
+    static float vd = 0.0f;
+    static float pd = 0.0f;
+    static float ptd = 0.0f;
+    static Vector3f delAng;
+    static float R_LOS = 0.01f;
+    static float losPred[2];
+
+    // Transformation matrix from nav to body axes
+    Mat3f Tnb;
+    // Transformation matrix from body to sensor axes
+    // assume camera is aligned with Z body axis plus a misalignment
+    // defined by 3 small angles about X, Y and Z body axis
+    Mat3f Tbs;
+    Tbs.x.y =  a3;
+    Tbs.y.x = -a3;
+    Tbs.x.z = -a2;
+    Tbs.z.x =  a2;
+    Tbs.y.z =  a1;
+    Tbs.z.y = -a1;
+    // Transformation matrix from navigation to sensor axes
+    Mat3f Tns;
+    float H_LOS[n_states];
+    for (uint8_t i = 0; i < n_states; i++) {
+        H_LOS[i] = 0.0f;
+    }
+    Vector3f velNED;
+    Vector3f relVelSensor;
+
+// Perform sequential fusion of optical flow measurements only when in the air and tilt is less than 30 deg.
+    if (useOpticalFlow && (fuseOptFlowData || obsIndex == 1) && !onGround && Tbs.z.z > 0.866f && rngMea > 5.0f && rngMea < 39.0f)
+    {
+        // Sequential fusion of XY components to spread processing load across
+        // two prediction time steps.
+
+        // Calculate observation jacobians and Kalman gains
+        if (fuseOptFlowData)
+        {
+            // Copy required states to local variable names
+            q0       = statesAtOptFlowTime[0];
+            q1       = statesAtOptFlowTime[1];
+            q2       = statesAtOptFlowTime[2];
+            q3       = statesAtOptFlowTime[3];
+            vn       = statesAtOptFlowTime[4];
+            ve       = statesAtOptFlowTime[5];
+            vd       = statesAtOptFlowTime[6];
+            pd       = statesAtOptFlowTime[9];
+            ptd      = statesAtOptFlowTime[22];
+            velNED.x = vn;
+            velNED.y = ve;
+            velNED.z = vd;
+
+            // calculate rotation from NED to body axes
+            float q00 = sq(q0);
+            float q11 = sq(q1);
+            float q22 = sq(q2);
+            float q33 = sq(q3);
+            float q01 = q0 * q1;
+            float q02 = q0 * q2;
+            float q03 = q0 * q3;
+            float q12 = q1 * q2;
+            float q13 = q1 * q3;
+            float q23 = q2 * q3;
+            Tnb.x.x = q00 + q11 - q22 - q33;
+            Tnb.y.y = q00 - q11 + q22 - q33;
+            Tnb.z.z = q00 - q11 - q22 + q33;
+            Tnb.y.x = 2*(q12 - q03);
+            Tnb.z.x = 2*(q13 + q02);
+            Tnb.x.y = 2*(q12 + q03);
+            Tnb.z.y = 2*(q23 - q01);
+            Tnb.x.z = 2*(q13 - q02);
+            Tnb.y.z = 2*(q23 + q01);
+
+            // calculate transformation from NED to sensor axes
+            Tns = Tbs*Tnb;
+
+            // calculate range from ground plain to centre of sensor fov assuming flat earth
+            float range = ConstrainFloat(((ptd - pd)/Tns.z.z),0.5f,100.0f);
+
+            // calculate relative velocity in sensor frame
+            relVelSensor = Tns*velNED;
+
+            // calculate delta angles in sensor axes
+            Vector3f delAngRel = Tbs*delAng;
+
+            // divide velocity by range  and include angular rate effects to get predicted angular LOS rates relative to X and Y axes
+            losPred[0] =  relVelSensor.y/range;
+            losPred[1] = -relVelSensor.x/range;
+
+            //printf("relVelSensor.x=%5.1f, relVelSensor.y=%5.1f\n", relVelSensor.x, relVelSensor.y);
+            //printf("Xpred=%5.2f, Xmea=%5.2f, Ypred=%5.2f, Ymea=%5.2f, delAng.x=%4.4f, delAng.y=%4.4f\n", losPred[0], losData[0], losPred[1], losData[1], delAng.x, delAng.y);
+            //printf("omegaX=%5.2f, omegaY=%5.2f, velY=%5.1f velX=%5.1f\n, range=%5.1f\n", delAngRel.x/dt, delAngRel.y/dt, relVelSensor.y, relVelSensor.x, range);
+
+            // Calculate observation jacobians
+            SH_LOS[0] = a1*(2*q0*q1 + 2*q2*q3) + a2*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3);
+            SH_LOS[1] = vd*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)) - ve*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)) + vn*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
+            SH_LOS[2] = ve*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)) - vd*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)) + vn*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
+            SH_LOS[3] = 1/(pd - ptd);
+            SH_LOS[4] = 2*q1 - 2*a2*q3 + 2*a3*q2;
+            SH_LOS[5] = 2*a2*q2 - 2*q0 + 2*a3*q3;
+            SH_LOS[6] = 2*q2 + 2*a2*q0 - 2*a3*q1;
+            SH_LOS[7] = 1/sq(pd - ptd);
+            SH_LOS[8] = 2*q2 + 2*a1*q3 - 2*a3*q1;
+            SH_LOS[9] = 2*q3 - 2*a1*q2 + 2*a3*q0;
+            SH_LOS[10] = 2*a1*q1 - 2*q0 + 2*a3*q3;
+            SH_LOS[11] = 2*q3 + 2*a2*q1 + 2*a3*q0;
+            SH_LOS[12] = 2*q1 + 2*a1*q0 + 2*a3*q2;
+
+            for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
+            H_LOS[0] = - SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
+            H_LOS[1] = - SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
+            H_LOS[2] = SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]) - SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3);
+            H_LOS[3] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
+            H_LOS[4] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
+            H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3));
+            H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3));
+            H_LOS[9] = SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
+            H_LOS[22] = -SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
+
+            // Calculate Kalman gain
+            SKK_LOS[0] = a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3);
+            SKK_LOS[1] = a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3);
+            SKK_LOS[2] = a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3);
+            SKK_LOS[3] = a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3);
+            SKK_LOS[4] = a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3);
+            SKK_LOS[5] = a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3);
+            SKK_LOS[6] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
+            SKK_LOS[7] = SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
+            SKK_LOS[8] = SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
+            SKK_LOS[9] = SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]);
+            SKK_LOS[10] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
+            SKK_LOS[11] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
+            SKK_LOS[12] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
+            SKK_LOS[13] = SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]);
+            SKK_LOS[14] = SH_LOS[0];
+
+            SK_LOS[0] = 1/(R_LOS + SKK_LOS[8]*(P[0][0]*SKK_LOS[8] + P[1][0]*SKK_LOS[7] + P[2][0]*SKK_LOS[9] - P[3][0]*SKK_LOS[6] - P[9][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][0]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][0]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[7]*(P[0][1]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] + P[2][1]*SKK_LOS[9] - P[3][1]*SKK_LOS[6] - P[9][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][1]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][1]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[9]*(P[0][2]*SKK_LOS[8] + P[1][2]*SKK_LOS[7] + P[2][2]*SKK_LOS[9] - P[3][2]*SKK_LOS[6] - P[9][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][2]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][2]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SKK_LOS[6]*(P[0][3]*SKK_LOS[8] + P[1][3]*SKK_LOS[7] + P[2][3]*SKK_LOS[9] - P[3][3]*SKK_LOS[6] - P[9][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][3]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][3]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[8] + P[1][9]*SKK_LOS[7] + P[2][9]*SKK_LOS[9] - P[3][9]*SKK_LOS[6] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][9]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][9]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[8] + P[1][22]*SKK_LOS[7] + P[2][22]*SKK_LOS[9] - P[3][22]*SKK_LOS[6] - P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][22]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][22]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14]*(P[0][4]*SKK_LOS[8] + P[1][4]*SKK_LOS[7] + P[2][4]*SKK_LOS[9] - P[3][4]*SKK_LOS[6] - P[9][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][4]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14]*(P[0][5]*SKK_LOS[8] + P[1][5]*SKK_LOS[7] + P[2][5]*SKK_LOS[9] - P[3][5]*SKK_LOS[6] - P[9][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]*(P[0][6]*SKK_LOS[8] + P[1][6]*SKK_LOS[7] + P[2][6]*SKK_LOS[9] - P[3][6]*SKK_LOS[6] - P[9][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]));
+            Kfusion[0] = -SK_LOS[0]*(P[0][0]*SKK_LOS[8] + P[0][1]*SKK_LOS[7] - P[0][3]*SKK_LOS[6] + P[0][2]*SKK_LOS[9] - P[0][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[0][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[0][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[1] = -SK_LOS[0]*(P[1][0]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] - P[1][3]*SKK_LOS[6] + P[1][2]*SKK_LOS[9] - P[1][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[1][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[1][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[2] = -SK_LOS[0]*(P[2][0]*SKK_LOS[8] + P[2][1]*SKK_LOS[7] - P[2][3]*SKK_LOS[6] + P[2][2]*SKK_LOS[9] - P[2][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[2][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[2][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[3] = -SK_LOS[0]*(P[3][0]*SKK_LOS[8] + P[3][1]*SKK_LOS[7] - P[3][3]*SKK_LOS[6] + P[3][2]*SKK_LOS[9] - P[3][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[3][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[3][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[4] = -SK_LOS[0]*(P[4][0]*SKK_LOS[8] + P[4][1]*SKK_LOS[7] - P[4][3]*SKK_LOS[6] + P[4][2]*SKK_LOS[9] - P[4][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[4][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[5] = -SK_LOS[0]*(P[5][0]*SKK_LOS[8] + P[5][1]*SKK_LOS[7] - P[5][3]*SKK_LOS[6] + P[5][2]*SKK_LOS[9] - P[5][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[6] = -SK_LOS[0]*(P[6][0]*SKK_LOS[8] + P[6][1]*SKK_LOS[7] - P[6][3]*SKK_LOS[6] + P[6][2]*SKK_LOS[9] - P[6][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[7] = -SK_LOS[0]*(P[7][0]*SKK_LOS[8] + P[7][1]*SKK_LOS[7] - P[7][3]*SKK_LOS[6] + P[7][2]*SKK_LOS[9] - P[7][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[7][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[7][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[8] = -SK_LOS[0]*(P[8][0]*SKK_LOS[8] + P[8][1]*SKK_LOS[7] - P[8][3]*SKK_LOS[6] + P[8][2]*SKK_LOS[9] - P[8][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[8][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[8][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[9] = -SK_LOS[0]*(P[9][0]*SKK_LOS[8] + P[9][1]*SKK_LOS[7] - P[9][3]*SKK_LOS[6] + P[9][2]*SKK_LOS[9] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[9][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[9][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[10] = -SK_LOS[0]*(P[10][0]*SKK_LOS[8] + P[10][1]*SKK_LOS[7] - P[10][3]*SKK_LOS[6] + P[10][2]*SKK_LOS[9] - P[10][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[10][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[10][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[11] = -SK_LOS[0]*(P[11][0]*SKK_LOS[8] + P[11][1]*SKK_LOS[7] - P[11][3]*SKK_LOS[6] + P[11][2]*SKK_LOS[9] - P[11][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[11][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[11][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[12] = -SK_LOS[0]*(P[12][0]*SKK_LOS[8] + P[12][1]*SKK_LOS[7] - P[12][3]*SKK_LOS[6] + P[12][2]*SKK_LOS[9] - P[12][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[12][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[12][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[13] = 0.0f;//-SK_LOS[0]*(P[13][0]*SKK_LOS[8] + P[13][1]*SKK_LOS[7] - P[13][3]*SKK_LOS[6] + P[13][2]*SKK_LOS[9] - P[13][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[13][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[13][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[14] = -SK_LOS[0]*(P[14][0]*SKK_LOS[8] + P[14][1]*SKK_LOS[7] - P[14][3]*SKK_LOS[6] + P[14][2]*SKK_LOS[9] - P[14][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[14][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[14][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[15] = -SK_LOS[0]*(P[15][0]*SKK_LOS[8] + P[15][1]*SKK_LOS[7] - P[15][3]*SKK_LOS[6] + P[15][2]*SKK_LOS[9] - P[15][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[15][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[15][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[16] = -SK_LOS[0]*(P[16][0]*SKK_LOS[8] + P[16][1]*SKK_LOS[7] - P[16][3]*SKK_LOS[6] + P[16][2]*SKK_LOS[9] - P[16][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[16][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[16][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[17] = -SK_LOS[0]*(P[17][0]*SKK_LOS[8] + P[17][1]*SKK_LOS[7] - P[17][3]*SKK_LOS[6] + P[17][2]*SKK_LOS[9] - P[17][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[17][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[17][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[18] = -SK_LOS[0]*(P[18][0]*SKK_LOS[8] + P[18][1]*SKK_LOS[7] - P[18][3]*SKK_LOS[6] + P[18][2]*SKK_LOS[9] - P[18][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[18][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[18][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[19] = -SK_LOS[0]*(P[19][0]*SKK_LOS[8] + P[19][1]*SKK_LOS[7] - P[19][3]*SKK_LOS[6] + P[19][2]*SKK_LOS[9] - P[19][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[19][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[19][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[20] = -SK_LOS[0]*(P[20][0]*SKK_LOS[8] + P[20][1]*SKK_LOS[7] - P[20][3]*SKK_LOS[6] + P[20][2]*SKK_LOS[9] - P[20][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[20][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[20][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[21] = -SK_LOS[0]*(P[21][0]*SKK_LOS[8] + P[21][1]*SKK_LOS[7] - P[21][3]*SKK_LOS[6] + P[21][2]*SKK_LOS[9] - P[21][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[21][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[21][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[22] = -SK_LOS[0]*(P[22][0]*SKK_LOS[8] + P[22][1]*SKK_LOS[7] - P[22][3]*SKK_LOS[6] + P[22][2]*SKK_LOS[9] - P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[22][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[22][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            varInnovOptFlow[0] = 1.0f/SK_LOS[0];
+            innovOptFlow[0] = losPred[0] - losData[0];
+
+            // reset the observation index to 0 (we start by fusing the X
+            // measurement)
+            obsIndex = 0;
+            fuseOptFlowData = false;
+        }
+        else if (obsIndex == 1) // we are now fusing the Y measurement
+        {
+            // Calculate observation jacobians
+            for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
+            H_LOS[0] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
+            H_LOS[1] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
+            H_LOS[2] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
+            H_LOS[3] = SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]) - SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1);
+            H_LOS[4] = SH_LOS[0]*SH_LOS[3]*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
+            H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3));
+            H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3));
+            H_LOS[9] = -SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
+            H_LOS[22] = SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
+
+            // Calculate Kalman gains
+            SK_LOS[1] = 1/(R_LOS + SKK_LOS[12]*(P[0][2]*SKK_LOS[10] + P[1][2]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[3][2]*SKK_LOS[13] - P[9][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][2]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][2]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SKK_LOS[13]*(P[0][3]*SKK_LOS[10] + P[1][3]*SKK_LOS[11] + P[2][3]*SKK_LOS[12] - P[3][3]*SKK_LOS[13] - P[9][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][3]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][3]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[10]*(P[0][0]*SKK_LOS[10] + P[1][0]*SKK_LOS[11] + P[2][0]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][0]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][0]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][0]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[11]*(P[0][1]*SKK_LOS[10] + P[1][1]*SKK_LOS[11] + P[2][1]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][1]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][1]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][1]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[10] + P[1][9]*SKK_LOS[11] + P[2][9]*SKK_LOS[12] - P[3][9]*SKK_LOS[13] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][9]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][9]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[10] + P[1][22]*SKK_LOS[11] + P[2][22]*SKK_LOS[12] - P[3][22]*SKK_LOS[13] - P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][22]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][22]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14]*(P[0][4]*SKK_LOS[10] + P[1][4]*SKK_LOS[11] + P[2][4]*SKK_LOS[12] - P[3][4]*SKK_LOS[13] - P[9][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][4]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]*(P[0][5]*SKK_LOS[10] + P[1][5]*SKK_LOS[11] + P[2][5]*SKK_LOS[12] - P[3][5]*SKK_LOS[13] - P[9][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]*(P[0][6]*SKK_LOS[10] + P[1][6]*SKK_LOS[11] + P[2][6]*SKK_LOS[12] - P[3][6]*SKK_LOS[13] - P[9][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]));
+            Kfusion[0] = SK_LOS[1]*(P[0][0]*SKK_LOS[10] - P[0][3]*SKK_LOS[13] + P[0][1]*SKK_LOS[11] + P[0][2]*SKK_LOS[12] - P[0][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[0][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[1] = SK_LOS[1]*(P[1][0]*SKK_LOS[10] - P[1][3]*SKK_LOS[13] + P[1][1]*SKK_LOS[11] + P[1][2]*SKK_LOS[12] - P[1][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[1][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[2] = SK_LOS[1]*(P[2][0]*SKK_LOS[10] - P[2][3]*SKK_LOS[13] + P[2][1]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[2][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[2][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[3] = SK_LOS[1]*(P[3][0]*SKK_LOS[10] - P[3][3]*SKK_LOS[13] + P[3][1]*SKK_LOS[11] + P[3][2]*SKK_LOS[12] - P[3][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[3][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[4] = SK_LOS[1]*(P[4][0]*SKK_LOS[10] - P[4][3]*SKK_LOS[13] + P[4][1]*SKK_LOS[11] + P[4][2]*SKK_LOS[12] - P[4][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[4][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[5] = SK_LOS[1]*(P[5][0]*SKK_LOS[10] - P[5][3]*SKK_LOS[13] + P[5][1]*SKK_LOS[11] + P[5][2]*SKK_LOS[12] - P[5][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[6] = SK_LOS[1]*(P[6][0]*SKK_LOS[10] - P[6][3]*SKK_LOS[13] + P[6][1]*SKK_LOS[11] + P[6][2]*SKK_LOS[12] - P[6][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[7] = SK_LOS[1]*(P[7][0]*SKK_LOS[10] - P[7][3]*SKK_LOS[13] + P[7][1]*SKK_LOS[11] + P[7][2]*SKK_LOS[12] - P[7][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[7][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[8] = SK_LOS[1]*(P[8][0]*SKK_LOS[10] - P[8][3]*SKK_LOS[13] + P[8][1]*SKK_LOS[11] + P[8][2]*SKK_LOS[12] - P[8][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[8][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[9] = SK_LOS[1]*(P[9][0]*SKK_LOS[10] - P[9][3]*SKK_LOS[13] + P[9][1]*SKK_LOS[11] + P[9][2]*SKK_LOS[12] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[9][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[10] = SK_LOS[1]*(P[10][0]*SKK_LOS[10] - P[10][3]*SKK_LOS[13] + P[10][1]*SKK_LOS[11] + P[10][2]*SKK_LOS[12] - P[10][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[10][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[11] = SK_LOS[1]*(P[11][0]*SKK_LOS[10] - P[11][3]*SKK_LOS[13] + P[11][1]*SKK_LOS[11] + P[11][2]*SKK_LOS[12] - P[11][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[11][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[12] = SK_LOS[1]*(P[12][0]*SKK_LOS[10] - P[12][3]*SKK_LOS[13] + P[12][1]*SKK_LOS[11] + P[12][2]*SKK_LOS[12] - P[12][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[12][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[13] = 0.0f;//SK_LOS[1]*(P[13][0]*SKK_LOS[10] - P[13][3]*SKK_LOS[13] + P[13][1]*SKK_LOS[11] + P[13][2]*SKK_LOS[12] - P[13][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[13][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[14] = SK_LOS[1]*(P[14][0]*SKK_LOS[10] - P[14][3]*SKK_LOS[13] + P[14][1]*SKK_LOS[11] + P[14][2]*SKK_LOS[12] - P[14][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[14][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[15] = SK_LOS[1]*(P[15][0]*SKK_LOS[10] - P[15][3]*SKK_LOS[13] + P[15][1]*SKK_LOS[11] + P[15][2]*SKK_LOS[12] - P[15][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[15][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[16] = SK_LOS[1]*(P[16][0]*SKK_LOS[10] - P[16][3]*SKK_LOS[13] + P[16][1]*SKK_LOS[11] + P[16][2]*SKK_LOS[12] - P[16][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[16][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[17] = SK_LOS[1]*(P[17][0]*SKK_LOS[10] - P[17][3]*SKK_LOS[13] + P[17][1]*SKK_LOS[11] + P[17][2]*SKK_LOS[12] - P[17][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[17][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[18] = SK_LOS[1]*(P[18][0]*SKK_LOS[10] - P[18][3]*SKK_LOS[13] + P[18][1]*SKK_LOS[11] + P[18][2]*SKK_LOS[12] - P[18][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[18][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[19] = SK_LOS[1]*(P[19][0]*SKK_LOS[10] - P[19][3]*SKK_LOS[13] + P[19][1]*SKK_LOS[11] + P[19][2]*SKK_LOS[12] - P[19][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[19][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[20] = SK_LOS[1]*(P[20][0]*SKK_LOS[10] - P[20][3]*SKK_LOS[13] + P[20][1]*SKK_LOS[11] + P[20][2]*SKK_LOS[12] - P[20][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[20][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[21] = SK_LOS[1]*(P[21][0]*SKK_LOS[10] - P[21][3]*SKK_LOS[13] + P[21][1]*SKK_LOS[11] + P[21][2]*SKK_LOS[12] - P[21][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[21][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[22] = SK_LOS[1]*(P[22][0]*SKK_LOS[10] - P[22][3]*SKK_LOS[13] + P[22][1]*SKK_LOS[11] + P[22][2]*SKK_LOS[12] - P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[22][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            varInnovOptFlow[1] = 1.0f/SK_LOS[1];
+            innovOptFlow[1] = losPred[1] - losData[1];
+        }
+
+        // Check the innovation for consistency and don't fuse if > 3Sigma
+        if ((innovOptFlow[obsIndex]*innovOptFlow[obsIndex]/varInnovOptFlow[obsIndex]) < 9.0f)
+        {
+            // correct the state vector
+            for (uint8_t j = 0; j < n_states; j++)
+            {
+                states[j] = states[j] - Kfusion[j] * innovOptFlow[obsIndex];
+            }
+            // normalise the quaternion states
+            float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+            if (quatMag > 1e-12)
+            {
+                for (uint8_t j= 0; j<=3; j++)
+                {
+                    float quatMagInv = 1.0f/quatMag;
+                    states[j] = states[j] * quatMagInv;
+                }
+            }
+            // correct the covariance P = (I - K*H)*P
+            // take advantage of the empty columns in KH to reduce the
+            // number of operations
+            for (uint8_t i = 0; i < n_states; i++)
+            {
+                for (uint8_t j = 0; j <= 6; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_LOS[j];
+                }
+                for (uint8_t j = 7; j <= 8; j++)
+                {
+                    KH[i][j] = 0.0f;
+                }
+                KH[i][9] = Kfusion[i] * H_LOS[9];
+                for (uint8_t j = 10; j <= 21; j++)
+                {
+                    KH[i][j] = 0.0f;
+                }
+                KH[i][22] = Kfusion[i] * H_LOS[22];
+            }
+            for (uint8_t i = 0; i < n_states; i++)
+            {
+                for (uint8_t j = 0; j < n_states; j++)
+                {
+                    KHP[i][j] = 0.0f;
+                    for (uint8_t k = 0; k <= 6; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                    KHP[i][j] = KHP[i][j] + KH[i][9] * P[9][j];
+                    KHP[i][j] = KHP[i][j] + KH[i][22] * P[2][j];
+                }
+            }
+        }
+        for (uint8_t i = 0; i <  n_states; i++)
+        {
+            for (uint8_t j = 0; j <  n_states; j++)
+            {
+                P[i][j] = P[i][j] - KHP[i][j];
+            }
+        }
+    }
+    obsIndex = obsIndex + 1;
+    ForceSymmetry();
+    ConstrainVariances();
+}
+
 void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
 {
     uint8_t row;
@@ -1904,6 +2214,24 @@ void AttPosEKF::OnGroundCheck()
     if (staticMode) {
         staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
     }
+    // don't update wind states if there is no airspeed measurement
+    if (onGround || !useAirspeed) {
+        inhibitWindStates = true;
+    } else {
+        inhibitWindStates =false;
+    }
+    // don't update magnetic field states if on ground or not using compass
+    if (onGround || !useCompass) {
+        inhibitMagStates = true;
+    } else {
+        inhibitMagStates = false;
+    }
+    // don't update terrain offset state if on ground
+    if (onGround) {
+        inhibitGndHgtState = true;
+    } else {
+        inhibitGndHgtState = false;
+    }
 }
 
 void AttPosEKF::calcEarthRateNED(Vector3f &omega, float latitude)
@@ -1931,8 +2259,8 @@ void AttPosEKF::CovarianceInit()
     P[11][11] = P[10][10];
     P[12][12] = P[10][10];
     P[13][13] = sq(0.2f*dtIMU);
-    P[14][14] = sq(8.0f);
-    P[15][14]  = P[14][14];
+    P[14][14] = sq(0.0f);
+    P[15][15]  = P[14][14];
     P[16][16] = sq(0.02f);
     P[17][17] = P[16][16];
     P[18][18] = P[16][16];
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
index dc461cfa1..3110266ce 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -29,6 +29,10 @@ public:
     float covDelAngMax; // maximum delta angle between covariance predictions
     float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
 
+    float a1; // optical flow sensor misalgnment angle about X axis (rad)
+    float a2; // optical flow sensor misalgnment angle about Y axis (rad)
+    float a3; // optical flow sensor misalgnment angle about Z axis (rad)
+
     float yawVarScale;
     float windVelSigma;
     float dAngBiasSigma;
@@ -55,6 +59,9 @@ public:
         covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
         rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
         EAS2TAS = 1.0f;
+        a1 = 0.0f; // optical flow sensor misalgnment angle about X axis (rad)
+        a2 = 0.0f; // optical flow sensor misalgnment angle about Y axis (rad)
+        a3 = 0.0f; // optical flow sensor misalgnment angle about Z axis (rad)
 
         yawVarScale = 1.0f;
         windVelSigma = 0.1f;
@@ -115,6 +122,7 @@ public:
     float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
     float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
     float statesAtRngTime[n_states]; // filter states at the effective measurement time
+    float statesAtOptFlowTime[n_states]; // States at the effective optical flow measurement time
 
     Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
     Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
@@ -147,9 +155,13 @@ public:
     float innovMag[3]; // innovation output
     float varInnovMag[3]; // innovation variance output
     Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
+    float losData[2]; // optical flow LOS rate measurements (rad/sec)
     float innovVtas; // innovation output
     float innovRng; ///< Range finder innovation
+    float innovOptFlow[2]; // optical flow LOS innovations (rad/sec)
+    float varInnovOptFlow[2]; // optical flow innovations variances (rad/sec)^2
     float varInnovVtas; // innovation variance output
+    float varInnovRng; // range finder innovation variance
     float VtasMeas; // true airspeed measurement (m/s)
     float magDeclination;       ///< magnetic declination
     double latRef; // WGS-84 latitude of reference point (rad)
@@ -178,12 +190,18 @@ public:
     bool fuseMagData; // boolean true when magnetometer data is to be fused
     bool fuseVtasData; // boolean true when airspeed data is to be fused
     bool fuseRngData;   ///< true when range data is fused
+    bool fuseOptFlowData; // true when optical flow data is fused
+
+    bool inhibitWindStates; // true when wind states and covariances are to remain constant
+    bool inhibitMagStates;  // true when magnetic field states and covariances are to remain constant
+    bool inhibitGndHgtState; // true when the terrain ground height offset state and covariances are to remain constant
 
     bool onGround;    ///< boolean true when the flight vehicle is on the ground (not flying)
     bool staticMode;    ///< boolean true if no position feedback is fused
     bool useAirspeed;    ///< boolean true if airspeed data is being used
     bool useCompass;    ///< boolean true if magnetometer data is being used
     bool useRangeFinder;     ///< true when rangefinder is being used
+    bool useOpticalFlow; // true when optical flow data is being used
 
     bool ekfDiverged;
     uint64_t lastReset;
@@ -208,7 +226,7 @@ void FuseAirspeed();
 
 void FuseRangeFinder();
 
-void FuseOpticalFlow();
+void FuseOptFlow();
 
 void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
 
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
index b4767a0d3..24168b84c 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
@@ -101,6 +101,25 @@ Vector3f operator*( Mat3f matIn, Vector3f vecIn)
     return vecOut;
 }
 
+// overload * operator to provide a matrix product
+Mat3f operator*( Mat3f matIn1, Mat3f matIn2)
+{
+    Mat3f matOut;
+    matOut.x.x = matIn1.x.x*matIn2.x.x + matIn1.x.y*matIn2.y.x + matIn1.x.z*matIn2.z.x;
+    matOut.x.y = matIn1.x.x*matIn2.x.y + matIn1.x.y*matIn2.y.y + matIn1.x.z*matIn2.z.y;
+    matOut.x.z = matIn1.x.x*matIn2.x.z + matIn1.x.y*matIn2.y.z + matIn1.x.z*matIn2.z.z;
+
+    matOut.y.x = matIn1.y.x*matIn2.x.x + matIn1.y.y*matIn2.y.x + matIn1.y.z*matIn2.z.x;
+    matOut.y.y = matIn1.y.x*matIn2.x.y + matIn1.y.y*matIn2.y.y + matIn1.y.z*matIn2.z.y;
+    matOut.y.z = matIn1.y.x*matIn2.x.z + matIn1.y.y*matIn2.y.z + matIn1.y.z*matIn2.z.z;
+
+    matOut.z.x = matIn1.z.x*matIn2.x.x + matIn1.z.y*matIn2.y.x + matIn1.z.z*matIn2.z.x;
+    matOut.z.y = matIn1.z.x*matIn2.x.y + matIn1.z.y*matIn2.y.y + matIn1.z.z*matIn2.z.y;
+    matOut.z.z = matIn1.z.x*matIn2.x.z + matIn1.z.y*matIn2.y.z + matIn1.z.z*matIn2.z.z;
+
+    return matOut;
+}
+
 // overload % operator to provide a vector cross product
 Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
 {
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
index d47568b62..5648cb05c 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
@@ -41,6 +41,7 @@ Vector3f operator*(float sclIn1, Vector3f vecIn1);
 Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
 Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
 Vector3f operator*( Mat3f matIn, Vector3f vecIn);
+Mat3f operator*( Mat3f matIn1, Mat3f matIn2);
 Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
 Vector3f operator*(Vector3f vecIn1, float sclIn1);
 
@@ -79,4 +80,4 @@ struct ekf_status_report {
     bool velOffsetExcessive;
 };
 
-void ekf_debug(const char *fmt, ...);
\ No newline at end of file
+void ekf_debug(const char *fmt, ...);
-- 
cgit v1.2.3


From 0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 29 Jun 2014 14:09:22 +0200
Subject: navigator: API changes, reparing to move manual modes to navigator,
 WIP

---
 src/modules/navigator/loiter.cpp         | 21 ++++++++-----
 src/modules/navigator/loiter.h           |  4 +--
 src/modules/navigator/mission.cpp        | 42 ++++++++++++-------------
 src/modules/navigator/mission.h          |  6 ++--
 src/modules/navigator/mission_block.cpp  | 53 +++++++++++++++-----------------
 src/modules/navigator/mission_block.h    |  4 +--
 src/modules/navigator/navigator.h        |  4 ++-
 src/modules/navigator/navigator_main.cpp | 11 ++++---
 src/modules/navigator/navigator_mode.cpp | 19 ++++++------
 src/modules/navigator/navigator_mode.h   |  9 ++----
 10 files changed, 87 insertions(+), 86 deletions(-)

diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 5e7067b0e..f827e70c9 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -36,6 +36,7 @@
  * Helper class to loiter
  *
  * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <string.h>
@@ -51,14 +52,13 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 
 #include "loiter.h"
+#include "navigator.h"
 
 Loiter::Loiter(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name)
 {
 	/* load initial params */
 	updateParams();
-	/* initial reset */
-	on_inactive();
 }
 
 Loiter::~Loiter()
@@ -71,16 +71,23 @@ Loiter::on_inactive()
 }
 
 void
-Loiter::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
+Loiter::on_activation()
 {
-	set_loiter_item(pos_sp_triplet);
+	/* set current mission item to loiter */
+	set_loiter_item(&_mission_item);
+
+	/* convert mission item to current setpoint */
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 	pos_sp_triplet->previous.valid = false;
 	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
 	pos_sp_triplet->next.valid = false;
+
+	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
+
+	_navigator->set_position_setpoint_triplet_updated();
 }
 
-bool
-Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+Loiter::on_active()
 {
-	return false;
 }
diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h
index 5ce86d2a7..37ab57a07 100644
--- a/src/modules/navigator/loiter.h
+++ b/src/modules/navigator/loiter.h
@@ -56,9 +56,9 @@ public:
 
 	virtual void on_inactive();
 
-	virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_activation();
 
-	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_active();
 };
 
 #endif
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index ab99a6b7e..1e86b1b6c 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -54,8 +54,8 @@
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
 
-#include "navigator.h"
 #include "mission.h"
+#include "navigator.h"
 
 Mission::Mission(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
@@ -97,16 +97,14 @@ Mission::on_inactive()
 }
 
 void
-Mission::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
+Mission::on_activation()
 {
-	set_mission_items(pos_sp_triplet);
+	set_mission_items();
 }
 
-bool
-Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+Mission::on_active()
 {
-	bool updated = false;
-
 	/* check if anything has changed */
 	bool onboard_updated;
 	orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -122,18 +120,18 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 
 	/* reset mission items if needed */
 	if (onboard_updated || offboard_updated) {
-		set_mission_items(pos_sp_triplet);
-		updated = true;
+		set_mission_items();
+
+		_navigator->set_position_setpoint_triplet_updated();
 	}
 
 	/* lets check if we reached the current mission item */
 	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
 		advance_mission();
-		set_mission_items(pos_sp_triplet);
-		updated = true;
-	}
+		set_mission_items();
 
-	return updated;
+		_navigator->set_position_setpoint_triplet_updated();
+	}
 }
 
 void
@@ -223,8 +221,10 @@ Mission::advance_mission()
 }
 
 void
-Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
+Mission::set_mission_items()
 {
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
 	set_previous_pos_setpoint(pos_sp_triplet);
 
 	/* try setting onboard mission item */
@@ -235,7 +235,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
 					"#audio: onboard mission running");
 		}
 		_mission_type = MISSION_TYPE_ONBOARD;
-		_navigator->set_can_loiter_at_sp(false);
+		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
 
 	/* try setting offboard mission item */
 	} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
@@ -245,7 +245,8 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
 					"#audio: offboard mission running");
 		}
 		_mission_type = MISSION_TYPE_OFFBOARD;
-		_navigator->set_can_loiter_at_sp(false);
+		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
+
 	} else {
 		if (_mission_type != MISSION_TYPE_NONE) {
 			mavlink_log_info(_navigator->get_mavlink_fd(),
@@ -255,12 +256,15 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
 					"#audio: no mission available");
 		}
 		_mission_type = MISSION_TYPE_NONE;
+
 		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
 
-		set_loiter_item(pos_sp_triplet);
+		set_loiter_item(&_mission_item);
+
 		pos_sp_triplet->previous.valid = false;
 		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
 		pos_sp_triplet->next.valid = false;
+
 		reset_mission_item_reached();
 		report_mission_finished();
 	}
@@ -279,7 +283,6 @@ Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current
 					&new_mission_item)) {
 			/* convert the current mission item and set it valid */
 			mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
-			current_pos_sp->valid = true;
 
 			reset_mission_item_reached();
 
@@ -306,7 +309,6 @@ Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *curren
 		if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) {
 			/* convert the current mission item and set it valid */
 			mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
-			current_pos_sp->valid = true;
 
 			reset_mission_item_reached();
 
@@ -330,7 +332,6 @@ Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp)
 		if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) {
 			/* convert next mission item to position setpoint */
 			mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
-			next_pos_sp->valid = true;
 			return;
 		}
 	}
@@ -358,7 +359,6 @@ Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp)
 		if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) {
 			/* convert next mission item to position setpoint */
 			mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
-			next_pos_sp->valid = true;
 			return;
 		}
 	}
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 38a4f7612..ac293990f 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -71,9 +71,9 @@ public:
 
 	virtual void on_inactive();
 
-	virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_activation();
 
-	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_active();
 
 private:
 	/**
@@ -94,7 +94,7 @@ private:
 	/**
 	 * Set new mission items
 	 */
-	void set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet);
+	void set_mission_items();
 
 	/**
 	 * Try to set the current position setpoint from an onboard mission item
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index acf3ad569..bf3c934a6 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -58,8 +58,7 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
 	_waypoint_position_reached(false),
 	_waypoint_yaw_reached(false),
 	_time_first_inside_orbit(0),
-	_mission_item({0}),
-	_mission_item_valid(false)
+	_mission_item({0})
 {
 }
 
@@ -70,6 +69,10 @@ MissionBlock::~MissionBlock()
 bool
 MissionBlock::is_mission_item_reached()
 {
+	if (_mission_item.nav_cmd == NAV_CMD_IDLE) {
+		return false;
+	}
+
 	if (_mission_item.nav_cmd == NAV_CMD_LAND) {
 		return _navigator->get_vstatus()->condition_landed;
 	}
@@ -83,7 +86,6 @@ MissionBlock::is_mission_item_reached()
 	hrt_abstime now = hrt_absolute_time();
 
 	if (!_waypoint_position_reached) {
-
 		float dist = -1.0f;
 		float dist_xy = -1.0f;
 		float dist_z = -1.0f;
@@ -209,43 +211,38 @@ MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_
 }
 
 void
-MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet)
+MissionBlock::set_loiter_item(struct mission_item_s *item)
 {
 	if (_navigator->get_vstatus()->condition_landed) {
 		/* landed, don't takeoff, but switch to IDLE mode */
-		_mission_item.nav_cmd = NAV_CMD_IDLE;
-
-		_navigator->set_can_loiter_at_sp(false);
-
-		mavlink_log_info(_navigator->get_mavlink_fd(), "landed, switch to IDLE");
+		item->nav_cmd = NAV_CMD_IDLE;
 
 	} else {
-		_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+		item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+
+		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
 		if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) {
 			/* use current position setpoint */
-			_mission_item.lat = pos_sp_triplet->current.lat;
-			_mission_item.lon = pos_sp_triplet->current.lon;
-			_mission_item.altitude = pos_sp_triplet->current.alt;
+			item->lat = pos_sp_triplet->current.lat;
+			item->lon = pos_sp_triplet->current.lon;
+			item->altitude = pos_sp_triplet->current.alt;
 
 		} else {
 			/* use current position */
-			_mission_item.lat = _navigator->get_global_position()->lat;
-			_mission_item.lon = _navigator->get_global_position()->lon;
-			_mission_item.altitude = _navigator->get_global_position()->alt;
+			item->lat = _navigator->get_global_position()->lat;
+			item->lon = _navigator->get_global_position()->lon;
+			item->altitude = _navigator->get_global_position()->alt;
 		}
 
-		_mission_item.altitude_is_relative = false;
-		_mission_item.yaw = NAN;
-		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
-		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
-		_mission_item.time_inside = 0.0f;
-		_mission_item.pitch_min = 0.0f;
-		_mission_item.autocontinue = false;
-		_mission_item.origin = ORIGIN_ONBOARD;
-
-		_navigator->set_can_loiter_at_sp(true);
-		mavlink_log_info(_navigator->get_mavlink_fd(), "switch to LOITER");
+		item->altitude_is_relative = false;
+		item->yaw = NAN;
+		item->loiter_radius = _navigator->get_loiter_radius();
+		item->loiter_direction = 1;
+		item->acceptance_radius = _navigator->get_acceptance_radius();
+		item->time_inside = 0.0f;
+		item->pitch_min = 0.0f;
+		item->autocontinue = false;
+		item->origin = ORIGIN_ONBOARD;
 	}
 }
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
index 4f79238f4..22f42cc31 100644
--- a/src/modules/navigator/mission_block.h
+++ b/src/modules/navigator/mission_block.h
@@ -91,11 +91,9 @@ protected:
 	/**
 	 * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
 	 */
-	// TODO remove argument, get position setpoint from navigator, add to arguments pointer to mission item instead
-	void set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet);
+	void set_loiter_item(struct mission_item_s *item);
 
 	mission_item_s _mission_item;
-	bool _mission_item_valid;
 	bool _waypoint_position_reached;
 	bool _waypoint_yaw_reached;
 	hrt_abstime _time_first_inside_orbit;
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 184ecd365..5dcd8859e 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -103,6 +103,7 @@ public:
 	 * Setters
 	 */
 	void		set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
+	void		set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; }
 
 	/**
 	 * Getters
@@ -110,6 +111,7 @@ public:
 	struct vehicle_status_s*	    get_vstatus() { return &_vstatus; }
 	struct vehicle_global_position_s*   get_global_position() { return &_global_pos; }
 	struct home_position_s*		    get_home_position() { return &_home_pos; }
+	struct position_setpoint_triplet_s*		    get_position_setpoint_triplet() { return &_pos_sp_triplet; }
 	int		get_onboard_mission_sub() { return _onboard_mission_sub; }
 	int		get_offboard_mission_sub() { return _offboard_mission_sub; }
 	Geofence&	get_geofence() { return _geofence; }
@@ -162,7 +164,7 @@ private:
 	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
 
 	bool		_can_loiter_at_sp;			/**< flags if current position SP can be used to loiter */
-	bool		_update_triplet;		/**< flags if position SP triplet needs to be published */
+	bool		_pos_sp_triplet_updated;		/**< flags if position SP triplet needs to be published */
 
 	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */
 	control::BlockParamFloat _param_acceptance_radius;	/**< acceptance for takeoff */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 266114e38..bb48db829 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -121,7 +121,7 @@ Navigator::Navigator() :
 	_mission(this, "MIS"),
 	_loiter(this, "LOI"),
 	_rtl(this, "RTL"),
-	_update_triplet(false),
+	_pos_sp_triplet_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_param_acceptance_radius(this, "ACC_RAD")
 {
@@ -371,20 +371,21 @@ Navigator::task_main()
 
 		/* iterate through navigation modes and set active/inactive for each */
 		for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
-			_update_triplet = _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i], &_pos_sp_triplet);
+			_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
 		}
 
 		/* if nothing is running, set position setpoint triplet invalid */
 		if (_navigation_mode == nullptr) {
+			// TODO publish empty sp only once
 			_pos_sp_triplet.previous.valid = false;
 			_pos_sp_triplet.current.valid = false;
 			_pos_sp_triplet.next.valid = false;
-			_update_triplet = true;
+			_pos_sp_triplet_updated = true;
 		}
 
-		if (_update_triplet) {
+		if (_pos_sp_triplet_updated) {
 			publish_position_setpoint_triplet();
-			_update_triplet = false;
+			_pos_sp_triplet_updated = false;
 		}
 
 		perf_end(_loop_perf);
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp
index 6361ea9c8..f43215665 100644
--- a/src/modules/navigator/navigator_mode.cpp
+++ b/src/modules/navigator/navigator_mode.cpp
@@ -40,6 +40,7 @@
  */
 
 #include "navigator_mode.h"
+#include "navigator.h"
 
 NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
 	SuperBlock(NULL, name),
@@ -56,18 +57,17 @@ NavigatorMode::~NavigatorMode()
 {
 }
 
-bool
-NavigatorMode::run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet) {
+void
+NavigatorMode::run(bool active) {
 	if (active) {
 		if (_first_run) {
 			/* first run */
 			_first_run = false;
-			on_activation(pos_sp_triplet);
-			return true;
+			on_activation();
 
 		} else {
 			/* periodic updates when active */
-			on_active(pos_sp_triplet);
+			on_active();
 		}
 
 	} else {
@@ -83,14 +83,13 @@ NavigatorMode::on_inactive()
 }
 
 void
-NavigatorMode::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
+NavigatorMode::on_activation()
 {
 	/* invalidate position setpoint by default */
-	pos_sp_triplet->current.valid = false;
+	_navigator->get_position_setpoint_triplet()->current.valid = false;
 }
 
-bool
-NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+NavigatorMode::on_active()
 {
-	return false;
 }
diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h
index 5c36af1fe..a7ba79bba 100644
--- a/src/modules/navigator/navigator_mode.h
+++ b/src/modules/navigator/navigator_mode.h
@@ -66,7 +66,7 @@ public:
 	 */
 	virtual ~NavigatorMode();
 
-	bool run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet);
+	void run(bool active);
 
 	/**
 	 * This function is called while the mode is inactive
@@ -76,15 +76,12 @@ public:
 	/**
 	 * This function is called one time when mode become active, poos_sp_triplet must be initialized here
 	 */
-	virtual void on_activation(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_activation();
 
 	/**
 	 * This function is called while the mode is active
-	 *
-	 * @param position setpoint triplet to set
-	 * @return true if position setpoint triplet has been changed
 	 */
-	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_active();
 
 protected:
 	Navigator *_navigator;
-- 
cgit v1.2.3


From adf230ce4efe30087e751f143dab1df33a7d3b70 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 29 Jun 2014 15:35:34 +0200
Subject: navigator: more API changes, duplicate code removed

---
 src/modules/navigator/mission.cpp       | 166 ++++++++++++++------------------
 src/modules/navigator/mission.h         |  10 +-
 src/modules/navigator/mission_block.cpp |   5 +-
 src/modules/navigator/mission_block.h   |   2 +-
 src/modules/navigator/rtl.cpp           |  25 ++---
 src/modules/navigator/rtl.h             |   6 +-
 6 files changed, 95 insertions(+), 119 deletions(-)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 1e86b1b6c..fbfd1259d 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -225,29 +225,27 @@ Mission::set_mission_items()
 {
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
-	set_previous_pos_setpoint(pos_sp_triplet);
+	/* set previous position setpoint to current */
+	set_previous_pos_setpoint();
 
 	/* try setting onboard mission item */
-	if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) {
+	if (set_mission_item(true, false, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_ONBOARD) {
-			mavlink_log_info(_navigator->get_mavlink_fd(),
-					"#audio: onboard mission running");
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running");
 		}
 		_mission_type = MISSION_TYPE_ONBOARD;
-		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
 
 	/* try setting offboard mission item */
-	} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
+	} else if (set_mission_item(false, false, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_OFFBOARD) {
-			mavlink_log_info(_navigator->get_mavlink_fd(),
-					"#audio: offboard mission running");
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
 		}
 		_mission_type = MISSION_TYPE_OFFBOARD;
-		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
 
 	} else {
+		/* no mission available, switch to loiter */
 		if (_mission_type != MISSION_TYPE_NONE) {
 			mavlink_log_info(_navigator->get_mavlink_fd(),
 					"#audio: mission finished");
@@ -257,126 +255,108 @@ Mission::set_mission_items()
 		}
 		_mission_type = MISSION_TYPE_NONE;
 
-		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
-
+		/* set loiter mission item */
 		set_loiter_item(&_mission_item);
 
+		/* update position setpoint triplet  */
 		pos_sp_triplet->previous.valid = false;
 		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
 		pos_sp_triplet->next.valid = false;
 
+		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
+
 		reset_mission_item_reached();
 		report_mission_finished();
+
+		_navigator->set_position_setpoint_triplet_updated();
+		return;
 	}
-}
 
-bool
-Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
-{
-	/* make sure param is up to date */
-	updateParams();
-	if (_param_onboard_enabled.get() > 0 &&
-	    _current_onboard_mission_index >= 0&&
-	    _current_onboard_mission_index < (int)_onboard_mission.count) {
-		struct mission_item_s new_mission_item;
-		if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, true, &_current_onboard_mission_index,
-					&new_mission_item)) {
-			/* convert the current mission item and set it valid */
-			mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
+	/* new current mission item set */
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	_navigator->set_can_loiter_at_sp(false);
+	reset_mission_item_reached();
+
+	if (_mission_type == MISSION_TYPE_OFFBOARD) {
+		report_current_offboard_mission_item();
+	}
+	// TODO: report onboard mission item somehow
 
-			reset_mission_item_reached();
+	/* try to read next mission item */
+	struct mission_item_s mission_item_next;
+	if (!set_mission_item(_mission_type == MISSION_TYPE_ONBOARD, true, &mission_item_next)) {
+		/* got next mission item, update setpoint triplet */
+		mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
 
-			/* TODO: report this somehow */
-			memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s));
-			return true;
-		}
+	} else {
+		/* next mission item is not available */
+		pos_sp_triplet->next.valid = false;
 	}
-	return false;
+
+	_navigator->set_position_setpoint_triplet_updated();
 }
 
 bool
-Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
+Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item)
 {
-	if (_current_offboard_mission_index >= 0 &&
-	    _current_offboard_mission_index < (int)_offboard_mission.count) {
-		dm_item_t dm_current;
-		if (_offboard_mission.dataman_id == 0) {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
-		} else {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
-		}
-		struct mission_item_s new_mission_item;
-		if (read_mission_item(dm_current, true, &_current_offboard_mission_index, &new_mission_item)) {
-			/* convert the current mission item and set it valid */
-			mission_item_to_position_setpoint(&new_mission_item, current_pos_sp);
+	/* make sure param is up to date */
+	updateParams();
 
-			reset_mission_item_reached();
+	/* select onboard/offboard mission */
+	int *mission_index_ptr;
+	struct mission_s *mission;
+	dm_item_t dm_item;
+	int mission_index_next;
 
-			report_current_offboard_mission_item();
-			memcpy(&_mission_item, &new_mission_item, sizeof(struct mission_item_s));
-			return true;
+	if (onboard) {
+		/* onboard mission */
+		if (!_param_onboard_enabled.get()) {
+			return false;
 		}
-	}
-	return false;
-}
 
-void
-Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp)
-{
-	int next_temp_mission_index = _onboard_mission.current_index + 1;
+		mission_index_next = _current_onboard_mission_index + 1;
+		mission_index_ptr = next_item ? &mission_index_next : &_current_onboard_mission_index;
 
-	/* try if there is a next onboard mission */
-	if (_onboard_mission.current_index >= 0 &&
-	    next_temp_mission_index < (int)_onboard_mission.count) {
-		struct mission_item_s new_mission_item;
-		if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) {
-			/* convert next mission item to position setpoint */
-			mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
-			return;
-		}
-	}
+		mission = &_onboard_mission;
 
-	/* give up */
-	next_pos_sp->valid = false;
-	return;
-}
+		dm_item = DM_KEY_WAYPOINTS_ONBOARD;
+
+	} else {
+		/* offboard mission */
+		mission_index_next = _current_offboard_mission_index + 1;
+		mission_index_ptr = next_item ? &mission_index_next : &_current_offboard_mission_index;
+
+		mission = &_offboard_mission;
 
-void
-Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp)
-{
-	/* try if there is a next offboard mission */
-	int next_temp_mission_index = _offboard_mission.current_index + 1;
-	warnx("next index: %d, count; %d", next_temp_mission_index, _offboard_mission.count);
-	if (_offboard_mission.current_index >= 0 &&
-	    next_temp_mission_index < (int)_offboard_mission.count) {
-		dm_item_t dm_current;
 		if (_offboard_mission.dataman_id == 0) {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
+			dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0;
+
 		} else {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
+			dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
+	}
+
+	if (*mission_index_ptr >= 0 && *mission_index_ptr < (int)mission->count) {
 		struct mission_item_s new_mission_item;
-		if (read_mission_item(dm_current, false, &next_temp_mission_index, &new_mission_item)) {
-			/* convert next mission item to position setpoint */
-			mission_item_to_position_setpoint(&new_mission_item, next_pos_sp);
-			return;
+
+		if (read_mission_item(dm_item, true, mission_index_ptr, &new_mission_item)) {
+			memcpy(&mission_item, &new_mission_item, sizeof(struct mission_item_s));
+			return true;
 		}
 	}
-	/* give up */
-	next_pos_sp->valid = false;
-	return;
+	return false;
 }
 
 bool
-Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index,
+Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index_ptr,
 		           struct mission_item_s *new_mission_item)
 {
 	/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
-	for (int i=0; i<10; i++) {
+	for (int i = 0; i < 10; i++) {
 		const ssize_t len = sizeof(struct mission_item_s);
 
 		/* read mission item from datamanager */
-		if (dm_read(dm_item, *mission_index, new_mission_item, len) != len) {
+		if (dm_read(dm_item, *mission_index_ptr, new_mission_item, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			mavlink_log_critical(_navigator->get_mavlink_fd(),
 			                     "#audio: ERROR waypoint could not be read");
@@ -394,7 +374,7 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
 				if (is_current) {
 					(new_mission_item->do_jump_current_count)++;
 					/* save repeat count */
-					if (dm_write(dm_item, *mission_index, DM_PERSIST_IN_FLIGHT_RESET,
+					if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET,
 						new_mission_item, len) != len) {
 						/* not supposed to happen unless the datamanager can't access the
 						 * dataman */
@@ -405,12 +385,12 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
 				}
 				/* set new mission item index and repeat
 				* we don't have to validate here, if it's invalid, we should realize this later .*/
-				*mission_index = new_mission_item->do_jump_mission_index;
+				*mission_index_ptr = new_mission_item->do_jump_mission_index;
 			} else {
 				mavlink_log_info(_navigator->get_mavlink_fd(),
 						 "#audio: DO JUMP repetitions completed");
 				/* no more DO_JUMPS, therefore just try to continue with next mission item */
-				(*mission_index)++;
+				(*mission_index_ptr)++;
 			}
 
 		} else {
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index ac293990f..7d07860de 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -97,16 +97,10 @@ private:
 	void set_mission_items();
 
 	/**
-	 * Try to set the current position setpoint from an onboard mission item
+	 * Try to set given mission item from an offboard/onboard mission item
 	 * @return true if mission item successfully set
 	 */
-	bool is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp);
-
-	/**
-	 * Try to set the current position setpoint from an offboard mission item
-	 * @return true if mission item successfully set
-	 */
-	bool is_current_offboard_mission_item_set(struct position_setpoint_s *current_pos_sp);
+	bool set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item);
 
 	/**
 	 * Try to set the next position setpoint from an onboard mission item
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index bf3c934a6..cbf7ac987 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -202,9 +202,10 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 }
 
 void
-MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet)
+MissionBlock::set_previous_pos_setpoint()
 {
-    /* reuse current setpoint as previous setpoint */
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
     if (pos_sp_triplet->current.valid) {
         memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s));
     }
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
index 22f42cc31..adf50bc39 100644
--- a/src/modules/navigator/mission_block.h
+++ b/src/modules/navigator/mission_block.h
@@ -86,7 +86,7 @@ protected:
     /**
      * Set previous position setpoint to current setpoint
      */
-	void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet);
+	void set_previous_pos_setpoint();
 
 	/**
 	 * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 7cf6bb1a8..6d7afcf4b 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -82,7 +82,7 @@ RTL::on_inactive()
 }
 
 void
-RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
+RTL::on_activation()
 {
 	/* decide where to enter the RTL procedure when we switch into it */
 	if (_rtl_state == RTL_STATE_NONE) {
@@ -105,28 +105,27 @@ RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
 		}
 	}
 
-	set_rtl_item(pos_sp_triplet);
+	set_rtl_item();
 }
 
-bool
-RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+RTL::on_active()
 {
 	if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
 		advance_rtl();
-		set_rtl_item(pos_sp_triplet);
-		return true;
+		set_rtl_item();
 	}
-
-	return false;
 }
 
 void
-RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
+RTL::set_rtl_item()
 {
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
 	/* make sure we have the latest params */
 	updateParams();
 
-	set_previous_pos_setpoint(pos_sp_triplet);
+	set_previous_pos_setpoint();
 	_navigator->set_can_loiter_at_sp(false);
 
 	switch (_rtl_state) {
@@ -273,11 +272,13 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		break;
 	}
 
+	reset_mission_item_reached();
+
 	/* convert mission item to current position setpoint and make it valid */
 	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
-	reset_mission_item_reached();
-	pos_sp_triplet->current.valid = true;
 	pos_sp_triplet->next.valid = false;
+
+	_navigator->set_position_setpoint_triplet_updated();
 }
 
 void
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index 9c8b3fdfc..5928f1f07 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -63,15 +63,15 @@ public:
 
 	virtual void on_inactive();
 
-	virtual void on_activation(position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_activation();
 
-	virtual bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_active();
 
 private:
 	/**
 	 * Set the RTL item
 	 */
-	void		set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet);
+	void		set_rtl_item();
 
 	/**
 	 * Move to next RTL item
-- 
cgit v1.2.3


From a4315aee2ee69068c9a13568091805e20d0b04c5 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Mon, 30 Jun 2014 10:47:08 +0200
Subject: navigator: mission mode fixed

---
 src/modules/navigator/mission.cpp | 63 ++++++++++++++++-----------------------
 src/modules/navigator/mission.h   | 21 ++-----------
 2 files changed, 27 insertions(+), 57 deletions(-)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index fbfd1259d..f207776a9 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -70,9 +70,9 @@ Mission::Mission(Navigator *navigator, const char *name) :
 {
 	/* load initial params */
 	updateParams();
+
 	/* set initial mission items */
 	on_inactive();
-
 }
 
 Mission::~Mission()
@@ -121,16 +121,12 @@ Mission::on_active()
 	/* reset mission items if needed */
 	if (onboard_updated || offboard_updated) {
 		set_mission_items();
-
-		_navigator->set_position_setpoint_triplet_updated();
 	}
 
 	/* lets check if we reached the current mission item */
 	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
 		advance_mission();
 		set_mission_items();
-
-		_navigator->set_position_setpoint_triplet_updated();
 	}
 }
 
@@ -223,13 +219,16 @@ Mission::advance_mission()
 void
 Mission::set_mission_items()
 {
+	/* make sure param is up to date */
+	updateParams();
+
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
 	/* set previous position setpoint to current */
 	set_previous_pos_setpoint();
 
 	/* try setting onboard mission item */
-	if (set_mission_item(true, false, &_mission_item)) {
+	if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_ONBOARD) {
 			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: onboard mission running");
@@ -237,7 +236,7 @@ Mission::set_mission_items()
 		_mission_type = MISSION_TYPE_ONBOARD;
 
 	/* try setting offboard mission item */
-	} else if (set_mission_item(false, false, &_mission_item)) {
+	} else if (read_mission_item(false, true, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_OFFBOARD) {
 			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: offboard mission running");
@@ -284,7 +283,8 @@ Mission::set_mission_items()
 
 	/* try to read next mission item */
 	struct mission_item_s mission_item_next;
-	if (!set_mission_item(_mission_type == MISSION_TYPE_ONBOARD, true, &mission_item_next)) {
+
+	if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) {
 		/* got next mission item, update setpoint triplet */
 		mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
 
@@ -297,11 +297,8 @@ Mission::set_mission_items()
 }
 
 bool
-Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item)
+Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item)
 {
-	/* make sure param is up to date */
-	updateParams();
-
 	/* select onboard/offboard mission */
 	int *mission_index_ptr;
 	struct mission_s *mission;
@@ -310,12 +307,8 @@ Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *m
 
 	if (onboard) {
 		/* onboard mission */
-		if (!_param_onboard_enabled.get()) {
-			return false;
-		}
-
 		mission_index_next = _current_onboard_mission_index + 1;
-		mission_index_ptr = next_item ? &mission_index_next : &_current_onboard_mission_index;
+		mission_index_ptr = is_current ? &_current_onboard_mission_index : &mission_index_next;
 
 		mission = &_onboard_mission;
 
@@ -324,7 +317,7 @@ Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *m
 	} else {
 		/* offboard mission */
 		mission_index_next = _current_offboard_mission_index + 1;
-		mission_index_ptr = next_item ? &mission_index_next : &_current_offboard_mission_index;
+		mission_index_ptr = is_current ? &_current_offboard_mission_index : &mission_index_next;
 
 		mission = &_offboard_mission;
 
@@ -336,27 +329,20 @@ Mission::set_mission_item(bool onboard, bool next_item, struct mission_item_s *m
 		}
 	}
 
-	if (*mission_index_ptr >= 0 && *mission_index_ptr < (int)mission->count) {
-		struct mission_item_s new_mission_item;
-
-		if (read_mission_item(dm_item, true, mission_index_ptr, &new_mission_item)) {
-			memcpy(&mission_item, &new_mission_item, sizeof(struct mission_item_s));
-			return true;
-		}
+	if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
+		/* mission item index out of bounds */
+		return false;
 	}
-	return false;
-}
 
-bool
-Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index_ptr,
-		           struct mission_item_s *new_mission_item)
-{
 	/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
 	for (int i = 0; i < 10; i++) {
 		const ssize_t len = sizeof(struct mission_item_s);
 
+		/* read mission item to temp storage first to not overwrite current mission item if data damaged */
+		struct mission_item_s mission_item_tmp;
+
 		/* read mission item from datamanager */
-		if (dm_read(dm_item, *mission_index_ptr, new_mission_item, len) != len) {
+		if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			mavlink_log_critical(_navigator->get_mavlink_fd(),
 			                     "#audio: ERROR waypoint could not be read");
@@ -364,18 +350,17 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
 		}
 
 		/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
-		if (new_mission_item->nav_cmd == NAV_CMD_DO_JUMP) {
+		if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) {
 
 			/* do DO_JUMP as many times as requested */
-			if (new_mission_item->do_jump_current_count < new_mission_item->do_jump_repeat_count) {
+			if (mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) {
 
 				/* only raise the repeat count if this is for the current mission item
 				* but not for the next mission item */
 				if (is_current) {
-					(new_mission_item->do_jump_current_count)++;
+					(mission_item_tmp.do_jump_current_count)++;
 					/* save repeat count */
-					if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET,
-						new_mission_item, len) != len) {
+					if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) {
 						/* not supposed to happen unless the datamanager can't access the
 						 * dataman */
 						mavlink_log_critical(_navigator->get_mavlink_fd(),
@@ -385,7 +370,8 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
 				}
 				/* set new mission item index and repeat
 				* we don't have to validate here, if it's invalid, we should realize this later .*/
-				*mission_index_ptr = new_mission_item->do_jump_mission_index;
+				*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
+
 			} else {
 				mavlink_log_info(_navigator->get_mavlink_fd(),
 						 "#audio: DO JUMP repetitions completed");
@@ -395,6 +381,7 @@ Mission::read_mission_item(const dm_item_t dm_item, bool is_current, int *missio
 
 		} else {
 			/* if it's not a DO_JUMP, then we were successful */
+			memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s));
 			return true;
 		}
 	}
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 7d07860de..29e4d41f6 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -97,27 +97,10 @@ private:
 	void set_mission_items();
 
 	/**
-	 * Try to set given mission item from an offboard/onboard mission item
-	 * @return true if mission item successfully set
-	 */
-	bool set_mission_item(bool onboard, bool next_item, struct mission_item_s *mission_item);
-
-	/**
-	 * Try to set the next position setpoint from an onboard mission item
-	 */
-	void get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp);
-
-	/**
-	 * Try to set the next position setpoint from an offboard mission item
-	 */
-	void get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp);
-
-	/**
-	 * Read a mission item from the dataman and watch out for DO_JUMPS
+	 * Read current or next mission item from the dataman and watch out for DO_JUMPS
 	 * @return true if successful
 	 */
-	bool read_mission_item(const dm_item_t dm_item, bool is_current, int *mission_index,
-			       struct mission_item_s *new_mission_item);
+	bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item);
 
 	/**
 	 * Report that a mission item has been reached
-- 
cgit v1.2.3


From 59775efaad782a1e4f5e346832407c71f1355c89 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Mon, 30 Jun 2014 12:02:29 +0200
Subject: navigator: takeoff on start of mission implemented

---
 src/modules/navigator/mission.cpp | 133 ++++++++++++++++++++++++++++++--------
 src/modules/navigator/mission.h   |   3 +
 2 files changed, 109 insertions(+), 27 deletions(-)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index f207776a9..2e5047e2c 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -60,13 +60,16 @@
 Mission::Mission(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_param_onboard_enabled(this, "ONBOARD_EN"),
+	_param_takeoff_alt(this, "TAKEOFF_ALT"),
 	_onboard_mission({0}),
 	_offboard_mission({0}),
 	_current_onboard_mission_index(-1),
 	_current_offboard_mission_index(-1),
 	_mission_result_pub(-1),
 	_mission_result({0}),
-	_mission_type(MISSION_TYPE_NONE)
+	_mission_type(MISSION_TYPE_NONE),
+	_need_takeoff(true),
+	_takeoff(false)
 {
 	/* load initial params */
 	updateParams();
@@ -94,6 +97,10 @@ Mission::on_inactive()
 	if (offboard_updated) {
 		update_offboard_mission();
 	}
+
+	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
+		_need_takeoff = true;
+	}
 }
 
 void
@@ -127,6 +134,12 @@ Mission::on_active()
 	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
 		advance_mission();
 		set_mission_items();
+
+	} else {
+		/* if waypoint position reached allow loiter on the setpoint */
+		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
+			_navigator->set_can_loiter_at_sp(true);
+		}
 	}
 }
 
@@ -148,6 +161,7 @@ Mission::update_onboard_mission()
 			}
 			/* otherwise, just leave it */
 		}
+
 	} else {
 		_onboard_mission.count = 0;
 		_onboard_mission.current_index = 0;
@@ -164,10 +178,12 @@ Mission::update_offboard_mission()
 		if (_offboard_mission.current_index >= 0
 		    && _offboard_mission.current_index < (int)_offboard_mission.count) {
 			_current_offboard_mission_index = _offboard_mission.current_index;
+
 		} else {
 			/* if less WPs available, reset to first WP */
 			if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
 				_current_offboard_mission_index = 0;
+
 			/* if not initialized, set it to 0 */
 			} else if (_current_offboard_mission_index < 0) {
 				_current_offboard_mission_index = 0;
@@ -181,6 +197,7 @@ Mission::update_offboard_mission()
 
 		if (_offboard_mission.dataman_id == 0) {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
+
 		} else {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
@@ -189,11 +206,13 @@ Mission::update_offboard_mission()
 			                                      (size_t)_offboard_mission.count,
 							      _navigator->get_geofence(),
 							      _navigator->get_home_position()->alt);
+
 	} else {
 		_offboard_mission.count = 0;
 		_offboard_mission.current_index = 0;
 		_current_offboard_mission_index = 0;
 	}
+
 	report_current_offboard_mission_item();
 }
 
@@ -201,18 +220,23 @@ Mission::update_offboard_mission()
 void
 Mission::advance_mission()
 {
-	switch (_mission_type) {
-	case MISSION_TYPE_ONBOARD:
-		_current_onboard_mission_index++;
-		break;
-
-	case MISSION_TYPE_OFFBOARD:
-		_current_offboard_mission_index++;
-		break;
-
-	case MISSION_TYPE_NONE:
-	default:
-		break;
+	if (_takeoff) {
+		_takeoff = false;
+
+	} else {
+		switch (_mission_type) {
+		case MISSION_TYPE_ONBOARD:
+			_current_onboard_mission_index++;
+			break;
+
+		case MISSION_TYPE_OFFBOARD:
+			_current_offboard_mission_index++;
+			break;
+
+		case MISSION_TYPE_NONE:
+		default:
+			break;
+		}
 	}
 }
 
@@ -271,26 +295,81 @@ Mission::set_mission_items()
 		return;
 	}
 
-	/* new current mission item set */
-	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
-	_navigator->set_can_loiter_at_sp(false);
-	reset_mission_item_reached();
+	/* do takeoff on first waypoint for rotary wing vehicles */
+	if (_navigator->get_vstatus()->is_rotary_wing) {
+		/* force takeoff if landed (additional protection) */
+		if (!_takeoff && _navigator->get_vstatus()->condition_landed) {
+			_need_takeoff = true;
+		}
 
-	if (_mission_type == MISSION_TYPE_OFFBOARD) {
-		report_current_offboard_mission_item();
+		/* new current mission item set, check if we need takeoff */
+		if (_need_takeoff && (
+				_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
+				_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
+				_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+				_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
+				_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
+				_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) {
+			_takeoff = true;
+			_need_takeoff = false;
+		}
 	}
-	// TODO: report onboard mission item somehow
 
-	/* try to read next mission item */
-	struct mission_item_s mission_item_next;
+	if (_takeoff) {
+		/* do takeoff before going to setpoint */
+		/* set mission item as next position setpoint */
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->next);
 
-	if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) {
-		/* got next mission item, update setpoint triplet */
-		mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
+		/* calculate takeoff altitude */
+		float takeoff_alt = _mission_item.altitude;
+		if (_mission_item.altitude_is_relative) {
+			takeoff_alt += _navigator->get_home_position()->alt;
+		}
+
+		if (_navigator->get_vstatus()->condition_landed) {
+			takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
+
+		} else {
+			takeoff_alt = _navigator->get_home_position()->alt + _param_takeoff_alt.get();
+		}
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", takeoff_alt - _navigator->get_home_position()->alt);
+
+		_mission_item.lat = _navigator->get_global_position()->lat;
+		_mission_item.lon = _navigator->get_global_position()->lon;
+		_mission_item.altitude = takeoff_alt;
+		_mission_item.altitude_is_relative = false;
+
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
 
 	} else {
-		/* next mission item is not available */
-		pos_sp_triplet->next.valid = false;
+		/* set current position setpoint from mission item */
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+
+		/* require takeoff after landing or idle */
+		if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
+			_need_takeoff = true;
+		}
+
+		_navigator->set_can_loiter_at_sp(false);
+		reset_mission_item_reached();
+
+		if (_mission_type == MISSION_TYPE_OFFBOARD) {
+			report_current_offboard_mission_item();
+		}
+		// TODO: report onboard mission item somehow
+
+		/* try to read next mission item */
+		struct mission_item_s mission_item_next;
+
+		if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) {
+			/* got next mission item, update setpoint triplet */
+			mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
+
+		} else {
+			/* next mission item is not available */
+			pos_sp_triplet->next.valid = false;
+		}
 	}
 
 	_navigator->set_position_setpoint_triplet_updated();
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 29e4d41f6..d4808b6f4 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -123,12 +123,15 @@ private:
 	void publish_mission_result();
 
 	control::BlockParamFloat _param_onboard_enabled;
+	control::BlockParamFloat _param_takeoff_alt;
 
 	struct mission_s _onboard_mission;
 	struct mission_s _offboard_mission;
 
 	int _current_onboard_mission_index;
 	int _current_offboard_mission_index;
+	bool _need_takeoff;
+	bool _takeoff;
 
 	orb_advert_t _mission_result_pub;
 	struct mission_result_s _mission_result;
-- 
cgit v1.2.3


From 756a2bb7e69113926551ee08aef0f301acaade1e Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 2 Jul 2014 09:35:50 +0200
Subject: hk micro pcb startup script

---
 ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb | 27 +++++++++++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb

diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
new file mode 100644
index 000000000..42ec150c1
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -0,0 +1,27 @@
+#!nsh
+#
+# Hobbyking Micro Integrated PCB Quadcopter
+#
+# Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
+set PWM_MIN 1100
+set PWM_DISARMED 900
-- 
cgit v1.2.3


From 0d7ada14bb313a86cb49fb34888740486b47222d Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 2 Jul 2014 09:36:47 +0200
Subject: rc.autostart entry for hk micro pcb quad

---
 ROMFS/px4fmu_common/init.d/rc.autostart | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index b365bd642..5d9e9502c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -136,6 +136,11 @@ then
 	sh /etc/init.d/4011_dji_f450
 fi
 
+if param compare SYS_AUTOSTART 4020
+then
+	sh /etc/init.d/4020_hk_micro_pcb
+fi
+
 #
 # Quad +
 #
-- 
cgit v1.2.3


From 76aa871a7125c98e79db4dde42de7863a24a762c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 3 Jul 2014 00:26:33 +0200
Subject: estimator: Fixed body / world matrix initialization and reset

---
 src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 9622f7e40..deaaf55fe 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -2503,12 +2503,12 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
 
     // Calculate initial Tbn matrix and rotate Mag measurements into NED
     // to set initial NED magnetic field states
-    Mat3f DCM;
-    quat2Tbn(DCM, initQuat);
+    quat2Tbn(Tbn, initQuat);
+    Tnb = Tbn.transpose();
     Vector3f initMagNED;
-    initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z;
-    initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z;
-    initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z;
+    initMagNED.x = Tbn.x.x*initMagXYZ.x + Tbn.x.y*initMagXYZ.y + Tbn.x.z*initMagXYZ.z;
+    initMagNED.y = Tbn.y.x*initMagXYZ.x + Tbn.y.y*initMagXYZ.y + Tbn.y.z*initMagXYZ.z;
+    initMagNED.z = Tbn.z.x*initMagXYZ.x + Tbn.z.y*initMagXYZ.y + Tbn.z.z*initMagXYZ.z;
 
     magstate.q0 = initQuat[0];
     magstate.q1 = initQuat[1];
@@ -2521,7 +2521,7 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
     magstate.magYbias = magBias.y;
     magstate.magZbias = magBias.z;
     magstate.R_MAG = sq(magMeasurementSigma);
-    magstate.DCM = DCM;
+    magstate.DCM = Tbn;
 
     // write to state vector
     for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions
-- 
cgit v1.2.3


From 23164228c84f304326026c9fbda6822f2e99e9b3 Mon Sep 17 00:00:00 2001
From: Kynos <mail01@delago.net>
Date: Thu, 3 Jul 2014 11:11:40 +0200
Subject: Added NAV-TIMEUTC valid flag defines

---
 src/drivers/gps/ubx.h | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h
index 1a9e7cb0c..65f2dd2ba 100644
--- a/src/drivers/gps/ubx.h
+++ b/src/drivers/gps/ubx.h
@@ -104,6 +104,13 @@
 #define UBX_RX_NAV_PVT_FLAGS_PSMSTATE		0x1C	/**< psmState (Power Save Mode state (see Power Management)) */
 #define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID	0x20	/**< headVehValid (Heading of vehicle is valid) */
 
+/* RX NAV-TIMEUTC message content details */
+/*   Bitfield "valid" masks */
+#define UBX_RX_NAV_TIMEUTC_VALID_VALIDTOW	0x01	/**< validTOW (1 = Valid Time of Week) */
+#define UBX_RX_NAV_TIMEUTC_VALID_VALIDKWN	0x02	/**< validWKN (1 = Valid Week Number) */
+#define UBX_RX_NAV_TIMEUTC_VALID_VALIDUTC	0x04	/**< validUTC (1 = Valid UTC Time) */
+#define UBX_RX_NAV_TIMEUTC_VALID_UTCSTANDARD	0xF0	/**< utcStandard (0..15 = UTC standard identifier) */
+
 /* TX CFG-PRT message contents */
 #define UBX_TX_CFG_PRT_PORTID		0x01		/**< UART1 */
 #define UBX_TX_CFG_PRT_MODE		0x000008D0	/**< 0b0000100011010000: 8N1 */
@@ -185,7 +192,7 @@ typedef struct {
 	uint8_t		hour; 		/**< Hour of day, range 0..23 (UTC) */
 	uint8_t		min; 		/**< Minute of hour, range 0..59 (UTC) */
 	uint8_t		sec;		/**< Seconds of minute, range 0..60 (UTC) */
-	uint8_t		valid; 		/**< Validity flags  (see UBX_RX_NAV_PVT_VALID_...) */
+	uint8_t		valid; 		/**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */
 	uint32_t	tAcc; 		/**< Time accuracy estimate (UTC) [ns] */
 	int32_t		nano;		/**< Fraction of second (UTC) [-1e9...1e9 ns] */
 	uint8_t		fixType;	/**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */
@@ -223,7 +230,7 @@ typedef struct {
 	uint8_t		hour; 		/**< Hour of day, range 0..23 (UTC) */
 	uint8_t		min; 		/**< Minute of hour, range 0..59 (UTC) */
 	uint8_t		sec;		/**< Seconds of minute, range 0..60 (UTC) */
-	uint8_t		valid; 		/**< Validity Flags (see ubx documentation) */
+	uint8_t		valid; 		/**< Validity Flags (see UBX_RX_NAV_TIMEUTC_VALID_...) */
 } ubx_payload_rx_nav_timeutc_t;
 
 /* Rx NAV-SVINFO Part 1 */
-- 
cgit v1.2.3


From 05be2400cb8d38645b86900edde38cbced0d22b4 Mon Sep 17 00:00:00 2001
From: Alexey Luchko <soulne4ny@gmail.com>
Date: Thu, 3 Jul 2014 12:13:56 +0300
Subject: fix misprint `lowvsyslog`

---
 src/modules/systemlib/err.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c
index 6c0e876d1..998b5ac7d 100644
--- a/src/modules/systemlib/err.c
+++ b/src/modules/systemlib/err.c
@@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args)
 	fprintf(stderr, "\n");
 #elif CONFIG_ARCH_LOWPUTC
 	lowsyslog("%s: ", getprogname());
-	lowvyslog(fmt, args);
+	lowvsyslog(fmt, args);
 
 	/* convenience as many parts of NuttX use negative errno */
 	if (errcode < 0)
-- 
cgit v1.2.3


From 7be2e0f13605eb9bb34eb04745a0e7a3936d94e9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 3 Jul 2014 11:18:00 +0200
Subject: Hotfix: Typo in disabled code path

---
 src/modules/systemlib/err.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c
index 6c0e876d1..60dcc62e0 100644
--- a/src/modules/systemlib/err.c
+++ b/src/modules/systemlib/err.c
@@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args)
 	fprintf(stderr, "\n");
 #elif CONFIG_ARCH_LOWPUTC
 	lowsyslog("%s: ", getprogname());
-	lowvyslog(fmt, args);
+	lowsyslog(fmt, args);
 
 	/* convenience as many parts of NuttX use negative errno */
 	if (errcode < 0)
-- 
cgit v1.2.3


From 04cca73baac0b027451a76d50b1f3b365b1feeef Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 3 Jul 2014 11:26:26 +0200
Subject: Hotfix of the Hotfix 8)

---
 src/modules/systemlib/err.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c
index 60dcc62e0..998b5ac7d 100644
--- a/src/modules/systemlib/err.c
+++ b/src/modules/systemlib/err.c
@@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args)
 	fprintf(stderr, "\n");
 #elif CONFIG_ARCH_LOWPUTC
 	lowsyslog("%s: ", getprogname());
-	lowsyslog(fmt, args);
+	lowvsyslog(fmt, args);
 
 	/* convenience as many parts of NuttX use negative errno */
 	if (errcode < 0)
-- 
cgit v1.2.3


From d5793d6cbee59779c1f5375fa3276bd0fddbe25e Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 3 Jul 2014 12:35:38 +0200
Subject: hk micro pcb quad: change min pwm value

---
 ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index 42ec150c1..369aa1eb4 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -2,8 +2,9 @@
 #
 # Hobbyking Micro Integrated PCB Quadcopter
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Thomas Gubler <thomasgubler@gmail.com>
 #
+echo "HK Micro PCB Quad"
 
 sh /etc/init.d/4001_quad_x
 
@@ -23,5 +24,5 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set PWM_MIN 1100
+set PWM_MIN 1200
 set PWM_DISARMED 900
-- 
cgit v1.2.3


From 2ec635dd1c33ef453818bd9396e3cec42694a30f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 3 Jul 2014 13:30:20 +0200
Subject: Update estimator

---
 .../ekf_att_pos_estimator/estimator_23states.cpp   | 32 +++++++++++-----------
 .../ekf_att_pos_estimator/estimator_utilities.cpp  |  1 +
 2 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 393cf4c5a..973de1382 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -1747,7 +1747,7 @@ void AttPosEKF::FuseOptFlow()
     static float losPred[2];
 
     // Transformation matrix from nav to body axes
-    Mat3f Tnb;
+    Mat3f Tnb_local;
     // Transformation matrix from body to sensor axes
     // assume camera is aligned with Z body axis plus a misalignment
     // defined by 3 small angles about X, Y and Z body axis
@@ -1764,7 +1764,7 @@ void AttPosEKF::FuseOptFlow()
     for (uint8_t i = 0; i < n_states; i++) {
         H_LOS[i] = 0.0f;
     }
-    Vector3f velNED;
+    Vector3f velNED_local;
     Vector3f relVelSensor;
 
 // Perform sequential fusion of optical flow measurements only when in the air and tilt is less than 30 deg.
@@ -1786,9 +1786,9 @@ void AttPosEKF::FuseOptFlow()
             vd       = statesAtOptFlowTime[6];
             pd       = statesAtOptFlowTime[9];
             ptd      = statesAtOptFlowTime[22];
-            velNED.x = vn;
-            velNED.y = ve;
-            velNED.z = vd;
+            velNED_local.x = vn;
+            velNED_local.y = ve;
+            velNED_local.z = vd;
 
             // calculate rotation from NED to body axes
             float q00 = sq(q0);
@@ -1801,24 +1801,24 @@ void AttPosEKF::FuseOptFlow()
             float q12 = q1 * q2;
             float q13 = q1 * q3;
             float q23 = q2 * q3;
-            Tnb.x.x = q00 + q11 - q22 - q33;
-            Tnb.y.y = q00 - q11 + q22 - q33;
-            Tnb.z.z = q00 - q11 - q22 + q33;
-            Tnb.y.x = 2*(q12 - q03);
-            Tnb.z.x = 2*(q13 + q02);
-            Tnb.x.y = 2*(q12 + q03);
-            Tnb.z.y = 2*(q23 - q01);
-            Tnb.x.z = 2*(q13 - q02);
-            Tnb.y.z = 2*(q23 + q01);
+            Tnb_local.x.x = q00 + q11 - q22 - q33;
+            Tnb_local.y.y = q00 - q11 + q22 - q33;
+            Tnb_local.z.z = q00 - q11 - q22 + q33;
+            Tnb_local.y.x = 2*(q12 - q03);
+            Tnb_local.z.x = 2*(q13 + q02);
+            Tnb_local.x.y = 2*(q12 + q03);
+            Tnb_local.z.y = 2*(q23 - q01);
+            Tnb_local.x.z = 2*(q13 - q02);
+            Tnb_local.y.z = 2*(q23 + q01);
 
             // calculate transformation from NED to sensor axes
-            Tns = Tbs*Tnb;
+            Tns = Tbs*Tnb_local;
 
             // calculate range from ground plain to centre of sensor fov assuming flat earth
             float range = ConstrainFloat(((ptd - pd)/Tns.z.z),0.5f,100.0f);
 
             // calculate relative velocity in sensor frame
-            relVelSensor = Tns*velNED;
+            relVelSensor = Tns*velNED_local;
 
             // calculate delta angles in sensor axes
             Vector3f delAngRel = Tbs*delAng;
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
index 24168b84c..29a8c8d1e 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
@@ -8,6 +8,7 @@
 
 #ifdef EKF_DEBUG
 #include <stdio.h>
+#include <stdarg.h>
 
 static void
 ekf_debug_print(const char *fmt, va_list args)
-- 
cgit v1.2.3


From 1cca3ca8a5469e66dbb5bebbe518b55e4af426d8 Mon Sep 17 00:00:00 2001
From: Kynos <mail01@delago.net>
Date: Thu, 3 Jul 2014 13:33:29 +0200
Subject: Use NAV-PVT with ubx7 and ubx8 modules

This replaces NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC.
---
 src/drivers/gps/gps.cpp                        |   1 -
 src/drivers/gps/ubx.cpp                        | 125 +++++++++++++++++++++----
 src/drivers/gps/ubx.h                          |  10 +-
 src/modules/mavlink/mavlink_receiver.cpp       |   1 -
 src/modules/uORB/topics/vehicle_gps_position.h |   1 -
 5 files changed, 113 insertions(+), 25 deletions(-)

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 241e3bdf3..401b65dd4 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -299,7 +299,6 @@ GPS::task_main()
 			_report_gps_pos.alt = (int32_t)1200e3f;
 			_report_gps_pos.timestamp_variance = hrt_absolute_time();
 			_report_gps_pos.s_variance_m_s = 10.0f;
-			_report_gps_pos.p_variance_m = 10.0f;
 			_report_gps_pos.c_variance_rad = 0.1f;
 			_report_gps_pos.fix_type = 3;
 			_report_gps_pos.eph = 0.9f;
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index 44434a1df..d0854f5e9 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -95,7 +95,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate
 	_got_velned(false),
 	_disable_cmd_last(0),
 	_ack_waiting_msg(0),
-	_ubx_version(0)
+	_ubx_version(0),
+	_use_nav_pvt(false)
 {
 	decode_init();
 }
@@ -190,38 +191,45 @@ UBX::configure(unsigned &baudrate)
 
 	/* configure message rates */
 	/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
-	configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
 
+	/* try to set rate for NAV-PVT */
+	/* (implemented for ubx7+ modules only, use NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC for ubx6) */
+	configure_message_rate(UBX_MSG_NAV_PVT, 1);
 	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
-	}
-
-	configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
-
-	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
+		_use_nav_pvt = false;
+	} else {
+		_use_nav_pvt = true;
 	}
+	UBX_WARN("%susing NAV-PVT", _use_nav_pvt ? "" : "not ");
 
-	configure_message_rate(UBX_MSG_NAV_SOL, 1);
+	if (!_use_nav_pvt) {
+		configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
-	}
+		configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	configure_message_rate(UBX_MSG_NAV_VELNED, 1);
+		configure_message_rate(UBX_MSG_NAV_SOL, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
+		configure_message_rate(UBX_MSG_NAV_VELNED, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 	}
 
 	configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0);
-
 	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
 
 	configure_message_rate(UBX_MSG_MON_HW, 1);
-
 	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
@@ -454,11 +462,23 @@ UBX::payload_rx_init()
 	_rx_state = UBX_RXMSG_HANDLE;	// handle by default
 
 	switch (_rx_msg) {
+	case UBX_MSG_NAV_PVT:
+		if (   (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7)		/* u-blox 7 msg format */
+		    && (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8))	/* u-blox 8+ msg format */
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (!_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if not using NAV-PVT
+		break;
+
 	case UBX_MSG_NAV_POSLLH:
 		if (_rx_payload_length != sizeof(ubx_payload_rx_nav_posllh_t))
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_NAV_SOL:
@@ -466,6 +486,8 @@ UBX::payload_rx_init()
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_NAV_TIMEUTC:
@@ -473,6 +495,8 @@ UBX::payload_rx_init()
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_NAV_SVINFO:
@@ -489,6 +513,8 @@ UBX::payload_rx_init()
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_MON_VER:
@@ -675,6 +701,68 @@ UBX::payload_rx_done(void)
 	// handle message
 	switch (_rx_msg) {
 
+	case UBX_MSG_NAV_PVT:
+		UBX_TRACE_RXMSG("Rx NAV-PVT\n");
+
+		_gps_position->fix_type		= _buf.payload_rx_nav_pvt.fixType;
+		_gps_position->satellites_used	= _buf.payload_rx_nav_pvt.numSV;
+
+		_gps_position->lat		= _buf.payload_rx_nav_pvt.lat;
+		_gps_position->lon		= _buf.payload_rx_nav_pvt.lon;
+		_gps_position->alt		= _buf.payload_rx_nav_pvt.hMSL;
+
+		_gps_position->eph		= (float)_buf.payload_rx_nav_pvt.hAcc * 1e-3f;
+		_gps_position->epv		= (float)_buf.payload_rx_nav_pvt.vAcc * 1e-3f;
+		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_pvt.sAcc * 1e-3f;
+
+		_gps_position->vel_m_s		= (float)_buf.payload_rx_nav_pvt.gSpeed * 1e-3f;
+
+		_gps_position->vel_n_m_s	= (float)_buf.payload_rx_nav_pvt.velN * 1e-3f;
+		_gps_position->vel_e_m_s	= (float)_buf.payload_rx_nav_pvt.velE * 1e-3f;
+		_gps_position->vel_d_m_s	= (float)_buf.payload_rx_nav_pvt.velD * 1e-3f;
+		_gps_position->vel_ned_valid	= true;
+
+		_gps_position->cog_rad		= (float)_buf.payload_rx_nav_pvt.headMot * M_DEG_TO_RAD_F * 1e-5f;
+		_gps_position->c_variance_rad	= (float)_buf.payload_rx_nav_pvt.headAcc * M_DEG_TO_RAD_F * 1e-5f;
+
+		{
+			/* convert to unix timestamp */
+			struct tm timeinfo;
+			timeinfo.tm_year	= _buf.payload_rx_nav_pvt.year - 1900;
+			timeinfo.tm_mon		= _buf.payload_rx_nav_pvt.month - 1;
+			timeinfo.tm_mday	= _buf.payload_rx_nav_pvt.day;
+			timeinfo.tm_hour	= _buf.payload_rx_nav_pvt.hour;
+			timeinfo.tm_min		= _buf.payload_rx_nav_pvt.min;
+			timeinfo.tm_sec		= _buf.payload_rx_nav_pvt.sec;
+			time_t epoch = mktime(&timeinfo);
+
+#ifndef CONFIG_RTC
+			//Since we lack a hardware RTC, set the system time clock based on GPS UTC
+			//TODO generalize this by moving into gps.cpp?
+			timespec ts;
+			ts.tv_sec = epoch;
+			ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
+			clock_settime(CLOCK_REALTIME, &ts);
+#endif
+
+			_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
+			_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f);
+		}
+
+		_gps_position->timestamp_time		= hrt_absolute_time();
+		_gps_position->timestamp_velocity 	= hrt_absolute_time();
+		_gps_position->timestamp_variance 	= hrt_absolute_time();
+		_gps_position->timestamp_position	= hrt_absolute_time();
+
+		_rate_count_vel++;
+		_rate_count_lat_lon++;
+
+		_got_posllh = true;
+		_got_velned = true;
+
+		ret = 1;
+		break;
+
 	case UBX_MSG_NAV_POSLLH:
 		UBX_TRACE_RXMSG("Rx NAV-POSLLH\n");
 
@@ -697,7 +785,6 @@ UBX::payload_rx_done(void)
 
 		_gps_position->fix_type		= _buf.payload_rx_nav_sol.gpsFix;
 		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f;	// from cm to m
-		_gps_position->p_variance_m	= (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f;	// from cm to m
 		_gps_position->satellites_used	= _buf.payload_rx_nav_sol.numSV;
 
 		_gps_position->timestamp_variance = hrt_absolute_time();
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h
index 65f2dd2ba..219a5762a 100644
--- a/src/drivers/gps/ubx.h
+++ b/src/drivers/gps/ubx.h
@@ -183,7 +183,7 @@ typedef struct {
 	uint32_t	reserved2;
 } ubx_payload_rx_nav_sol_t;
 
-/* Rx NAV-PVT */
+/* Rx NAV-PVT (ubx8) */
 typedef struct {
 	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
 	uint16_t	year; 		/**< Year (UTC)*/
@@ -215,9 +215,11 @@ typedef struct {
 	uint16_t	pDOP;		/**< Position DOP [0.01] */
 	uint16_t	reserved2;
 	uint32_t	reserved3;
-	int32_t		headVeh;	/**< Heading of vehicle (2-D) [1e-5 deg] */
-	uint32_t	reserved4;
+	int32_t		headVeh;	/**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */
+	uint32_t	reserved4;	/**< (ubx8+ only) */
 } ubx_payload_rx_nav_pvt_t;
+#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7	(sizeof(ubx_payload_rx_nav_pvt_t) - 8)
+#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8	(sizeof(ubx_payload_rx_nav_pvt_t))
 
 /* Rx NAV-TIMEUTC */
 typedef struct {
@@ -395,6 +397,7 @@ typedef struct {
 
 /* General message and payload buffer union */
 typedef union {
+	ubx_payload_rx_nav_pvt_t		payload_rx_nav_pvt;
 	ubx_payload_rx_nav_posllh_t		payload_rx_nav_posllh;
 	ubx_payload_rx_nav_sol_t		payload_rx_nav_sol;
 	ubx_payload_rx_nav_timeutc_t		payload_rx_nav_timeutc;
@@ -533,6 +536,7 @@ private:
 	uint16_t		_ack_waiting_msg;
 	ubx_buf_t		_buf;
 	uint32_t		_ubx_version;
+	bool			_use_nav_pvt;
 };
 
 #endif /* UBX_H_ */
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 53a1638a3..6d361052c 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -741,7 +741,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 
 	hil_gps.timestamp_variance = timestamp;
 	hil_gps.s_variance_m_s = 5.0f;
-	hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
 
 	hil_gps.timestamp_velocity = timestamp;
 	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index dbd59f4f3..80d65cd69 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -61,7 +61,6 @@ struct vehicle_gps_position_s {
 
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float p_variance_m;				/**< position accuracy estimate m */
 	float c_variance_rad;				/**< course accuracy estimate rad */
 	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
-- 
cgit v1.2.3


From 7608628e9d3979814557438df0bd4f676ebe49a4 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 3 Jul 2014 14:25:46 +0200
Subject: Contributing notes

---
 CONTRIBUTING.md | 44 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 44 insertions(+)
 create mode 100644 CONTRIBUTING.md

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 000000000..a6f5fa7a3
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,44 @@
+# Contributing to PX4 Firmware
+
+We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
+
+### Fork the project, then clone your repo
+
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
+
+### Create a feature branch
+
+*Always* branch off master for new features.
+
+```
+git checkout -b my_descriptive_branch_name
+```
+
+### Edit and build the code
+
+The [developer guide](http://pixhawk.org/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://pixhawk.org/dev/code_style) when editing files.
+
+### Commit your changes
+
+Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
+
+**Example:**
+
+```
+Change how the attitude controller works
+
+- Fixes rate feed forward
+- Allows a local body rate override
+
+Fixes issue #123
+```
+
+### Test your changes
+
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+
+### Push your changes
+
+Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
+
+Make sure to provide some testing feedback and if possible the link to a flight log file.
-- 
cgit v1.2.3


From 74f0301fa1553be85d86f7869d70fdda75b4c7b9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 3 Jul 2014 14:46:06 +0200
Subject: Changed branch name suggestion

---
 CONTRIBUTING.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index a6f5fa7a3..3bf02fbff 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -11,7 +11,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
 *Always* branch off master for new features.
 
 ```
-git checkout -b my_descriptive_branch_name
+git checkout -b mydescriptivebranchname
 ```
 
 ### Edit and build the code
-- 
cgit v1.2.3


From 829a317d23093894c3d8974cce887ab3c19eba08 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 4 Jul 2014 15:49:02 +0200
Subject: navigator: takeoff altitude fixed

---
 src/modules/navigator/mission.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 2e5047e2c..cf6a764bf 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -326,11 +326,12 @@ Mission::set_mission_items()
 			takeoff_alt += _navigator->get_home_position()->alt;
 		}
 
+		/* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
 		if (_navigator->get_vstatus()->condition_landed) {
 			takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
 
 		} else {
-			takeoff_alt = _navigator->get_home_position()->alt + _param_takeoff_alt.get();
+			takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
 		}
 
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", takeoff_alt - _navigator->get_home_position()->alt);
-- 
cgit v1.2.3


From f9696cc68a2a82937ae1189a06edea167c492e00 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 4 Jul 2014 15:52:45 +0200
Subject: hk micro pcb quad startup script: add comment

---
 ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index 369aa1eb4..5bd67a9e4 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -1,6 +1,7 @@
 #!nsh
 #
 # Hobbyking Micro Integrated PCB Quadcopter
+# with SimonK ESC firmware and Mystery A1510 motors
 #
 # Thomas Gubler <thomasgubler@gmail.com>
 #
-- 
cgit v1.2.3


From e97161e96b8de4031746556ab4bd4f96d24a30c8 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 4 Jul 2014 15:53:26 +0200
Subject: mavlink: stack size for main thread increased

---
 src/modules/mavlink/mavlink_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 026a4d6c9..8dfa32ce8 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2238,7 +2238,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       1950,
+		       2700,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 
-- 
cgit v1.2.3


From f91477212894fc6e1de68c429c51974443b6075b Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 4 Jul 2014 16:01:10 +0200
Subject: micro pcb quad: remove unnecessary setting

---
 ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index 5bd67a9e4..99ffd73a5 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -26,4 +26,3 @@ then
 fi
 
 set PWM_MIN 1200
-set PWM_DISARMED 900
-- 
cgit v1.2.3


From d4eae37e478860a59e21f3caceb3d8fc28f9fa7c Mon Sep 17 00:00:00 2001
From: Antonio Sanniravong <antonio.sanniravong@polymtl.ca>
Date: Fri, 4 Jul 2014 21:00:05 -0400
Subject: Commander: Only consider latest active data link heartbeat for
 timeout.

---
 src/modules/commander/commander.cpp | 30 ++++++++++++++++++------------
 1 file changed, 18 insertions(+), 12 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index efa26eb97..699ced1ab 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -767,6 +767,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	hrt_abstime last_idle_time = 0;
 	hrt_abstime start_time = 0;
+	hrt_abstime latest_heartbeat = 0;
 
 	bool status_changed = true;
 	bool param_init_forced = true;
@@ -1367,19 +1368,24 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* data link check */
-		if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
-			/* handle the case where data link was regained */
-			if (status.data_link_lost) {
-				mavlink_log_critical(mavlink_fd, "#audio: data link regained");
-				status.data_link_lost = false;
-				status_changed = true;
-			}
+		if (telemetry.heartbeat_time >= latest_heartbeat) {
+			if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
+				/* handle the case where data link was regained */
+				if (status.data_link_lost) {
+					mavlink_log_critical(mavlink_fd, "#audio: data link regained");
+					status.data_link_lost = false;
+					status_changed = true;
+				}
 
-		} else {
-			if (!status.data_link_lost) {
-				mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
-				status.data_link_lost = true;
-				status_changed = true;
+				/* Only consider data link with most recent heartbeat */
+				latest_heartbeat = telemetry.heartbeat_time;
+
+			} else {
+				if (!status.data_link_lost) {
+					mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
+					status.data_link_lost = true;
+					status_changed = true;
+				}
 			}
 		}
 
-- 
cgit v1.2.3


From b9299e68d4147845bab9ed99509b3e50b7c94ae1 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sat, 5 Jul 2014 13:35:12 -0700
Subject: Compiler warning fixes

---
 src/drivers/blinkm/blinkm.cpp                      |  2 +-
 src/lib/geo/geo.c                                  | 14 ++++++-------
 src/modules/commander/commander.cpp                |  8 ++++----
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp   | 23 +++++++++++-----------
 src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h |  4 ++--
 src/modules/systemlib/cpuload.c                    |  2 +-
 src/modules/systemlib/systemlib.c                  |  3 +++
 src/systemcmds/param/param.c                       |  5 +++--
 8 files changed, 33 insertions(+), 28 deletions(-)

diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 92e089217..6b14f5945 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -293,7 +293,7 @@ BlinkM::BlinkM(int bus, int blinkm) :
 	safety_sub_fd(-1),
 	num_of_cells(0),
 	detected_cells_runcount(0),
-	t_led_color({0}),
+	t_led_color{0},
 	t_led_blink(0),
 	led_thread_runcount(0),
 	led_interval(1000),
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 212e33ff8..230be9281 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -297,12 +297,12 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 		// TO DO - this is messed up and won't compile
 		float start_disp_x = radius * sinf(arc_start_bearing);
 		float start_disp_y = radius * cosf(arc_start_bearing);
-		float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep));
-		float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep));
-		float lon_start = lon_now + start_disp_x / 111111.0f;
-		float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
-		float lon_end = lon_now + end_disp_x / 111111.0f;
-		float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
+		float end_disp_x = radius * sinf(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		float end_disp_y = radius * cosf(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		float lon_start = (float)lon_now + start_disp_x / 111111.0f;
+		float lat_start = (float)lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
+		float lon_end = (float)lon_now + end_disp_x / 111111.0f;
+		float lat_end = (float)lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
 		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
 		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 
@@ -319,7 +319,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 
 	}
 
-	crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
+	crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
 	return_value = OK;
 	return return_value;
 }
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index efa26eb97..3bf3c857d 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -472,7 +472,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
 			// We use an float epsilon delta to test float equality.
 			if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
-				mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
+				mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
 
 			} else {
 
@@ -634,7 +634,7 @@ int commander_thread_main(int argc, char *argv[])
 	/* welcome user */
 	warnx("starting");
 
-	char *main_states_str[MAIN_STATE_MAX];
+	const char *main_states_str[MAIN_STATE_MAX];
 	main_states_str[MAIN_STATE_MANUAL]			= "MANUAL";
 	main_states_str[MAIN_STATE_ALTCTL]			= "ALTCTL";
 	main_states_str[MAIN_STATE_POSCTL]			= "POSCTL";
@@ -643,7 +643,7 @@ int commander_thread_main(int argc, char *argv[])
 	main_states_str[MAIN_STATE_AUTO_RTL]			= "AUTO_RTL";
 	main_states_str[MAIN_STATE_ACRO]			= "ACRO";
 
-	char *arming_states_str[ARMING_STATE_MAX];
+	const char *arming_states_str[ARMING_STATE_MAX];
 	arming_states_str[ARMING_STATE_INIT]			= "INIT";
 	arming_states_str[ARMING_STATE_STANDBY]			= "STANDBY";
 	arming_states_str[ARMING_STATE_ARMED]			= "ARMED";
@@ -652,7 +652,7 @@ int commander_thread_main(int argc, char *argv[])
 	arming_states_str[ARMING_STATE_REBOOT]			= "REBOOT";
 	arming_states_str[ARMING_STATE_IN_AIR_RESTORE]		= "IN_AIR_RESTORE";
 
-	char *nav_states_str[NAVIGATION_STATE_MAX];
+	const char *nav_states_str[NAVIGATION_STATE_MAX];
 	nav_states_str[NAVIGATION_STATE_MANUAL]			= "MANUAL";
 	nav_states_str[NAVIGATION_STATE_ALTCTL]			= "ALTCTL";
 	nav_states_str[NAVIGATION_STATE_POSCTL]			= "POSCTL";
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 000c02e3d..a9556f453 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -414,6 +414,17 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_attitude_sp_pub(-1),
 	_nav_capabilities_pub(-1),
 
+	_att(),
+	_att_sp(),
+	_nav_capabilities(),
+	_manual(),
+	_airspeed(),
+	_control_mode(),
+	_global_pos(),
+	_pos_sp_triplet(),
+	_sensor_combined(),
+	_range_finder(),
+
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
 
@@ -433,18 +444,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_airspeed_valid(false),
 	_groundspeed_undershoot(0.0f),
 	_global_pos_valid(false),
-	_att(),
-	_att_sp(),
-	_nav_capabilities(),
-	_manual(),
-	_airspeed(),
-	_control_mode(),
-	_global_pos(),
-	_pos_sp_triplet(),
-	_sensor_combined(),
 	_mTecs(),
-	_was_pos_control_mode(false),
-	_range_finder()
+	_was_pos_control_mode(false)
 {
 	_nav_capabilities.turn_distance = 0.0f;
 
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
index e4e405227..c22e60ae0 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
@@ -56,9 +56,9 @@ class BlockOutputLimiter: public SuperBlock
 {
 public:
 // methods
-	BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
+	BlockOutputLimiter(SuperBlock *parent, const char *name, bool fAngularLimit = false) :
 		SuperBlock(parent, name),
-		_isAngularLimit(isAngularLimit),
+		_isAngularLimit(fAngularLimit),
 		_min(this, "MIN"),
 		_max(this, "MAX")
 	{};
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index ccc516f39..7aa2f3a5f 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -67,7 +67,7 @@ __EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pT
 
 __EXPORT struct system_load_s system_load;
 
-extern FAR struct _TCB *sched_gettcb(pid_t pid);
+extern FAR struct tcb_s *sched_gettcb(pid_t pid);
 
 void cpuload_initialize_once()
 {
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index 9fff3eb88..90d8dd77c 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -54,6 +54,9 @@
 
 #include "systemlib.h"
 
+// Didn't seem right to include up_internal.h, so direct extern instead.
+extern void up_systemreset(void) noreturn_function;
+
 void
 systemreset(bool to_bootloader)
 {
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index f8bff2f6f..235ab7186 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -46,6 +46,7 @@
 #include <stdbool.h>
 #include <unistd.h>
 #include <fcntl.h>
+#include <math.h>
 #include <sys/stat.h>
 
 #include <arch/board/board.h>
@@ -228,8 +229,8 @@ do_show_print(void *arg, param_t param)
 	if (!(arg == NULL)) {
 
 		/* start search */
-		char *ss = search_string;
-		char *pp = p_name;
+		const char *ss = search_string;
+		const char *pp = p_name;
 		bool mismatch = false;
 
 		/* XXX this comparison is only ok for trailing wildcards */
-- 
cgit v1.2.3


From 4f06e9bdc9c0c6aa6712797a671b56f034656c41 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 6 Jul 2014 15:16:39 +0200
Subject: Move a seldomly used module to test config

---
 makefiles/config_px4fmu-v2_default.mk | 1 -
 makefiles/config_px4fmu-v2_test.mk    | 1 +
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 4b6b0a4d2..8e83df391 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -33,7 +33,6 @@ MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
-MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 66b2157ed..66d9efbf8 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -25,6 +25,7 @@ MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/pca8574
+MODULES		+= drivers/roboclaw
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests
-- 
cgit v1.2.3


From bd5d3ebf70dc9e1aef106b60a840c17824d35b9b Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 6 Jul 2014 16:08:37 +0200
Subject: telemetry_statur: use 4 separate topics

---
 src/modules/commander/commander.cpp        | 87 +++++++++++++++++++-----------
 src/modules/mavlink/mavlink_receiver.cpp   | 86 +++++++++++++++--------------
 src/modules/sdlog2/sdlog2.c                | 31 ++++++-----
 src/modules/sdlog2/sdlog2_format.h         |  8 +++
 src/modules/sdlog2/sdlog2_messages.h       | 35 +++++++-----
 src/modules/uORB/objects_common.cpp        |  5 +-
 src/modules/uORB/topics/telemetry_status.h | 14 ++++-
 7 files changed, 166 insertions(+), 100 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 699ced1ab..0003ec106 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -767,7 +767,6 @@ int commander_thread_main(int argc, char *argv[])
 
 	hrt_abstime last_idle_time = 0;
 	hrt_abstime start_time = 0;
-	hrt_abstime latest_heartbeat = 0;
 
 	bool status_changed = true;
 	bool param_init_forced = true;
@@ -797,10 +796,16 @@ int commander_thread_main(int argc, char *argv[])
 	struct offboard_control_setpoint_s sp_offboard;
 	memset(&sp_offboard, 0, sizeof(sp_offboard));
 
-	/* Subscribe to telemetry status */
-	int telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
-	struct telemetry_status_s telemetry;
-	memset(&telemetry, 0, sizeof(telemetry));
+	/* Subscribe to telemetry status topics */
+	int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
+	uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
+	bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
+
+	for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+		telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
+		telemetry_last_heartbeat[i] = 0;
+		telemetry_lost[i] = true;
+	}
 
 	/* Subscribe to global position */
 	int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
@@ -882,7 +887,6 @@ int commander_thread_main(int argc, char *argv[])
 	bool arming_state_changed = false;
 	bool main_state_changed = false;
 	bool failsafe_old = false;
-	bool system_checked = false;
 
 	while (!thread_should_exit) {
 
@@ -939,15 +943,6 @@ int commander_thread_main(int argc, char *argv[])
 			param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
 		}
 
-		/* Perform system checks (again) once params are loaded and MAVLink is up. */
-		if (!system_checked && mavlink_fd && 
-			(telemetry.heartbeat_time > 0) &&
-			(hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) {
-
-			(void)rc_calibration_check(mavlink_fd);
-			system_checked = true;
-		}
-
 		orb_check(sp_man_sub, &updated);
 
 		if (updated) {
@@ -960,10 +955,26 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
 		}
 
-		orb_check(telemetry_sub, &updated);
+		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+			orb_check(telemetry_subs[i], &updated);
 
-		if (updated) {
-			orb_copy(ORB_ID(telemetry_status), telemetry_sub, &telemetry);
+			if (updated) {
+				struct telemetry_status_s telemetry;
+				memset(&telemetry, 0, sizeof(telemetry));
+
+				orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
+
+				/* perform system checks when new telemetry link connected */
+				if (mavlink_fd &&
+					telemetry_last_heartbeat[i] == 0 &&
+					telemetry.heartbeat_time > 0 &&
+					hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) {
+
+					(void)rc_calibration_check(mavlink_fd);
+				}
+
+				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
+			}
 		}
 
 		orb_check(sensor_sub, &updated);
@@ -1367,28 +1378,40 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-		/* data link check */
-		if (telemetry.heartbeat_time >= latest_heartbeat) {
-			if (hrt_absolute_time() < telemetry.heartbeat_time + DL_TIMEOUT) {
+		/* data links check */
+		bool have_link = false;
+		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+			if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
 				/* handle the case where data link was regained */
-				if (status.data_link_lost) {
-					mavlink_log_critical(mavlink_fd, "#audio: data link regained");
-					status.data_link_lost = false;
-					status_changed = true;
+				if (telemetry_lost[i]) {
+					mavlink_log_critical(mavlink_fd, "#audio: data link %i regained", i);
+					telemetry_lost[i] = false;
 				}
-
-				/* Only consider data link with most recent heartbeat */
-				latest_heartbeat = telemetry.heartbeat_time;
+				have_link = true;
 
 			} else {
-				if (!status.data_link_lost) {
-					mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: DATA LINK LOST");
-					status.data_link_lost = true;
-					status_changed = true;
+				if (!telemetry_lost[i]) {
+					mavlink_log_critical(mavlink_fd, "#audio: data link %i lost", i);
+					telemetry_lost[i] = true;
 				}
 			}
 		}
 
+		if (have_link) {
+			/* handle the case where data link was regained */
+			if (status.data_link_lost) {
+				status.data_link_lost = false;
+				status_changed = true;
+			}
+
+		} else {
+			if (!status.data_link_lost) {
+				mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: ALL DATA LINKS LOST");
+				status.data_link_lost = true;
+				status_changed = true;
+			}
+		}
+
 		/* handle commands last, as the system needs to be updated to handle them */
 		orb_check(cmd_sub, &updated);
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6d361052c..60da9c47d 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -421,32 +421,35 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
 void
 MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 {
-	mavlink_radio_status_t rstatus;
-	mavlink_msg_radio_status_decode(msg, &rstatus);
-
-	struct telemetry_status_s tstatus;
-	memset(&tstatus, 0, sizeof(tstatus));
-
-	tstatus.timestamp = hrt_absolute_time();
-	tstatus.heartbeat_time = _telemetry_heartbeat_time;
-	tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
-	tstatus.rssi = rstatus.rssi;
-	tstatus.remote_rssi = rstatus.remrssi;
-	tstatus.txbuf = rstatus.txbuf;
-	tstatus.noise = rstatus.noise;
-	tstatus.remote_noise = rstatus.remnoise;
-	tstatus.rxerrors = rstatus.rxerrors;
-	tstatus.fixed = rstatus.fixed;
-
-	if (_telemetry_status_pub < 0) {
-		_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
+	/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
+	if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
+		mavlink_radio_status_t rstatus;
+		mavlink_msg_radio_status_decode(msg, &rstatus);
+
+		struct telemetry_status_s tstatus;
+		memset(&tstatus, 0, sizeof(tstatus));
+
+		tstatus.timestamp = hrt_absolute_time();
+		tstatus.heartbeat_time = _telemetry_heartbeat_time;
+		tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
+		tstatus.rssi = rstatus.rssi;
+		tstatus.remote_rssi = rstatus.remrssi;
+		tstatus.txbuf = rstatus.txbuf;
+		tstatus.noise = rstatus.noise;
+		tstatus.remote_noise = rstatus.remnoise;
+		tstatus.rxerrors = rstatus.rxerrors;
+		tstatus.fixed = rstatus.fixed;
+
+		if (_telemetry_status_pub < 0) {
+			_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
 
-	} else {
-		orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
-	}
+		} else {
+			orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
+		}
 
-	/* this means that heartbeats alone won't be published to the radio status no more */
-	_radio_status_available = true;
+		/* this means that heartbeats alone won't be published to the radio status no more */
+		_radio_status_available = true;
+	}
 }
 
 void
@@ -475,28 +478,31 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 void
 MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 {
-	mavlink_heartbeat_t hb;
-	mavlink_msg_heartbeat_decode(msg, &hb);
+	/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
+	if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
+		mavlink_heartbeat_t hb;
+		mavlink_msg_heartbeat_decode(msg, &hb);
 
-	/* ignore own heartbeats, accept only heartbeats from GCS */
-	if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
-		_telemetry_heartbeat_time = hrt_absolute_time();
+		/* ignore own heartbeats, accept only heartbeats from GCS */
+		if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
+			_telemetry_heartbeat_time = hrt_absolute_time();
 
-		/* if no radio status messages arrive, lets at least publish that heartbeats were received */
-		if (!_radio_status_available) {
+			/* if no radio status messages arrive, lets at least publish that heartbeats were received */
+			if (!_radio_status_available) {
 
-			struct telemetry_status_s tstatus;
-			memset(&tstatus, 0, sizeof(tstatus));
+				struct telemetry_status_s tstatus;
+				memset(&tstatus, 0, sizeof(tstatus));
 
-			tstatus.timestamp = _telemetry_heartbeat_time;
-			tstatus.heartbeat_time = _telemetry_heartbeat_time;
-			tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
+				tstatus.timestamp = _telemetry_heartbeat_time;
+				tstatus.heartbeat_time = _telemetry_heartbeat_time;
+				tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
 
-			if (_telemetry_status_pub < 0) {
-				_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
+				if (_telemetry_status_pub < 0) {
+					_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
 
-			} else {
-				orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
+				} else {
+					orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
+				}
 			}
 		}
 	}
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 39e5b6c41..0d36fa2c6 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -979,7 +979,7 @@ 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;
+			struct log_TEL_s log_TEL;
 			struct log_EST0_s log_EST0;
 			struct log_EST1_s log_EST1;
 			struct log_PWR_s log_PWR;
@@ -1019,7 +1019,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int esc_sub;
 		int global_vel_sp_sub;
 		int battery_sub;
-		int telemetry_sub;
+		int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
 		int range_finder_sub;
 		int estimator_status_sub;
 		int tecs_status_sub;
@@ -1049,7 +1049,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
 	subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
 	subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
-	subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
+	for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+		subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
+	}
 	subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 	subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
 	subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
@@ -1479,16 +1481,19 @@ int sdlog2_thread_main(int argc, char *argv[])
 		}
 
 		/* --- TELEMETRY --- */
-		if (copy_if_updated(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);
+		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+			if (copy_if_updated(telemetry_status_orb_id[i], subs.telemetry_subs[i], &buf.telemetry)) {
+				log_msg.msg_type = LOG_TEL0_MSG + i;
+				log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
+				log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
+				log_msg.body.log_TEL.noise = buf.telemetry.noise;
+				log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise;
+				log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors;
+				log_msg.body.log_TEL.fixed = buf.telemetry.fixed;
+				log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf;
+				log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time;
+				LOGBUFFER_WRITE_AND_COUNT(TEL);
+			}
 		}
 
 		/* --- BOTTOM DISTANCE --- */
diff --git a/src/modules/sdlog2/sdlog2_format.h b/src/modules/sdlog2/sdlog2_format.h
index dc5e6c8bd..aff0e3f48 100644
--- a/src/modules/sdlog2/sdlog2_format.h
+++ b/src/modules/sdlog2/sdlog2_format.h
@@ -91,6 +91,14 @@ struct log_format_s {
 						    .labels = _labels \
 	}
 
+#define LOG_FORMAT_S(_name, _struct_name, _format, _labels) { \
+		.type = LOG_##_name##_MSG, \
+			.length = sizeof(struct log_##_struct_name##_s) + LOG_PACKET_HEADER_LEN, \
+				  .name = #_name, \
+					  .format = _format, \
+						    .labels = _labels \
+	}
+
 #define LOG_FORMAT_MSG	  0x80
 
 #define LOG_PACKET_SIZE(_name)	LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 8c05e87c5..08a87e179 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -276,18 +276,7 @@ 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;
-};
-
+// ID 22 available
 // ID 23 available
 
 /* --- PWR - ONBOARD POWER SYSTEM --- */
@@ -385,6 +374,23 @@ struct log_EST1_s {
 	float s[16];
 };
 
+/* --- TEL0..3 - TELEMETRY STATUS --- */
+#define LOG_TEL0_MSG 34
+#define LOG_TEL1_MSG 35
+#define LOG_TEL2_MSG 36
+#define LOG_TEL3_MSG 37
+struct log_TEL_s {
+	uint8_t rssi;
+	uint8_t remote_rssi;
+	uint8_t noise;
+	uint8_t remote_noise;
+	uint16_t rxerrors;
+	uint16_t fixed;
+	uint8_t txbuf;
+	uint64_t heartbeat_time;
+};
+
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -432,7 +438,10 @@ 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"),
+	LOG_FORMAT_S(TEL0, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL1, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL2, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL3, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT(EST0, "ffffffffffffBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
 	LOG_FORMAT(EST1, "ffffffffffffffff",	"s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
 	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 687fc1d4a..9b118205e 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -186,7 +186,10 @@ ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
 
 #include "topics/telemetry_status.h"
-ORB_DEFINE(telemetry_status, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
 
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index e9e00d76c..c4b99d520 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -72,6 +72,18 @@ struct telemetry_status_s {
  * @}
  */
 
-ORB_DECLARE(telemetry_status);
+ORB_DECLARE(telemetry_status_0);
+ORB_DECLARE(telemetry_status_1);
+ORB_DECLARE(telemetry_status_2);
+ORB_DECLARE(telemetry_status_3);
+
+#define TELEMETRY_STATUS_ORB_ID_NUM	4
+
+static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
+	ORB_ID(telemetry_status_0),
+	ORB_ID(telemetry_status_1),
+	ORB_ID(telemetry_status_2),
+	ORB_ID(telemetry_status_3),
+};
 
 #endif /* TOPIC_TELEMETRY_STATUS_H */
-- 
cgit v1.2.3


From 54b55c37c7ffec5c340f100d2027e91971967793 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 6 Jul 2014 17:33:50 +0200
Subject: Reduce excessive stack sizes for FW estimation / control apps

---
 src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 2 +-
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index e4f805dc0..5d768b73d 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1533,7 +1533,7 @@ FixedwingEstimator::start()
 	_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 40,
-					 6000,
+					 5000,
 					 (main_t)&FixedwingEstimator::task_main_trampoline,
 					 nullptr);
 
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 000c02e3d..6c86544fa 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1449,7 +1449,7 @@ FixedwingPositionControl::start()
 	_control_task = task_spawn_cmd("fw_pos_control_l1",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       4048,
+				       3500,
 				       (main_t)&FixedwingPositionControl::task_main_trampoline,
 				       nullptr);
 
-- 
cgit v1.2.3


From 29eab09912ef38eca75b926d5006c0c59b4082b7 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 6 Jul 2014 17:58:21 +0200
Subject: sdlog2: TEL message format fixed

---
 src/modules/sdlog2/sdlog2_messages.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 08a87e179..87f7f718f 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -438,10 +438,10 @@ 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_S(TEL0, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
-	LOG_FORMAT_S(TEL1, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
-	LOG_FORMAT_S(TEL2, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
-	LOG_FORMAT_S(TEL3, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT(EST0, "ffffffffffffBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
 	LOG_FORMAT(EST1, "ffffffffffffffff",	"s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
 	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
-- 
cgit v1.2.3


From 278aafe939bc20c2882d17b6e21da5ab38d1f400 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 6 Jul 2014 11:06:14 -0700
Subject: Bring everything up to double

---
 src/lib/geo/geo.c | 22 ++++++++++------------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 230be9281..e600976ce 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -294,23 +294,21 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 		// calculate the position of the start and end points.  We should not be doing this often
 		// as this function generally will not be called repeatedly when we are out of the sector.
 
-		// TO DO - this is messed up and won't compile
-		float start_disp_x = radius * sinf(arc_start_bearing);
-		float start_disp_y = radius * cosf(arc_start_bearing);
-		float end_disp_x = radius * sinf(_wrapPI((double)(arc_start_bearing + arc_sweep)));
-		float end_disp_y = radius * cosf(_wrapPI((double)(arc_start_bearing + arc_sweep)));
-		float lon_start = (float)lon_now + start_disp_x / 111111.0f;
-		float lat_start = (float)lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
-		float lon_end = (float)lon_now + end_disp_x / 111111.0f;
-		float lat_end = (float)lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
-		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+		double start_disp_x = (double)radius * sin(arc_start_bearing);
+		double start_disp_y = (double)radius * cos(arc_start_bearing);
+		double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		double lon_start = lon_now + start_disp_x / 111111.0;
+		double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
+		double lon_end = lon_now + end_disp_x / 111111.0;
+		double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
+		double dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+		double dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 
 
 		if (dist_to_start < dist_to_end) {
 			crosstrack_error->distance = dist_to_start;
 			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-
 		} else {
 			crosstrack_error->past_end = true;
 			crosstrack_error->distance = dist_to_end;
-- 
cgit v1.2.3


From d2a2297a14bf2f4dbb71a6ed20c76617e93b14a2 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 6 Jul 2014 11:24:39 -0700
Subject: Fixes #1130

---
 src/modules/px4iofirmware/i2c.c       | 3 +++
 src/modules/px4iofirmware/px4io.h     | 4 ++--
 src/modules/px4iofirmware/registers.c | 2 +-
 src/modules/px4iofirmware/sbus.c      | 4 ++--
 4 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c
index 76762c0fc..6d1d1fc2d 100644
--- a/src/modules/px4iofirmware/i2c.c
+++ b/src/modules/px4iofirmware/i2c.c
@@ -64,12 +64,15 @@
 #define rCCR		REG(STM32_I2C_CCR_OFFSET)
 #define rTRISE		REG(STM32_I2C_TRISE_OFFSET)
 
+void			i2c_reset(void);
 static int		i2c_interrupt(int irq, void *context);
 static void		i2c_rx_setup(void);
 static void		i2c_tx_setup(void);
 static void		i2c_rx_complete(void);
 static void		i2c_tx_complete(void);
+#ifdef DEBUG
 static void		i2c_dump(void);
+#endif
 
 static DMA_HANDLE	rx_dma;
 static DMA_HANDLE	tx_dma;
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index ca175bfbc..b00a96717 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -219,8 +219,8 @@ extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
 extern void	dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
 extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
-extern bool	sbus1_output(uint16_t *values, uint16_t num_values);
-extern bool	sbus2_output(uint16_t *values, uint16_t num_values);
+extern void	sbus1_output(uint16_t *values, uint16_t num_values);
+extern void	sbus2_output(uint16_t *values, uint16_t num_values);
 
 /** global debug level for isr_debug() */
 extern volatile uint8_t debug_level;
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 50108ea1b..b37259997 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -711,7 +711,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 {
 #define SELECT_PAGE(_page_name)							\
 	do {									\
-		*values = &_page_name[0];					\
+		*values = (uint16_t *)&_page_name[0];				\
 		*num_values = sizeof(_page_name) / sizeof(_page_name[0]);	\
 	} while(0)
 
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 70ccab180..0f0414148 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -116,14 +116,14 @@ sbus_init(const char *device)
 	return sbus_fd;
 }
 
-bool
+void
 sbus1_output(uint16_t *values, uint16_t num_values)
 {
 	char a = 'A';
 	write(sbus_fd, &a, 1);
 }
 
-bool
+void
 sbus2_output(uint16_t *values, uint16_t num_values)
 {
 	char b = 'B';
-- 
cgit v1.2.3


From 06f08ad04d4cb21047944f350e4a75e88914e1e1 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sun, 6 Jul 2014 21:37:26 +0200
Subject: commander: require home position for MISSION, fallback to LOITER

---
 src/modules/commander/commander.cpp            | 7 +++++++
 src/modules/commander/state_machine_helper.cpp | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index efa26eb97..1da364aa5 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1718,6 +1718,13 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 			}
 
             print_reject_mode(status, "AUTO_MISSION");
+
+            // fallback to LOITER if home position not set
+            res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
+
+            if (res != TRANSITION_DENIED) {
+                break;  // changed successfully or already in this state
+            }
 		}
 
         // fallback to POSCTL
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 423ce2f23..7fb2e08db 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -271,7 +271,6 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 		}
 		break;
 
-	case MAIN_STATE_AUTO_MISSION:
 	case MAIN_STATE_AUTO_LOITER:
 		/* need global position estimate */
 		if (status->condition_global_position_valid) {
@@ -279,6 +278,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 		}
 		break;
 
+	case MAIN_STATE_AUTO_MISSION:
 	case MAIN_STATE_AUTO_RTL:
 		/* need global position and home position */
 		if (status->condition_global_position_valid && status->condition_home_position_valid) {
-- 
cgit v1.2.3


From 2a79689224a381cf777c555d330f0a2aca8e3d9a Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 6 Jul 2014 16:51:06 -0700
Subject: Fix unused variable warnings

---
 src/modules/commander/commander.cpp                      | 4 ++--
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 7 +------
 src/modules/fw_pos_control_l1/mtecs/mTecs.cpp            | 2 +-
 src/modules/mavlink/mavlink_ftp.cpp                      | 2 +-
 src/systemcmds/tests/test_mathlib.cpp                    | 3 +++
 5 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index f83c1caf8..3d4a297f7 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -773,7 +773,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	bool updated = false;
 
-	bool rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
+	rc_calibration_check(mavlink_fd);
 
 	/* Subscribe to safety topic */
 	int safety_sub = orb_subscribe(ORB_ID(safety));
@@ -934,7 +934,7 @@ int commander_thread_main(int argc, char *argv[])
 				status_changed = true;
 
 				/* re-check RC calibration */
-				rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
+				rc_calibration_check(mavlink_fd);
 			}
 
 			/* navigation parameters */
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 3e835cf81..3d6c62434 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -807,12 +807,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 	float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
 
-	// XXX re-visit
-	float baro_altitude = _global_pos.alt;
-
 	/* filter speed and altitude for controller */
 	math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
-	math::Vector<3> accel_earth = _R_nb * accel_body;
 
 	float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
 
@@ -945,8 +941,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			float airspeed_land = 1.3f * _parameters.airspeed_min;
 			float airspeed_approach = 1.3f * _parameters.airspeed_min;
 
-			/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
-			float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
+			/* Calculate altitude of last ordinary waypoint L */
 			float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
 
 			float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
index fc0a2551c..2e37d166e 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -220,7 +220,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
 	/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
 	 * parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
 	 * is running) */
-	bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
+	limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
 
 	/* Write part of the status message */
 	_status.flightPathAngleSp = flightPathAngleSp;
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index ca846a465..55a472bf6 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -346,7 +346,7 @@ MavlinkFTP::_workWrite(Request *req)
 MavlinkFTP::ErrorCode
 MavlinkFTP::_workRemove(Request *req)
 {
-	auto hdr = req->header();
+	//auto hdr = req->header();
 
 	// for now, send error reply
 	return kErrPerm;
diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp
index 00c649c75..df3ddb966 100644
--- a/src/systemcmds/tests/test_mathlib.cpp
+++ b/src/systemcmds/tests/test_mathlib.cpp
@@ -96,8 +96,11 @@ int test_mathlib(int argc, char *argv[])
 		TEST_OP("Vector<3> %% Vector<3>", v1 % v2);
 		TEST_OP("Vector<3> length", v1.length());
 		TEST_OP("Vector<3> length squared", v1.length_squared());
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
 		TEST_OP("Vector<3> element read", volatile float a = v1(0));
 		TEST_OP("Vector<3> element read direct", volatile float a = v1.data[0]);
+#pragma GCC diagnostic pop
 		TEST_OP("Vector<3> element write", v1(0) = 1.0f);
 		TEST_OP("Vector<3> element write direct", v1.data[0] = 1.0f);
 	}
-- 
cgit v1.2.3