From bb6b442ca66a8349eb934a43b5886f44c2b7ab87 Mon Sep 17 00:00:00 2001
From: Liio Chen <liio@qq.com>
Date: Thu, 29 May 2014 17:42:05 +0800
Subject: Magnetometer data is not update
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Magnetometer is not updated during a read operation, because the function "lsm303d_mag::measure" is not called.

”!!!JUST A GUESS!!!“
---
 src/drivers/lsm303d/lsm303d.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 4ca8b5e42..8bf76dcc3 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -880,7 +880,7 @@ LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
 
 	/* manual measurement */
 	_mag_reports->flush();
-	measure();
+	_mag->measure();
 
 	/* measurement will have generated a report, copy it out */
 	if (_mag_reports->get(mrb))
-- 
cgit v1.2.3


From ead91f325989cda312424ec3b2cc7fd11913f5c8 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Thu, 29 May 2014 22:42:33 +0200
Subject: position_estimator_inav: GPS delay compensation

---
 .../position_estimator_inav_main.c                 | 50 ++++++++++++++++++----
 .../position_estimator_inav_params.c               |  3 ++
 .../position_estimator_inav_params.h               |  2 +
 3 files changed, 47 insertions(+), 8 deletions(-)

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index d7503e42d..d6a44304d 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -71,6 +71,8 @@
 #include "inertial_filter.h"
 
 #define MIN_VALID_W 0.00001f
+#define PUB_INTERVAL 10000	// limit publish rate to 100 Hz
+#define EST_BUF_SIZE 500000 / PUB_INTERVAL		// buffer size is 0.5s
 
 static bool thread_should_exit = false; /**< Deamon exit flag */
 static bool thread_running = false; /**< Deamon status flag */
@@ -83,7 +85,6 @@ static const hrt_abstime sonar_timeout = 150000;	// sonar timeout = 150ms
 static const hrt_abstime sonar_valid_timeout = 1000000;	// estimate sonar distance during this time after sonar loss
 static const hrt_abstime xy_src_timeout = 2000000;	// estimate position during this time after position sources loss
 static const uint32_t updates_counter_len = 1000000;
-static const uint32_t pub_interval = 10000;	// limit publish rate to 100 Hz
 static const float max_flow = 1.0f;	// max flow value that can be used, rad/s
 
 __EXPORT int position_estimator_inav_main(int argc, char *argv[]);
@@ -92,6 +93,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[]);
 
 static void usage(const char *reason);
 
+static inline int min(int val1, int val2)
+{
+	return (val1 < val2) ? val1 : val2;
+}
+
+static inline int max(int val1, int val2)
+{
+	return (val1 > val2) ? val1 : val2;
+}
+
 /**
  * Print the correct usage.
  */
@@ -199,6 +210,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float y_est[2] = { 0.0f, 0.0f };	// pos, vel
 	float z_est[2] = { 0.0f, 0.0f };	// pos, vel
 
+	float est_buf[EST_BUF_SIZE][3][2];
+	memset(est_buf, 0, sizeof(est_buf));
+	int est_buf_ptr = 0;
+
 	float eph = 1.0;
 	float epv = 1.0;
 
@@ -657,16 +672,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							y_est[1] = gps.vel_e_m_s;
 						}
 
+						/* calculate index of estimated values in buffer */
+						int est_i = est_buf_ptr - 1 - min(EST_BUF_SIZE - 1, max(0, (int)(params.delay_gps * 1000000.0f / PUB_INTERVAL)));
+						if (est_i < 0) {
+							est_i += EST_BUF_SIZE;
+						}
+
 						/* calculate correction for position */
-						corr_gps[0][0] = gps_proj[0] - x_est[0];
-						corr_gps[1][0] = gps_proj[1] - y_est[0];
-						corr_gps[2][0] = local_pos.ref_alt - alt - z_est[0];
+						corr_gps[0][0] = gps_proj[0] - est_buf[est_i][0][0];
+						corr_gps[1][0] = gps_proj[1] - est_buf[est_i][1][0];
+						corr_gps[2][0] = local_pos.ref_alt - alt - est_buf[est_i][2][0];
 
 						/* calculate correction for velocity */
 						if (gps.vel_ned_valid) {
-							corr_gps[0][1] = gps.vel_n_m_s - x_est[1];
-							corr_gps[1][1] = gps.vel_e_m_s - y_est[1];
-							corr_gps[2][1] = gps.vel_d_m_s - z_est[1];
+							corr_gps[0][1] = gps.vel_n_m_s - est_buf[est_i][0][1];
+							corr_gps[1][1] = gps.vel_e_m_s - est_buf[est_i][1][1];
+							corr_gps[2][1] = gps.vel_d_m_s - est_buf[est_i][2][1];
 
 						} else {
 							corr_gps[0][1] = 0.0f;
@@ -910,8 +931,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			}
 		}
 
-		if (t > pub_last + pub_interval) {
+		if (t > pub_last + PUB_INTERVAL) {
 			pub_last = t;
+
+			/* push current estimate to FIFO buffer */
+			est_buf[est_buf_ptr][0][0] = x_est[0];
+			est_buf[est_buf_ptr][0][1] = x_est[1];
+			est_buf[est_buf_ptr][1][0] = y_est[0];
+			est_buf[est_buf_ptr][1][1] = y_est[1];
+			est_buf[est_buf_ptr][2][0] = z_est[0];
+			est_buf[est_buf_ptr][2][1] = z_est[1];
+			est_buf_ptr++;
+			if (est_buf_ptr >= EST_BUF_SIZE) {
+				est_buf_ptr = 0;
+			}
+
 			/* publish local position */
 			local_pos.xy_valid = can_estimate_xy;
 			local_pos.v_xy_valid = can_estimate_xy;
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index 8aa08b6f2..8509d15cb 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -55,6 +55,7 @@ PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
 PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
 PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
 PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
+PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.1f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
@@ -73,6 +74,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
 	h->land_t = param_find("INAV_LAND_T");
 	h->land_disp = param_find("INAV_LAND_DISP");
 	h->land_thr = param_find("INAV_LAND_THR");
+	h->delay_gps = param_find("INAV_DELAY_GPS");
 
 	return OK;
 }
@@ -94,6 +96,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
 	param_get(h->land_t, &(p->land_t));
 	param_get(h->land_disp, &(p->land_disp));
 	param_get(h->land_thr, &(p->land_thr));
+	param_get(h->delay_gps, &(p->delay_gps));
 
 	return OK;
 }
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h
index 08ec996a1..df1cfaa71 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.h
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h
@@ -56,6 +56,7 @@ struct position_estimator_inav_params {
 	float land_t;
 	float land_disp;
 	float land_thr;
+	float delay_gps;
 };
 
 struct position_estimator_inav_param_handles {
@@ -74,6 +75,7 @@ struct position_estimator_inav_param_handles {
 	param_t land_t;
 	param_t land_disp;
 	param_t land_thr;
+	param_t delay_gps;
 };
 
 /**
-- 
cgit v1.2.3


From fdd5d7b8b8835dd3e2655cd104f7440c9f56ba27 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 30 May 2014 11:03:06 +0200
Subject: position_estimator_inav: add buffer for rotation matrix to do accel
 bias correction properly

---
 .../position_estimator_inav_main.c                 | 61 ++++++++++++++++------
 1 file changed, 45 insertions(+), 16 deletions(-)

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index d6a44304d..aa533c777 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -72,7 +72,7 @@
 
 #define MIN_VALID_W 0.00001f
 #define PUB_INTERVAL 10000	// limit publish rate to 100 Hz
-#define EST_BUF_SIZE 500000 / PUB_INTERVAL		// buffer size is 0.5s
+#define EST_BUF_SIZE 250000 / PUB_INTERVAL		// buffer size is 0.5s
 
 static bool thread_should_exit = false; /**< Deamon exit flag */
 static bool thread_running = false; /**< Deamon status flag */
@@ -146,7 +146,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
-					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000,
+					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
 					       position_estimator_inav_thread_main,
 					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
 		exit(0);
@@ -210,9 +210,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float y_est[2] = { 0.0f, 0.0f };	// pos, vel
 	float z_est[2] = { 0.0f, 0.0f };	// pos, vel
 
-	float est_buf[EST_BUF_SIZE][3][2];
+	float est_buf[EST_BUF_SIZE][3][2];	// estimated position buffer
+	float R_buf[EST_BUF_SIZE][3][3];	// rotation matrix buffer
+	float R_gps[3][3];					// rotation matrix for GPS correction moment
 	memset(est_buf, 0, sizeof(est_buf));
-	int est_buf_ptr = 0;
+	memset(R_buf, 0, sizeof(R_buf));
+	memset(R_gps, 0, sizeof(R_gps));
+	int buf_ptr = 0;
 
 	float eph = 1.0;
 	float epv = 1.0;
@@ -673,7 +677,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						}
 
 						/* calculate index of estimated values in buffer */
-						int est_i = est_buf_ptr - 1 - min(EST_BUF_SIZE - 1, max(0, (int)(params.delay_gps * 1000000.0f / PUB_INTERVAL)));
+						int est_i = buf_ptr - 1 - min(EST_BUF_SIZE - 1, max(0, (int)(params.delay_gps * 1000000.0f / PUB_INTERVAL)));
 						if (est_i < 0) {
 							est_i += EST_BUF_SIZE;
 						}
@@ -695,6 +699,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							corr_gps[2][1] = 0.0f;
 						}
 
+						/* save rotation matrix at this moment */
+						memcpy(R_gps, R_buf[est_i], sizeof(R_gps));
+
 						eph = fminf(eph, gps.eph_m);
 						epv = fminf(epv, gps.epv_m);
 
@@ -784,7 +791,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			corr_baro += offs_corr;
 		}
 
-		/* accelerometer bias correction */
+		/* accelerometer bias correction for GPS (use buffered rotation matrix) */
 		float accel_bias_corr[3] = { 0.0f, 0.0f, 0.0f };
 
 		if (use_gps_xy) {
@@ -798,6 +805,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p;
 		}
 
+		/* transform error vector from NED frame to body frame */
+		for (int i = 0; i < 3; i++) {
+			float c = 0.0f;
+
+			for (int j = 0; j < 3; j++) {
+				c += R_gps[j][i] * accel_bias_corr[j];
+			}
+
+			if (isfinite(c)) {
+				acc_bias[i] += c * params.w_acc_bias * dt;
+			}
+		}
+
+		/* accelerometer bias correction for flow and baro (assume that there is no delay) */
+		accel_bias_corr[0] = 0.0f;
+		accel_bias_corr[1] = 0.0f;
+		accel_bias_corr[2] = 0.0f;
+
 		if (use_flow) {
 			accel_bias_corr[0] -= corr_flow[0] * params.w_xy_flow;
 			accel_bias_corr[1] -= corr_flow[1] * params.w_xy_flow;
@@ -934,16 +959,20 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		if (t > pub_last + PUB_INTERVAL) {
 			pub_last = t;
 
-			/* push current estimate to FIFO buffer */
-			est_buf[est_buf_ptr][0][0] = x_est[0];
-			est_buf[est_buf_ptr][0][1] = x_est[1];
-			est_buf[est_buf_ptr][1][0] = y_est[0];
-			est_buf[est_buf_ptr][1][1] = y_est[1];
-			est_buf[est_buf_ptr][2][0] = z_est[0];
-			est_buf[est_buf_ptr][2][1] = z_est[1];
-			est_buf_ptr++;
-			if (est_buf_ptr >= EST_BUF_SIZE) {
-				est_buf_ptr = 0;
+			/* push current estimate to buffer */
+			est_buf[buf_ptr][0][0] = x_est[0];
+			est_buf[buf_ptr][0][1] = x_est[1];
+			est_buf[buf_ptr][1][0] = y_est[0];
+			est_buf[buf_ptr][1][1] = y_est[1];
+			est_buf[buf_ptr][2][0] = z_est[0];
+			est_buf[buf_ptr][2][1] = z_est[1];
+
+			/* push current rotation matrix to buffer */
+			memcpy(R_buf[buf_ptr], att.R, sizeof(att.R));
+
+			buf_ptr++;
+			if (buf_ptr >= EST_BUF_SIZE) {
+				buf_ptr = 0;
 			}
 
 			/* publish local position */
-- 
cgit v1.2.3


From 0bdde089243bbf7e3651f9535f5c847f894e0ac7 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 30 May 2014 21:18:03 +0200
Subject: position_estimator_inav: default GPS delay changed to 0.2s

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

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index 8509d15cb..d88419c25 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -55,7 +55,7 @@ PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
 PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
 PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
 PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
-PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.1f);
+PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
-- 
cgit v1.2.3


From 47c9d326209034dc373ab54647d29df4e63b5285 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 30 May 2014 21:23:26 +0200
Subject: ubx: disable all debug messages

---
 src/drivers/gps/ubx.cpp | 170 ++++++++++++++++++++++++------------------------
 1 file changed, 85 insertions(+), 85 deletions(-)

diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index 7502809bd..cbfb61d00 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -219,19 +219,19 @@ UBX::configure(unsigned &baudrate)
 		return 1;
 	}
 
-	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
-
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("MSG CFG FAIL: NAV SVINFO");
-		return 1;
-	}
-
-	configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
-
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("MSG CFG FAIL: MON HW");
-		return 1;
-	}
+//	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
+//
+//	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
+//		warnx("MSG CFG FAIL: NAV SVINFO");
+//		return 1;
+//	}
+//
+//	configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
+//
+//	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
+//		warnx("MSG CFG FAIL: MON HW");
+//		return 1;
+//	}
 
 	_configured = true;
 	return 0;
@@ -486,61 +486,61 @@ UBX::handle_message()
 					break;
 				}
 
-			case UBX_MESSAGE_NAV_SVINFO: {
-					//printf("GOT NAV_SVINFO\n");
-					const int length_part1 = 8;
-					gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer;
-					const int length_part2 = 12;
-					gps_bin_nav_svinfo_part2_packet_t *packet_part2;
-
-					uint8_t satellites_used = 0;
-					int i;
-
-					//printf("Number of Channels: %d\n", packet_part1->numCh);
-					for (i = 0; i < packet_part1->numCh; i++) {
-						/* set pointer to sattelite_i information */
-						packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]);
-
-						/* write satellite information to global storage */
-						uint8_t sv_used = packet_part2->flags & 0x01;
-
-						if (sv_used) {
-							/* count SVs used for NAV */
-							satellites_used++;
-						}
-
-						/* record info for all channels, whether or not the SV is used for NAV */
-						_gps_position->satellite_used[i] = sv_used;
-						_gps_position->satellite_snr[i] = packet_part2->cno;
-						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
-						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
-						_gps_position->satellite_prn[i] = packet_part2->svid;
-						//printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid);
-					}
-
-					for (i = packet_part1->numCh; i < 20; i++) {
-						/* unused channels have to be set to zero for e.g. MAVLink */
-						_gps_position->satellite_prn[i] = 0;
-						_gps_position->satellite_used[i] = 0;
-						_gps_position->satellite_snr[i] = 0;
-						_gps_position->satellite_elevation[i] = 0;
-						_gps_position->satellite_azimuth[i] = 0;
-					}
-
-					_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
-
-					if (packet_part1->numCh > 0) {
-						_gps_position->satellite_info_available = true;
-
-					} else {
-						_gps_position->satellite_info_available = false;
-					}
-
-					_gps_position->timestamp_satellites = hrt_absolute_time();
-
-					ret = 1;
-					break;
-				}
+//			case UBX_MESSAGE_NAV_SVINFO: {
+//					//printf("GOT NAV_SVINFO\n");
+//					const int length_part1 = 8;
+//					gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer;
+//					const int length_part2 = 12;
+//					gps_bin_nav_svinfo_part2_packet_t *packet_part2;
+//
+//					uint8_t satellites_used = 0;
+//					int i;
+//
+//					//printf("Number of Channels: %d\n", packet_part1->numCh);
+//					for (i = 0; i < packet_part1->numCh; i++) {
+//						/* set pointer to sattelite_i information */
+//						packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]);
+//
+//						/* write satellite information to global storage */
+//						uint8_t sv_used = packet_part2->flags & 0x01;
+//
+//						if (sv_used) {
+//							/* count SVs used for NAV */
+//							satellites_used++;
+//						}
+//
+//						/* record info for all channels, whether or not the SV is used for NAV */
+//						_gps_position->satellite_used[i] = sv_used;
+//						_gps_position->satellite_snr[i] = packet_part2->cno;
+//						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
+//						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
+//						_gps_position->satellite_prn[i] = packet_part2->svid;
+//						//printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid);
+//					}
+//
+//					for (i = packet_part1->numCh; i < 20; i++) {
+//						/* unused channels have to be set to zero for e.g. MAVLink */
+//						_gps_position->satellite_prn[i] = 0;
+//						_gps_position->satellite_used[i] = 0;
+//						_gps_position->satellite_snr[i] = 0;
+//						_gps_position->satellite_elevation[i] = 0;
+//						_gps_position->satellite_azimuth[i] = 0;
+//					}
+//
+//					_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
+//
+//					if (packet_part1->numCh > 0) {
+//						_gps_position->satellite_info_available = true;
+//
+//					} else {
+//						_gps_position->satellite_info_available = false;
+//					}
+//
+//					_gps_position->timestamp_satellites = hrt_absolute_time();
+//
+//					ret = 1;
+//					break;
+//				}
 
 			case UBX_MESSAGE_NAV_VELNED: {
 					// printf("GOT NAV_VELNED\n");
@@ -573,23 +573,23 @@ UBX::handle_message()
 				break;
 			}
 
-		case UBX_CLASS_MON: {
-			switch (_message_id) {
-			case UBX_MESSAGE_MON_HW: {
-
-					struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
-
-					_gps_position->noise_per_ms = p->noisePerMS;
-					_gps_position->jamming_indicator = p->jamInd;
-
-					ret = 1;
-					break;
-				}
-
-			default:
-				break;
-			}
-		}
+//		case UBX_CLASS_MON: {
+//			switch (_message_id) {
+//			case UBX_MESSAGE_MON_HW: {
+//
+//					struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
+//
+//					_gps_position->noise_per_ms = p->noisePerMS;
+//					_gps_position->jamming_indicator = p->jamInd;
+//
+//					ret = 1;
+//					break;
+//				}
+//
+//			default:
+//				break;
+//			}
+//		}
 
 		default:
 			break;
-- 
cgit v1.2.3


From efb44969d584e1b2613d96a795fc94a3ef728d9a Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 30 May 2014 21:57:48 +0200
Subject: ubx: send update only if got POSLLH & VELNED & TIMEUTC

---
 src/drivers/gps/ubx.cpp | 184 +++++++++++++++++++++++++-----------------------
 src/drivers/gps/ubx.h   |   3 +
 2 files changed, 100 insertions(+), 87 deletions(-)

diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index cbfb61d00..c143eeb0c 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -69,6 +69,9 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) :
 	_gps_position(gps_position),
 	_configured(false),
 	_waiting_for_ack(false),
+	_got_posllh(false),
+	_got_velned(false),
+	_got_timeutc(false),
 	_disable_cmd_last(0)
 {
 	decode_init();
@@ -219,19 +222,19 @@ UBX::configure(unsigned &baudrate)
 		return 1;
 	}
 
-//	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
-//
-//	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-//		warnx("MSG CFG FAIL: NAV SVINFO");
-//		return 1;
-//	}
-//
-//	configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
-//
-//	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-//		warnx("MSG CFG FAIL: MON HW");
-//		return 1;
-//	}
+	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
+
+	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
+		warnx("MSG CFG FAIL: NAV SVINFO");
+		return 1;
+	}
+
+	configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
+
+	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
+		warnx("MSG CFG FAIL: MON HW");
+		return 1;
+	}
 
 	_configured = true;
 	return 0;
@@ -275,9 +278,10 @@ UBX::receive(unsigned timeout)
 	bool handled = false;
 
 	while (true) {
+		bool ready_to_return = _configured ? (_got_posllh && _got_velned && _got_timeutc) : handled;
 
 		/* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), handled ? UBX_PACKET_TIMEOUT : timeout);
+		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), ready_to_return ? UBX_PACKET_TIMEOUT : timeout);
 
 		if (ret < 0) {
 			/* something went wrong when polling */
@@ -286,7 +290,10 @@ UBX::receive(unsigned timeout)
 
 		} else if (ret == 0) {
 			/* return success after short delay after receiving a packet or timeout after long delay */
-			if (handled) {
+			if (ready_to_return) {
+				_got_posllh = false;
+				_got_velned = false;
+				_got_timeutc = false;
 				return 1;
 
 			} else {
@@ -438,6 +445,7 @@ UBX::handle_message()
 
 					_rate_count_lat_lon++;
 
+					_got_posllh = true;
 					ret = 1;
 					break;
 				}
@@ -482,65 +490,66 @@ UBX::handle_message()
 					_gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
 					_gps_position->timestamp_time = hrt_absolute_time();
 
+					_got_timeutc = true;
 					ret = 1;
 					break;
 				}
 
-//			case UBX_MESSAGE_NAV_SVINFO: {
-//					//printf("GOT NAV_SVINFO\n");
-//					const int length_part1 = 8;
-//					gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer;
-//					const int length_part2 = 12;
-//					gps_bin_nav_svinfo_part2_packet_t *packet_part2;
-//
-//					uint8_t satellites_used = 0;
-//					int i;
-//
-//					//printf("Number of Channels: %d\n", packet_part1->numCh);
-//					for (i = 0; i < packet_part1->numCh; i++) {
-//						/* set pointer to sattelite_i information */
-//						packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]);
-//
-//						/* write satellite information to global storage */
-//						uint8_t sv_used = packet_part2->flags & 0x01;
-//
-//						if (sv_used) {
-//							/* count SVs used for NAV */
-//							satellites_used++;
-//						}
-//
-//						/* record info for all channels, whether or not the SV is used for NAV */
-//						_gps_position->satellite_used[i] = sv_used;
-//						_gps_position->satellite_snr[i] = packet_part2->cno;
-//						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
-//						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
-//						_gps_position->satellite_prn[i] = packet_part2->svid;
-//						//printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid);
-//					}
-//
-//					for (i = packet_part1->numCh; i < 20; i++) {
-//						/* unused channels have to be set to zero for e.g. MAVLink */
-//						_gps_position->satellite_prn[i] = 0;
-//						_gps_position->satellite_used[i] = 0;
-//						_gps_position->satellite_snr[i] = 0;
-//						_gps_position->satellite_elevation[i] = 0;
-//						_gps_position->satellite_azimuth[i] = 0;
-//					}
-//
-//					_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
-//
-//					if (packet_part1->numCh > 0) {
-//						_gps_position->satellite_info_available = true;
-//
-//					} else {
-//						_gps_position->satellite_info_available = false;
-//					}
-//
-//					_gps_position->timestamp_satellites = hrt_absolute_time();
-//
-//					ret = 1;
-//					break;
-//				}
+			case UBX_MESSAGE_NAV_SVINFO: {
+					//printf("GOT NAV_SVINFO\n");
+					const int length_part1 = 8;
+					gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer;
+					const int length_part2 = 12;
+					gps_bin_nav_svinfo_part2_packet_t *packet_part2;
+
+					uint8_t satellites_used = 0;
+					int i;
+
+					//printf("Number of Channels: %d\n", packet_part1->numCh);
+					for (i = 0; i < packet_part1->numCh; i++) {
+						/* set pointer to sattelite_i information */
+						packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]);
+
+						/* write satellite information to global storage */
+						uint8_t sv_used = packet_part2->flags & 0x01;
+
+						if (sv_used) {
+							/* count SVs used for NAV */
+							satellites_used++;
+						}
+
+						/* record info for all channels, whether or not the SV is used for NAV */
+						_gps_position->satellite_used[i] = sv_used;
+						_gps_position->satellite_snr[i] = packet_part2->cno;
+						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
+						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
+						_gps_position->satellite_prn[i] = packet_part2->svid;
+						//printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid);
+					}
+
+					for (i = packet_part1->numCh; i < 20; i++) {
+						/* unused channels have to be set to zero for e.g. MAVLink */
+						_gps_position->satellite_prn[i] = 0;
+						_gps_position->satellite_used[i] = 0;
+						_gps_position->satellite_snr[i] = 0;
+						_gps_position->satellite_elevation[i] = 0;
+						_gps_position->satellite_azimuth[i] = 0;
+					}
+
+					_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
+
+					if (packet_part1->numCh > 0) {
+						_gps_position->satellite_info_available = true;
+
+					} else {
+						_gps_position->satellite_info_available = false;
+					}
+
+					_gps_position->timestamp_satellites = hrt_absolute_time();
+
+					ret = 1;
+					break;
+				}
 
 			case UBX_MESSAGE_NAV_VELNED: {
 					// printf("GOT NAV_VELNED\n");
@@ -557,6 +566,7 @@ UBX::handle_message()
 
 					_rate_count_vel++;
 
+					_got_velned = true;
 					ret = 1;
 					break;
 				}
@@ -573,23 +583,23 @@ UBX::handle_message()
 				break;
 			}
 
-//		case UBX_CLASS_MON: {
-//			switch (_message_id) {
-//			case UBX_MESSAGE_MON_HW: {
-//
-//					struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
-//
-//					_gps_position->noise_per_ms = p->noisePerMS;
-//					_gps_position->jamming_indicator = p->jamInd;
-//
-//					ret = 1;
-//					break;
-//				}
-//
-//			default:
-//				break;
-//			}
-//		}
+		case UBX_CLASS_MON: {
+			switch (_message_id) {
+			case UBX_MESSAGE_MON_HW: {
+
+					struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
+
+					_gps_position->noise_per_ms = p->noisePerMS;
+					_gps_position->jamming_indicator = p->jamInd;
+
+					ret = 1;
+					break;
+				}
+
+			default:
+				break;
+			}
+		}
 
 		default:
 			break;
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h
index 5cf47b60b..43d688893 100644
--- a/src/drivers/gps/ubx.h
+++ b/src/drivers/gps/ubx.h
@@ -397,6 +397,9 @@ private:
 	struct vehicle_gps_position_s *_gps_position;
 	bool			_configured;
 	bool			_waiting_for_ack;
+	bool			_got_posllh;
+	bool			_got_velned;
+	bool			_got_timeutc;
 	uint8_t			_message_class_needed;
 	uint8_t			_message_id_needed;
 	ubx_decode_state_t	_decode_state;
-- 
cgit v1.2.3


From 6b8248ee29f38ae0f2ff10ebc23b1816e1fc6829 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sat, 31 May 2014 16:19:38 +0200
Subject: position_estimator_inav: more safe EPH/EPV estimation, minor changes

---
 .../position_estimator_inav_main.c                 | 47 ++++++++++++++--------
 1 file changed, 30 insertions(+), 17 deletions(-)

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index aa533c777..f908d7a3b 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -79,7 +79,7 @@ static bool thread_running = false; /**< Deamon status flag */
 static int position_estimator_inav_task; /**< Handle of deamon task / thread */
 static bool verbose_mode = false;
 
-static const hrt_abstime gps_topic_timeout = 1000000;		// GPS topic timeout = 1s
+static const hrt_abstime gps_topic_timeout = 500000;		// GPS topic timeout = 0.5s
 static const hrt_abstime flow_topic_timeout = 1000000;	// optical flow topic timeout = 1s
 static const hrt_abstime sonar_timeout = 150000;	// sonar timeout = 150ms
 static const hrt_abstime sonar_valid_timeout = 1000000;	// estimate sonar distance during this time after sonar loss
@@ -218,8 +218,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	memset(R_gps, 0, sizeof(R_gps));
 	int buf_ptr = 0;
 
-	float eph = 1.0;
-	float epv = 1.0;
+	static const float min_eph_epv = 2.0f;	// min EPH/EPV, used for weight calculation
+	static const float max_eph_epv = 20.0f;	// max EPH/EPV acceptable for estimation
+
+	float eph = max_eph_epv;
+	float epv = 1.0f;
+
+	float eph_flow = 1.0f;
 
 	float x_est_prev[2], y_est_prev[2], z_est_prev[2];
 	memset(x_est_prev, 0, sizeof(x_est_prev));
@@ -276,9 +281,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float corr_flow[] = { 0.0f, 0.0f };	// N E
 	float w_flow = 0.0f;
 
-	static float min_eph_epv = 2.0f;	// min EPH/EPV, used for weight calculation
-	static float max_eph_epv = 10.0f;	// max EPH/EPV acceptable for estimation
-
 	float sonar_prev = 0.0f;
 	hrt_abstime flow_prev = 0;			// time of last flow measurement
 	hrt_abstime sonar_time = 0;			// time of last sonar measurement (not filtered)
@@ -555,9 +557,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						w_flow *= 0.05f;
 					}
 
-					flow_valid = true;
+					/* under ideal conditions, on 1m distance assume EPH = 10cm */
+					eph_flow = 0.1 / w_flow;
 
-					eph = fminf(eph, 0.1 / att.R[2][2] / flow_q * fmaxf(1.0f, flow_dist));	// under ideal conditions, on 1m distance assume EPH = 10cm
+					flow_valid = true;
 
 				} else {
 					w_flow = 0.0f;
@@ -616,13 +619,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 				/* hysteresis for GPS quality */
 				if (gps_valid) {
-					if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) {
+					if (gps.eph_m > max_eph_epv || gps.epv_m > max_eph_epv || gps.fix_type < 3) {
 						gps_valid = false;
 						mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
 					}
 
 				} else {
-					if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) {
+					if (gps.eph_m < max_eph_epv * 0.7f && gps.epv_m < max_eph_epv * 0.7f && gps.fix_type >= 3) {
 						gps_valid = true;
 						reset_est = true;
 						mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
@@ -702,9 +705,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						/* save rotation matrix at this moment */
 						memcpy(R_gps, R_buf[est_i], sizeof(R_gps));
 
-						eph = fminf(eph, gps.eph_m);
-						epv = fminf(epv, gps.epv_m);
-
 						w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m);
 						w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m);
 					}
@@ -745,8 +745,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		t_prev = t;
 
 		/* increase EPH/EPV on each step */
-		eph *= 1.0 + dt;
-		epv += 0.005 * dt;	// add 1m to EPV each 200s (baro drift)
+		if (eph < max_eph_epv) {
+			eph *= 1.0 + dt;
+		}
+		if (epv < max_eph_epv) {
+			epv += 0.005 * dt;	// add 1m to EPV each 200s (baro drift)
+		}
 
 		/* use GPS if it's valid and reference position initialized */
 		bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
@@ -759,7 +763,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			xy_src_time = t;
 		}
 
-		bool can_estimate_xy = eph < max_eph_epv * 1.5;
+		bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow;
 
 		bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout);
 
@@ -853,7 +857,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 		/* inertial filter correction for altitude */
 		inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro);
-		inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
+
+		if (use_gps_z) {
+			epv = fminf(epv, gps.epv_m);
+
+			inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
+		}
 
 		if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
 			write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
@@ -878,11 +887,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 			/* inertial filter correction for position */
 			if (use_flow) {
+				eph = fminf(eph, eph_flow);
+
 				inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow);
 				inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow);
 			}
 
 			if (use_gps_xy) {
+				eph = fminf(eph, gps.eph_m);
+
 				inertial_filter_correct(corr_gps[0][0], dt, x_est, 0, w_xy_gps_p);
 				inertial_filter_correct(corr_gps[1][0], dt, y_est, 0, w_xy_gps_p);
 
-- 
cgit v1.2.3


From 325d5026bb6d36ab3557ab999f8db772f77ac7a1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 3 Jun 2014 13:37:31 +0200
Subject: Hotfix: Fix scaling for battery current

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

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 933478f56..fd41b723a 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -274,7 +274,7 @@ protected:
 						status->onboard_control_sensors_health,
 						status->load * 1000.0f,
 						status->battery_voltage * 1000.0f,
-						status->battery_current * 1000.0f,
+						status->battery_current * 100.0f,
 						status->battery_remaining * 100.0f,
 						status->drop_rate_comm,
 						status->errors_comm,
-- 
cgit v1.2.3


From 5624c1406aa78aa4bf4b5c0e20dca637c26478d5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 3 Jun 2014 16:43:15 +0200
Subject: Hotfix: Better microSD reporting

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

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 304a02c29..264cfd875 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1054,6 +1054,7 @@ void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t
 
 	} else {
 		mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
+		mavlink_missionlib_send_gcs_string("#audio: Unable to read from micro SD");
 
 		if (_verbose) { warnx("ERROR: could not read WP%u", seq); }
 	}
@@ -1440,6 +1441,7 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 
 				if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) {
 					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
+					mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD");
 					_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
 					break;
 				}
-- 
cgit v1.2.3


From 33067373614e50e3be068d30f3ad3b718d16df5f Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 6 Jun 2014 00:42:02 +0200
Subject: mavlink: send MISSION_REQUEST after short timeout when receiving
 mission, remove all "target id mismatch" warnings

---
 src/modules/mavlink/mavlink_main.cpp | 51 ++++++++++--------------------------
 src/modules/mavlink/mavlink_main.h   |  1 +
 2 files changed, 15 insertions(+), 37 deletions(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 264cfd875..e300be074 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -790,9 +790,14 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
 {
 	switch (msg->msgid) {
 	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
-			/* Start sending parameters */
-			mavlink_pm_start_queued_send();
-			mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
+			mavlink_param_request_list_t req;
+			mavlink_msg_param_request_list_decode(msg, &req);
+			if (req.target_system == mavlink_system.sysid &&
+					(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
+				/* Start sending parameters */
+				mavlink_pm_start_queued_send();
+				mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
+			}
 		} break;
 
 	case MAVLINK_MSG_ID_PARAM_SET: {
@@ -954,6 +959,7 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
 	state->current_partner_compid = 0;
 	state->timestamp_lastaction = 0;
 	state->timestamp_last_send_setpoint = 0;
+	state->timestamp_last_send_request = 0;
 	state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
 	state->current_dataman_id = 0;
 }
@@ -1070,6 +1076,7 @@ void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, u
 		wpr.seq = seq;
 		mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr);
 		mavlink_missionlib_send_message(&msg);
+		_wpm->timestamp_last_send_request = hrt_absolute_time();
 
 		if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); }
 
@@ -1112,6 +1119,10 @@ void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
 		_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
 		_wpm->current_partner_sysid = 0;
 		_wpm->current_partner_compid = 0;
+
+	} else if (now - _wpm->timestamp_last_send_request > 500000 && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
+		/* try to get WP again after short timeout */
+		mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
 	}
 }
 
@@ -1174,11 +1185,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 					if (_verbose) { warnx("IGN WP CURR CMD: Busy"); }
 
 				}
-
-			} else {
-				mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
-
-				if (_verbose) { warnx("REJ. WP CMD: target id mismatch"); }
 			}
 
 			break;
@@ -1211,11 +1217,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 
 					if (_verbose) { warnx("IGN REQUEST LIST: Busy"); }
 				}
-
-			} else {
-				mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch");
-
-				if (_verbose) { warnx("REJ. REQUEST LIST: target id mismatch"); }
 			}
 
 			break;
@@ -1304,12 +1305,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 					mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
 
 					if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, _wpm->current_partner_sysid); }
-
-				} else {
-
-					mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
-
-					if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
 				}
 			}
 
@@ -1368,12 +1363,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 
 					if (_verbose) { warnx("IGN MISSION_COUNT CMD: Busy"); }
 				}
-
-			} else {
-
-				mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch");
-
-				if (_verbose) { warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
 			}
 		}
 		break;
@@ -1473,11 +1462,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 				} else {
 					mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
 				}
-
-			} else {
-				mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
-
-				if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
 			}
 
 			break;
@@ -1513,13 +1497,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 
 					if (_verbose) { warnx("IGN WP CLEAR CMD: Busy"); }
 				}
-
-
-			} else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
-
-				mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch");
-
-				if (_verbose) { warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
 			}
 
 			break;
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 25c0da820..40edc4b85 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -93,6 +93,7 @@ struct mavlink_wpm_storage {
 	uint8_t current_partner_compid;
 	uint64_t timestamp_lastaction;
 	uint64_t timestamp_last_send_setpoint;
+	uint64_t timestamp_last_send_request;
 	uint32_t timeout;
 	int current_dataman_id;
 };
-- 
cgit v1.2.3


From c4e2232078f2f28cbf97b8280f40fd988a5c2a75 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 6 Jun 2014 08:13:05 +0200
Subject: Remove unused loiter radius parameter. Fixes #1042

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp |  6 ------
 src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 11 -----------
 2 files changed, 17 deletions(-)

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 5b877cd77..116d3cc63 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
@@ -232,8 +232,6 @@ private:
 
 		float throttle_land_max;
 
-		float loiter_hold_radius;
-
 		float heightrate_p;
 		float speedrate_p;
 
@@ -277,8 +275,6 @@ private:
 
 		param_t throttle_land_max;
 
-		param_t loiter_hold_radius;
-
 		param_t heightrate_p;
 		param_t speedrate_p;
 
@@ -441,7 +437,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
 
 	_parameter_handles.l1_period = param_find("FW_L1_PERIOD");
 	_parameter_handles.l1_damping = param_find("FW_L1_DAMPING");
-	_parameter_handles.loiter_hold_radius = param_find("FW_LOITER_R");
 
 	_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
 	_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
@@ -513,7 +508,6 @@ FixedwingPositionControl::parameters_update()
 	/* L1 control parameters */
 	param_get(_parameter_handles.l1_damping, &(_parameters.l1_damping));
 	param_get(_parameter_handles.l1_period, &(_parameters.l1_period));
-	param_get(_parameter_handles.loiter_hold_radius, &(_parameters.loiter_hold_radius));
 
 	param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
 	param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index f258f77da..52128e1b7 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -71,17 +71,6 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
  */
 PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
 
-/**
- * Default Loiter Radius
- *
- * This radius is used when no other loiter radius is set.
- *
- * @min 10.0
- * @max 100.0
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
-
 /**
  * Cruise throttle
  *
-- 
cgit v1.2.3


From 85b2dfa0c662298d49f584e6bd774954b04cec35 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 8 Jun 2014 12:30:27 +0200
Subject: fix initialization of perfcounters in fw att controllers

---
 src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 4 ++--
 src/lib/ecl/attitude_fw/ecl_roll_controller.cpp  | 4 ++--
 src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp   | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 0a909d02f..a0a18bc2e 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -61,9 +61,9 @@ ECL_PitchController::ECL_PitchController() :
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f)
+	_bodyrate_setpoint(0.0f),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input"))
 {
-	perf_alloc(PC_COUNT, "fw att control pitch nonfinite input");
 }
 
 ECL_PitchController::~ECL_PitchController()
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 82903ef5a..d2a231694 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -59,9 +59,9 @@ ECL_RollController::ECL_RollController() :
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f)
+	_bodyrate_setpoint(0.0f),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input"))
 {
-	perf_alloc(PC_COUNT, "fw att control roll nonfinite input");
 }
 
 ECL_RollController::~ECL_RollController()
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index e53ffc644..79184e2cd 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -58,9 +58,9 @@ ECL_YawController::ECL_YawController() :
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f),
-	_coordinated_min_speed(1.0f)
+	_coordinated_min_speed(1.0f),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input"))
 {
-	perf_alloc(PC_COUNT, "fw att control yaw nonfinite input");
 }
 
 ECL_YawController::~ECL_YawController()
-- 
cgit v1.2.3


From 128389d3b14a43d48712b2bb5e32cac85b5dafcc Mon Sep 17 00:00:00 2001
From: Andrew Chambers <achamber@gmail.com>
Date: Mon, 9 Jun 2014 16:01:44 -0700
Subject: Converted style to work with wiki. Cleaned up bad fields.

---
 src/modules/fw_att_control/fw_att_control_params.c | 367 +++++++++++++++------
 1 file changed, 270 insertions(+), 97 deletions(-)

diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index aa637e207..7cae84678 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -50,149 +50,322 @@ f *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  * Controller parameters, accessible via MAVLink
  *
  */
-// @DisplayName		Attitude Time Constant
-// @Description		This defines the latency between a step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
-// @Range		0.4 to 1.0 seconds, in tens of seconds
+
+/**
+ * Attitude Time Constant
+ *
+ * This defines the latency between a step input and the achieved setpoint
+ * (inverse to a P gain). Half a second is a good start value and fits for
+ * most average systems. Smaller systems may require smaller values, but as
+ * this will wear out servos faster, the value should only be decreased as
+ * needed.
+ *
+ * @unit seconds
+ * @min 0.4
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
 
-// @DisplayName		Pitch rate proportional gain.
-// @Description		This defines how much the elevator input will be commanded depending on the current body angular rate error.
-// @Range		10 to 200, 1 increments
+/**
+ * Pitch rate proportional gain.
+ *
+ * This defines how much the elevator input will be commanded depending on the
+ * current body angular rate error.
+ *
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
 
-// @DisplayName		Pitch rate integrator gain.
-// @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
-// @Range		0 to 50.0
+/**
+ * Pitch rate integrator gain.
+ *
+ * This gain defines how much control response will result out of a steady
+ * state error. It trims any constant error.
+ *
+ * @min 0.0
+ * @max 50.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f);
 
-// @DisplayName		Maximum positive / up pitch rate.
-// @Description		This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds, in 1 increments
+/**
+ * Maximum positive / up pitch rate.
+ *
+ * This limits the maximum pitch up angular rate the controller will output (in
+ * degrees per second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
 
-// @DisplayName		Maximum negative / down pitch rate.
-// @Description		This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds, in 1 increments
+/**
+ * Maximum negative / down pitch rate.
+ *
+ * This limits the maximum pitch down up angular rate the controller will
+ * output (in degrees per second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
 
-// @DisplayName		Pitch rate integrator limit
-// @Description		The portion of the integrator part in the control surface deflection is limited to this value
-// @Range		0.0 to 1
-// @Increment		0.1
+/**
+ * Pitch rate integrator limit
+ *
+ * The portion of the integrator part in the control surface deflection is
+ * limited to this value
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
 
-// @DisplayName		Roll to Pitch feedforward gain.
-// @Description		This compensates during turns and ensures the nose stays level.
-// @Range		0.5 2.0
-// @Increment		0.05
-// @User		User
+/**
+ * Roll to Pitch feedforward gain.
+ *
+ * This compensates during turns and ensures the nose stays level.
+ *
+ * @min 0.0
+ * @max 2.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
 
-// @DisplayName		Roll rate proportional Gain.
-// @Description		This defines how much the aileron input will be commanded depending on the current body angular rate error.
-// @Range		10.0 200.0
-// @Increment		10.0
-// @User		User
+/**
+ * Roll rate proportional Gain
+ *
+ * This defines how much the aileron input will be commanded depending on the
+ * current body angular rate error.
+ *
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
 
-// @DisplayName		Roll rate integrator Gain
-// @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
-// @Range		0.0 100.0
-// @Increment		5.0
-// @User		User
+/**
+ * Roll rate integrator Gain
+ *
+ * This gain defines how much control response will result out of a steady
+ * state error. It trims any constant error.
+ *
+ * @min 0.0
+ * @max 100.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
 
-// @DisplayName		Roll Integrator Anti-Windup
-// @Description		The portion of the integrator part in the control surface deflection is limited to this value.
-// @Range		0.0 to 1.0
-// @Increment		0.1
+/**
+ * Roll Integrator Anti-Windup
+ *
+ * The portion of the integrator part in the control surface deflection is limited to this value.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
 
-// @DisplayName		Maximum Roll Rate
-// @Description		This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds
-// @Increment		1.0
-PARAM_DEFINE_FLOAT(FW_R_RMAX, 0);
+/**
+ * Maximum Roll Rate
+ *
+ * This limits the maximum roll rate the controller will output (in degrees per
+ * second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f);
 
-// @DisplayName		Yaw rate proportional gain.
-// @Description		This defines how much the rudder input will be commanded depending on the current body angular rate error.
-// @Range		10 to 200, 1 increments
-PARAM_DEFINE_FLOAT(FW_YR_P, 0.05);
+/**
+ * Yaw rate proportional gain
+ *
+ * This defines how much the rudder input will be commanded depending on the
+ * current body angular rate error.
+ *
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
 
-// @DisplayName		Yaw rate integrator gain.
-// @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
-// @Range		0 to 50.0
+/**
+ * Yaw rate integrator gain
+ *
+ * This gain defines how much control response will result out of a steady
+ * state error. It trims any constant error.
+ *
+ * @min 0.0
+ * @max 50.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
 
-// @DisplayName		Yaw rate integrator limit
-// @Description		The portion of the integrator part in the control surface deflection is limited to this value
-// @Range		0.0 to 1
-// @Increment		0.1
+/**
+ * Yaw rate integrator limit
+ *
+ * The portion of the integrator part in the control surface deflection is
+ * limited to this value
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
 
-// @DisplayName		Maximum Yaw Rate
-// @Description		This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds
-// @Increment		1.0
-PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0);
+/**
+ * Maximum Yaw Rate
+ *
+ * This limits the maximum yaw rate the controller will output (in degrees per
+ * second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
 
-// @DisplayName		Roll rate feed forward
-// @Description		Direct feed forward from rate setpoint to control surface output
-// @Range		0 to 10
-// @Increment		0.1
+/**
+ * Roll rate feed forward
+ *
+ * Direct feed forward from rate setpoint to control surface output
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f);
 
-// @DisplayName		Pitch rate feed forward
-// @Description		Direct feed forward from rate setpoint to control surface output
-// @Range		0 to 10
-// @Increment		0.1
+/**
+ * Pitch rate feed forward
+ *
+ * Direct feed forward from rate setpoint to control surface output
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_FF, 0.4f);
 
-// @DisplayName		Yaw rate feed forward
-// @Description		Direct feed forward from rate setpoint to control surface output
-// @Range		0 to 10
-// @Increment		0.1
+/**
+ * Yaw rate feed forward
+ *
+ * Direct feed forward from rate setpoint to control surface output
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
 
-// @DisplayName		Minimal speed for yaw coordination
-// @Description		For airspeeds above this value the yaw rate is calculated for a coordinated turn. Set to a very high value to disable.
-// @Range		0 to 90.0 degrees per seconds
-// @Increment		1.0
+/**
+ * Minimal speed for yaw coordination
+ *
+ * For airspeeds above this value, the yaw rate is calculated for a coordinated
+ * turn. Set to a very high value to disable.
+ *
+ * @unit m/s
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
 
-/* Airspeed parameters: the following parameters about airspeed are used by the attitude and the positon controller */
+/* Airspeed parameters:
+ * The following parameters about airspeed are used by the attitude and the
+ * position controller.
+ * */
 
-// @DisplayName		Minimum Airspeed
-// @Description		If the airspeed falls below this value the TECS controller will try to increase airspeed more aggressively
-// @Range		0.0 to 30
+/**
+ * Minimum Airspeed
+ *
+ * If the airspeed falls below this value, the TECS controller will try to
+ * increase airspeed more aggressively.
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 30.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f);
 
-// @DisplayName		Trim Airspeed
-// @Description		The TECS controller tries to fly at this airspeed
-// @Range		0.0 to 30
+/**
+ * Trim Airspeed
+ *
+ * The TECS controller tries to fly at this airspeed.
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 30.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
 
-// @DisplayName		Maximum Airspeed
-// @Description		If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively
-// @Range		0.0 to 30
+/**
+ * Maximum Airspeed
+ *
+ * If the airspeed is above this value, the TECS controller will try to decrease
+ * airspeed more aggressively.
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 30.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);
 
-// @DisplayName		Roll Setpoint Offset
-// @Description		An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe
-// @Range		-90.0 to 90.0
+/**
+ * Roll Setpoint Offset
+ *
+ * An airframe specific offset of the roll setpoint in degrees, the value is
+ * added to the roll setpoint and should correspond to the typical cruise speed
+ * of the airframe.
+ *
+ * @unit deg
+ * @min -90.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
 
-// @DisplayName		Pitch Setpoint Offset
-// @Description		An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe
-// @Range		-90.0 to 90.0
+/**
+ * Pitch Setpoint Offset
+ *
+ * An airframe specific offset of the pitch setpoint in degrees, the value is
+ * added to the pitch setpoint and should correspond to the typical cruise
+ * speed of the airframe.
+ *
+ * @unit deg
+ * @min -90.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
 
-// @DisplayName		Max Manual Roll
-// @Description		Max roll for manual control in attitude stabilized mode
-// @Range		0.0 to 90.0
+/**
+ * Max Manual Roll
+ *
+ * Max roll for manual control in attitude stabilized mode
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
 
-// @DisplayName		Max Manual Pitch
-// @Description		Max pitch for manual control in attitude stabilized mode
-// @Range		0.0 to 90.0
+/**
+ * Max Manual Pitch
+ *
+ * Max pitch for manual control in attitude stabilized mode
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
-- 
cgit v1.2.3


From d5c0933d6516741f432a8f259149384fa2a2f95b Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 10 Jun 2014 14:29:17 +0200
Subject: mavlink: report global position setpoint and do this always no just
 when updated, otherwise the values are not visible in QGC

---
 ROMFS/px4fmu_common/init.d/rc.usb        |  2 ++
 src/modules/mavlink/mavlink_messages.cpp | 14 ++++++--------
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 76593881d..d6e638c0a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -17,6 +17,8 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
 usleep 100000
 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
 usleep 100000
+mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
+usleep 100000
 
 # Exit shell to make it available to MAVLink
 exit
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index fd41b723a..c44bdc53d 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -938,14 +938,12 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
-		if (pos_sp_triplet_sub->update(t)) {
-			mavlink_msg_global_position_setpoint_int_send(_channel,
-					MAV_FRAME_GLOBAL,
-					(int32_t)(pos_sp_triplet->current.lat * 1e7),
-					(int32_t)(pos_sp_triplet->current.lon * 1e7),
-					(int32_t)(pos_sp_triplet->current.alt * 1000),
-					(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
-		}
+		mavlink_msg_global_position_setpoint_int_send(_channel,
+			MAV_FRAME_GLOBAL,
+			(int32_t)(pos_sp_triplet->current.lat * 1e7),
+			(int32_t)(pos_sp_triplet->current.lon * 1e7),
+			(int32_t)(pos_sp_triplet->current.alt * 1000),
+			(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
 	}
 };
 
-- 
cgit v1.2.3


From 064a75a3c289a32fa4d5234e3874712e7981f238 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 10 Jun 2014 15:02:20 +0200
Subject: mavlink: put update call back in

---
 src/modules/mavlink/mavlink_messages.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index c44bdc53d..d94e7fc7e 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -938,6 +938,8 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
+		/* always send this message, even if it has not been updated */
+		pos_sp_triplet_sub->update(t);
 		mavlink_msg_global_position_setpoint_int_send(_channel,
 			MAV_FRAME_GLOBAL,
 			(int32_t)(pos_sp_triplet->current.lat * 1e7),
-- 
cgit v1.2.3