From 60706500df4e5264f77d0a7c36edb7b6b60e21ac Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 17 Aug 2014 20:48:38 +0200
Subject: Make some space on FMUv1

---
 makefiles/config_px4fmu-v1_default.mk | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index a7c10f52f..97eddfdd2 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -25,7 +25,6 @@ MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
-MODULES		+= drivers/ll40ls
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
@@ -44,7 +43,6 @@ MODULES		+= modules/sensors
 #
 MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/i2c
 MODULES		+= systemcmds/mixer
 MODULES		+= systemcmds/param
 MODULES		+= systemcmds/perf
@@ -152,5 +150,4 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
-	$(call _B, sysinfo,                ,                          2048,  sysinfo_main               )
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
-- 
cgit v1.2.3


From 171857811f76fb4d8fb3b65329345dd5af0ec9db Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 17 Aug 2014 20:49:46 +0200
Subject: EKF filter update. Now correctly scaling variance (well, if you could
 call this ever "correct") for repeated fusion of the same data quantity.

---
 .../ekf_att_pos_estimator_main.cpp                 | 33 ++++++++--
 .../ekf_att_pos_estimator/estimator_23states.cpp   | 72 ++++++++++++++++++----
 .../ekf_att_pos_estimator/estimator_23states.h     | 17 ++++-
 3 files changed, 104 insertions(+), 18 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 91d17e787..6cb68fe77 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
@@ -96,7 +96,10 @@ extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]);
 
 __EXPORT uint32_t millis();
 
+__EXPORT uint64_t getMicros();
+
 static uint64_t IMUmsec = 0;
+static uint64_t IMUusec = 0;
 static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;
 
 uint32_t millis()
@@ -104,6 +107,11 @@ uint32_t millis()
 	return IMUmsec;
 }
 
+uint64_t getMicros()
+{
+	return IMUusec;
+}
+
 class FixedwingEstimator
 {
 public:
@@ -850,7 +858,8 @@ FixedwingEstimator::task_main()
 			}
 
 			_last_sensor_timestamp = _gyro.timestamp;
-			IMUmsec = _gyro.timestamp / 1e3f;
+			IMUmsec = _gyro.timestamp / 1e3;
+			IMUusec = _gyro.timestamp;
 
 			float deltaT = (_gyro.timestamp - _last_run) / 1e6f;
 			_last_run = _gyro.timestamp;
@@ -914,7 +923,8 @@ FixedwingEstimator::task_main()
 
 			// Copy gyro and accel
 			_last_sensor_timestamp = _sensor_combined.timestamp;
-			IMUmsec = _sensor_combined.timestamp / 1e3f;
+			IMUmsec = _sensor_combined.timestamp / 1e3;
+			IMUusec = _sensor_combined.timestamp;
 
 			float deltaT = (_sensor_combined.timestamp - _last_run) / 1e6f;
 
@@ -994,8 +1004,6 @@ FixedwingEstimator::task_main()
 
 			if (gps_updated) {
 
-				last_gps = _gps.timestamp_position;
-
 				orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
 				perf_count(_perf_gps);
 
@@ -1008,11 +1016,17 @@ FixedwingEstimator::task_main()
 					_gps_start_time = hrt_absolute_time();
 
 					/* check if we had a GPS outage for a long time */
-					if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
+					float gps_elapsed = hrt_elapsed_time(&last_gps) / 1e6f;
+
+					const float pos_reset_threshold = 5.0f; // seconds
+
+					/* timeout of 5 seconds */
+					if (gps_elapsed > pos_reset_threshold) {
 						_ekf->ResetPosition();
 						_ekf->ResetVelocity();
 						_ekf->ResetStoredStates();
 					}
+					_ekf->updateDtGpsFilt(math::constrain((_gps.timestamp_position - last_gps) / 1e6f, 0.01f, pos_reset_threshold));
 
 					/* fuse GPS updates */
 
@@ -1044,6 +1058,8 @@ FixedwingEstimator::task_main()
 
 					newDataGps = true;
 
+					last_gps = _gps.timestamp_position;
+
 				}
 
 			}
@@ -1052,8 +1068,15 @@ FixedwingEstimator::task_main()
 			orb_check(_baro_sub, &baro_updated);
 
 			if (baro_updated) {
+
+				hrt_abstime baro_last = _baro.timestamp;
+
 				orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
 
+				float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
+
+				_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1));
+
 				_ekf->baroHgt = _baro.altitude;
 
 				if (!_baro_init) {
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index c7c7305b2..d1349535d 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -2,6 +2,11 @@
 #include <string.h>
 #include <stdio.h>
 #include <stdarg.h>
+#include <math.h>
+
+#ifndef M_PI_F
+#define M_PI_F ((float)M_PI)
+#endif
 
 #define EKF_COVARIANCE_DIVERGED 1.0e8f
 
@@ -38,6 +43,7 @@ AttPosEKF::AttPosEKF() :
     resetStates{},
     storedStates{},
     statetimeStamp{},
+    lastVelPosFusion(millis()),
     statesAtVelTime{},
     statesAtPosTime{},
     statesAtHgtTime{},
@@ -59,7 +65,12 @@ AttPosEKF::AttPosEKF() :
     accel(),
     dVelIMU(),
     dAngIMU(),
-    dtIMU(0),
+    dtIMU(0.005f),
+    dtIMUfilt(0.005f),
+    dtVelPos(0.01f),
+    dtVelPosFilt(0.01f),
+    dtHgtFilt(0.01f),
+    dtGpsFilt(0.1f),
     fusionModeGPS(0),
     innovVelPos{},
     varInnovVelPos{},
@@ -260,6 +271,9 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
 
     // Constrain states (to protect against filter divergence)
     ConstrainStates();
+
+    // update filtered IMU time step length
+    dtIMUfilt = 0.99f * dtIMUfilt + 0.01f * dtIMU;
 }
 
 void AttPosEKF::CovariancePrediction(float dt)
@@ -962,6 +976,21 @@ void AttPosEKF::CovariancePrediction(float dt)
         ConstrainVariances();
 }
 
+void AttPosEKF::updateDtGpsFilt(float dt)
+{
+    dtGpsFilt = ConstrainFloat(dt, 0.001f, 2.0f) * 0.05f + dtGpsFilt * 0.95f;
+}
+
+void AttPosEKF::updateDtHgtFilt(float dt)
+{
+    dtHgtFilt = ConstrainFloat(dt, 0.001f, 2.0f) * 0.05f + dtHgtFilt * 0.95f;
+}
+
+void AttPosEKF::updateDtVelPosFilt(float dt)
+{
+    dtVelPosFilt = ConstrainFloat(dt, 0.0005f, 2.0f) * 0.05f + dtVelPosFilt * 0.95f;
+}
+
 void AttPosEKF::FuseVelposNED()
 {
 
@@ -998,6 +1027,18 @@ void AttPosEKF::FuseVelposNED()
 // associated with sequential fusion
     if (fuseVelData || fusePosData || fuseHgtData)
     {
+        uint64_t tNow = getMicros();
+        updateDtVelPosFilt((tNow - lastVelPosFusion) / 1e6f);
+        lastVelPosFusion = tNow;
+
+        // scaler according to the number of repetitions of the
+        // same measurement in one fusion step
+        float gpsVarianceScaler = dtGpsFilt / dtVelPosFilt;
+
+        // scaler according to the number of repetitions of the
+        // same measurement in one fusion step
+        float hgtVarianceScaler = dtHgtFilt / dtVelPosFilt;
+
         // set the GPS data timeout depending on whether airspeed data is present
         if (useAirspeed) horizRetryTime = gpsRetryTime;
         else horizRetryTime = gpsRetryTimeNoTAS;
@@ -1010,12 +1051,12 @@ void AttPosEKF::FuseVelposNED()
         // Estimate the GPS Velocity, GPS horiz position and height measurement variances.
         velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring
         posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring
-        R_OBS[0] = sq(vneSigma) + sq(velErr);
+        R_OBS[0] = gpsVarianceScaler * sq(vneSigma) + sq(velErr);
         R_OBS[1] = R_OBS[0];
-        R_OBS[2] = sq(vdSigma) + sq(velErr);
-        R_OBS[3] = sq(posNeSigma) + sq(posErr);
+        R_OBS[2] = gpsVarianceScaler * sq(vdSigma) + sq(velErr);
+        R_OBS[3] = gpsVarianceScaler * sq(posNeSigma) + sq(posErr);
         R_OBS[4] = R_OBS[3];
-        R_OBS[5] = sq(posDSigma) + sq(posErr);
+        R_OBS[5] = hgtVarianceScaler * sq(posDSigma) + sq(posErr);
 
         // calculate innovations and check GPS data validity using an innovation consistency check
         if (fuseVelData)
@@ -1995,9 +2036,8 @@ void AttPosEKF::FuseOptFlow()
             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;
+            // set the observation index to 1 to fuse the y component next time round and reset the commence fusion flag
+            obsIndex = 1;
             fuseOptFlowData = false;
         }
         else if (obsIndex == 1) // we are now fusing the Y measurement
@@ -2041,6 +2081,10 @@ void AttPosEKF::FuseOptFlow()
             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];
+
+            // reset the observation index
+            obsIndex = 0;
+            fuseOptFlowData = false;
         }
 
         // Check the innovation for consistency and don't fuse if > 3Sigma
@@ -2102,10 +2146,9 @@ void AttPosEKF::FuseOptFlow()
                 P[i][j] = P[i][j] - KHP[i][j];
             }
         }
+        ForceSymmetry();
+        ConstrainVariances();
     }
-    obsIndex = obsIndex + 1;
-    ForceSymmetry();
-    ConstrainVariances();
 }
 
 void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
@@ -3006,9 +3049,14 @@ void AttPosEKF::ZeroVariables()
 {
 
     // Initialize on-init initialized variables
-
+    dtIMUfilt = ConstrainFloat(dtIMU, 0.001f, 0.02f);
+    dtVelPosFilt = ConstrainFloat(dtVelPos, 0.04f, 0.5f);
+    dtGpsFilt = 1.0f / 5.0f;
+    dtHgtFilt = 1.0f / 100.0f;
     storeIndex = 0;
 
+    lastVelPosFusion = millis();
+
     // Do the data structure init
     for (unsigned i = 0; i < n_states; i++) {
         for (unsigned j = 0; j < n_states; j++) {
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
index faa6735ca..12cbc53b8 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -116,6 +116,9 @@ public:
     float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
     uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
 
+    // Times
+    uint64_t lastVelPosFusion;  // the time of the last velocity fusion, in the standard time unit of the filter
+
     float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
     float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
     float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
@@ -140,7 +143,12 @@ public:
     Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
     Vector3f dVelIMU;
     Vector3f dAngIMU;
-    float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
+    float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec), this may have significant jitter
+    float dtIMUfilt; // average time between IMU measurements (sec)
+    float dtVelPos; // time lapsed since the last position / velocity fusion (seconds), this may have significant jitter
+    float dtVelPosFilt; // average time between position / velocity fusion steps
+    float dtHgtFilt; // average time between height measurement updates
+    float dtGpsFilt; // average time between gps measurement updates
     uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
     float innovVelPos[6]; // innovation output
     float varInnovVelPos[6]; // innovation variance output
@@ -211,6 +219,9 @@ public:
 
     unsigned storeIndex;
 
+void updateDtGpsFilt(float dt);
+
+void updateDtHgtFilt(float dt);
 
 void  UpdateStrapdownEquationsNED();
 
@@ -300,6 +311,8 @@ void InitializeDynamic(float (&initvelNED)[3], float declination);
 
 protected:
 
+void updateDtVelPosFilt(float dt);
+
 bool FilterHealthy();
 
 bool GyroOffsetsDiverged();
@@ -314,3 +327,5 @@ void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, fl
 
 uint32_t millis();
 
+uint64_t getMicros();
+
-- 
cgit v1.2.3


From cfcb76f627d164b3244e9b81b2fe2fe2e54ee045 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 18 Aug 2014 21:23:59 +0200
Subject: Add long-term stable wind estimate

---
 .../ekf_att_pos_estimator/estimator_23states.cpp    | 21 +++++++++++++++++++++
 .../ekf_att_pos_estimator/estimator_23states.h      |  3 +++
 2 files changed, 24 insertions(+)

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index d1349535d..d176ccee2 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -71,6 +71,9 @@ AttPosEKF::AttPosEKF() :
     dtVelPosFilt(0.01f),
     dtHgtFilt(0.01f),
     dtGpsFilt(0.1f),
+    windSpdFiltNorth(0.0f),
+    windSpdFiltEast(0.0f),
+    windSpdFiltAltitude(0.0f),
     fusionModeGPS(0),
     innovVelPos{},
     varInnovVelPos{},
@@ -1657,6 +1660,24 @@ void AttPosEKF::FuseAirspeed()
     // Perform fusion of True Airspeed measurement
     if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f))
     {
+        // Lowpass the output of the wind estimate - we want a long-term
+        // stable estimate, but not start to load into the overall dynamics
+        // of the system (which adjusting covariances would do)
+
+        // Nominally damp to 0.02% of the noise, but reduce the damping for strong altitude variations
+        // assuming equal wind speeds on the same altitude and varying wind speeds on
+        // different altitudes
+        float windFiltCoeff = 0.0002f;
+
+        float altDiff = fabsf(windSpdFiltAltitude - hgtMea);
+
+        // Change filter coefficient based on altitude
+        windFiltCoeff += ConstrainFloat(0.00001f * altDiff, windFiltCoeff, 0.1f);
+
+        windSpdFiltNorth = ((1.0f - windFiltCoeff) * windSpdFiltNorth) + (windFiltCoeff * vwn);
+        windSpdFiltEast = ((1.0f - windFiltCoeff) * windSpdFiltEast) + (windFiltCoeff * vwe);
+        windSpdFiltAltitude = hgtMea;
+
         // Calculate observation jacobians
         SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
         SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f;
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
index 12cbc53b8..6349b03f0 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -149,6 +149,9 @@ public:
     float dtVelPosFilt; // average time between position / velocity fusion steps
     float dtHgtFilt; // average time between height measurement updates
     float dtGpsFilt; // average time between gps measurement updates
+    float windSpdFiltNorth; // average wind speed north component
+    float windSpdFiltEast; // average wind speed east component
+    float windSpdFiltAltitude; // the last altitude used to filter wind speed
     uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
     float innovVelPos[6]; // innovation output
     float varInnovVelPos[6]; // innovation variance output
-- 
cgit v1.2.3


From 2c0d192944744086905e622f445a523d6650cdc5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 18 Aug 2014 21:26:18 +0200
Subject: Use the wind speed estimate filtered values

---
 src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 6 ++++--
 1 file changed, 4 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 6cb68fe77..c384b2566 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
@@ -1490,8 +1490,10 @@ FixedwingEstimator::task_main()
 
 						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
 							_wind.timestamp = _global_pos.timestamp;
-							_wind.windspeed_north = _ekf->states[14];
-							_wind.windspeed_east = _ekf->states[15];
+							_wind.windspeed_north = _ekf->windSpdFiltNorth;
+							_wind.windspeed_east = _ekf->windSpdFiltEast;
+							// XXX we need to do something smart about the covariance here
+							// but we default to the estimate covariance for now
 							_wind.covariance_north = _ekf->P[14][14];
 							_wind.covariance_east = _ekf->P[15][15];
 
-- 
cgit v1.2.3


From 708ee8ae3aa4d4d5eac9e2fd86ed9673c126fe33 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 22 Aug 2014 20:30:06 +0200
Subject: autolaunch: added param for delay

---
 src/lib/launchdetection/CatapultLaunchMethod.cpp | 19 ++++++++++++++++---
 src/lib/launchdetection/CatapultLaunchMethod.h   |  4 ++++
 src/lib/launchdetection/launchdetection_params.c |  9 +++++++++
 3 files changed, 29 insertions(+), 3 deletions(-)

diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index c555a0a69..c4425bbe0 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -51,7 +51,8 @@ CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
 	integrator(0.0f),
 	launchDetected(false),
 	threshold_accel(this, "A"),
-	threshold_time(this, "T")
+	threshold_time(this, "T"),
+	delay(this, "DELAY")
 {
 
 }
@@ -78,21 +79,33 @@ void CatapultLaunchMethod::update(float accel_x)
 //				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
 		/* reset integrator */
 		integrator = 0.0f;
-		launchDetected = false;
+	}
+
+	if (launchDetected) {
+		delayCounter += dt;
+		if (delayCounter > delay.get()) {
+			delayPassed = true;
+		}
 	}
 
 }
 
 bool CatapultLaunchMethod::getLaunchDetected()
 {
-	return launchDetected;
+	if (delay.get() > 0.0f) {
+		return delayPassed;
+	} else {
+		return launchDetected;
+	}
 }
 
 
 void CatapultLaunchMethod::reset()
 {
 	integrator = 0.0f;
+	delayCounter = 0.0f;
 	launchDetected = false;
+	delayPassed = false;
 }
 
 }
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index 23757f6f3..a64d482f6 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -63,10 +63,14 @@ public:
 private:
 	hrt_abstime last_timestamp;
 	float integrator;
+	float delayCounter;
+
 	bool launchDetected;
+	bool delayPassed;
 
 	control::BlockParamFloat threshold_accel;
 	control::BlockParamFloat threshold_time;
+	control::BlockParamFloat delay;
 
 };
 
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index 8df8c696c..02f01bc66 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -77,6 +77,15 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
  */
 PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
 
+/**
+ * Catapult delay
+ *
+ *
+ *
+ * @min 0
+ * @group Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_DELAY, 0.0f);
 /**
  * Throttle setting while detecting launch.
  *
-- 
cgit v1.2.3


From 5a5617cb597b16b789a6fa175410d667f45cf907 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 23 Aug 2014 11:42:53 +0200
Subject: launchdetector: return state of detection

The launchdetector now has a intermediate state (controlsenabled) which
is meant to be interpreted by the controller as: "perform attitude
control but do not yet power up the motor". This can be used in the
floating phase during a bungee launch for example.
---
 src/lib/launchdetection/CatapultLaunchMethod.cpp | 70 ++++++++++++++----------
 src/lib/launchdetection/CatapultLaunchMethod.h   | 13 ++---
 src/lib/launchdetection/LaunchDetector.cpp       | 27 +++++++--
 src/lib/launchdetection/LaunchDetector.h         |  8 ++-
 src/lib/launchdetection/LaunchMethod.h           | 13 ++++-
 src/lib/launchdetection/launchdetection_params.c |  8 ++-
 6 files changed, 91 insertions(+), 48 deletions(-)

diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index 2b876b629..65ae461db 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -49,10 +49,10 @@ CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
 	SuperBlock(parent, "CAT"),
 	last_timestamp(hrt_absolute_time()),
 	integrator(0.0f),
-	launchDetected(false),
-	threshold_accel(this, "A"),
-	threshold_time(this, "T"),
-	delay(this, "DELAY")
+	state(LAUNCHDETECTION_RES_NONE),
+	thresholdAccel(this, "A"),
+	thresholdTime(this, "T"),
+	motorDelay(this, "MDEL")
 {
 
 }
@@ -66,46 +66,56 @@ void CatapultLaunchMethod::update(float accel_x)
 	float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
 	last_timestamp = hrt_absolute_time();
 
-	if (accel_x > threshold_accel.get()) {
-		integrator += dt;
-//		warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
-//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
-		if (integrator > threshold_time.get()) {
-			launchDetected = true;
+	switch (state) {
+	case LAUNCHDETECTION_RES_NONE:
+		/* Detect a acceleration that is longer and stronger as the minimum given by the params */
+		if (accel_x > thresholdAccel.get()) {
+			integrator += dt;
+			if (integrator > thresholdTime.get()) {
+				if (motorDelay.get() > 0.0f) {
+					state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
+					warnx("Launch detected: state: enablecontrol, waiting %.2fs until using full"
+							" throttle", (double)motorDelay.get());
+				} else {
+					/* No motor delay set: go directly to enablemotors state */
+					state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
+					warnx("Launch detected: state: enablemotors (delay not activated)");
+				}
+			}
+		} else {
+			/* reset */
+			reset();
 		}
+		break;
+
+	case LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL:
+		/* Vehicle is currently controlling attitude but not with full throttle. Waiting undtil delay is
+		 * over to allow full throttle */
+		motorDelayCounter += dt;
+		if (motorDelayCounter > motorDelay.get()) {
+			warnx("Launch detected: state enablemotors");
+			state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
+		}
+		break;
 
-	} else {
-//		warnx("integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
-//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
-		/* reset integrator */
-		integrator = 0.0f;
-	}
+	default:
+		break;
 
-	if (launchDetected) {
-		delayCounter += dt;
-		if (delayCounter > delay.get()) {
-			delayPassed = true;
-		}
 	}
 
 }
 
-bool CatapultLaunchMethod::getLaunchDetected()
+LaunchDetectionResult CatapultLaunchMethod::getLaunchDetected() const
 {
-	if (delay.get() > 0.0f) {
-		return delayPassed;
-	} else {
-		return launchDetected;
-	}
+	return state;
 }
 
 
 void CatapultLaunchMethod::reset()
 {
 	integrator = 0.0f;
-	delayCounter = 0.0f;
-	launchDetected = false;
-	delayPassed = false;
+	motorDelayCounter = 0.0f;
+	state = LAUNCHDETECTION_RES_NONE;
 }
 
 }
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index a64d482f6..d918c3a76 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -57,20 +57,19 @@ public:
 	~CatapultLaunchMethod();
 
 	void update(float accel_x);
-	bool getLaunchDetected();
+	LaunchDetectionResult getLaunchDetected() const;
 	void reset();
 
 private:
 	hrt_abstime last_timestamp;
 	float integrator;
-	float delayCounter;
+	float motorDelayCounter;
 
-	bool launchDetected;
-	bool delayPassed;
+	LaunchDetectionResult state;
 
-	control::BlockParamFloat threshold_accel;
-	control::BlockParamFloat threshold_time;
-	control::BlockParamFloat delay;
+	control::BlockParamFloat thresholdAccel;
+	control::BlockParamFloat thresholdTime;
+	control::BlockParamFloat motorDelay;
 
 };
 
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
index 3bf47bbb0..2958c0a31 100644
--- a/src/lib/launchdetection/LaunchDetector.cpp
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -46,6 +46,7 @@ namespace launchdetection
 
 LaunchDetector::LaunchDetector() :
 	SuperBlock(NULL, "LAUN"),
+	activeLaunchDetectionMethodIndex(-1),
 	launchdetection_on(this, "ALL_ON"),
 	throttlePreTakeoff(this, "THR_PRE")
 {
@@ -65,7 +66,14 @@ LaunchDetector::~LaunchDetector()
 void LaunchDetector::reset()
 {
 	/* Reset all detectors */
-	launchMethods[0]->reset();
+	for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+		launchMethods[i]->reset();
+	}
+
+	/* Reset active launchdetector */
+	activeLaunchDetectionMethodIndex  = -1;
+
+
 }
 
 void LaunchDetector::update(float accel_x)
@@ -77,17 +85,24 @@ void LaunchDetector::update(float accel_x)
 	}
 }
 
-bool LaunchDetector::getLaunchDetected()
+LaunchDetectionResult LaunchDetector::getLaunchDetected()
 {
 	if (launchdetection_on.get() == 1) {
-		for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
-			if(launchMethods[i]->getLaunchDetected()) {
-				return true;
+		if (activeLaunchDetectionMethodIndex < 0) {
+		/* None of the active launchmethods has detected a launch, check all launchmethods */
+			for (uint8_t i = 0; i < sizeof(launchMethods)/sizeof(LaunchMethod); i++) {
+				if(launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
+					warnx("selecting launchmethod %d", i);
+					activeLaunchDetectionMethodIndex = i; // from now on only check this method
+					return launchMethods[i]->getLaunchDetected();
+				}
 			}
+		} else {
+			return launchMethods[activeLaunchDetectionMethodIndex]->getLaunchDetected();
 		}
 	}
 
-	return false;
+	return LAUNCHDETECTION_RES_NONE;
 }
 
 }
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
index 1a214b66e..b48e724ba 100644
--- a/src/lib/launchdetection/LaunchDetector.h
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -59,7 +59,7 @@ public:
 	void reset();
 
 	void update(float accel_x);
-	bool getLaunchDetected();
+	LaunchDetectionResult getLaunchDetected();
 	bool launchDetectionEnabled() { return (bool)launchdetection_on.get(); };
 
 	float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
@@ -67,6 +67,12 @@ public:
 //	virtual bool getLaunchDetected();
 protected:
 private:
+	int activeLaunchDetectionMethodIndex; /**< holds a index to the launchMethod in the array launchMethods
+					       which detected a Launch. If no launchMethod has detected a launch yet the
+					       value is -1. Once one launchMetthod has detected a launch only this
+					       method is checked for further adavancing in the state machine (e.g. when
+					       to power up the motors) */
+
 	LaunchMethod* launchMethods[1];
 	control::BlockParamInt launchdetection_on;
 	control::BlockParamFloat throttlePreTakeoff;
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
index e04467f6a..d2f091cea 100644
--- a/src/lib/launchdetection/LaunchMethod.h
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -44,11 +44,22 @@
 namespace launchdetection
 {
 
+enum LaunchDetectionResult {
+	LAUNCHDETECTION_RES_NONE = 0, /**< No launch has been detected */
+	LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL = 1, /**< Launch has been detected, the controller should
+							  control the attitude. However any motors should not throttle
+							  up and still be set to 'throttlePreTakeoff'.
+							  For instance this is used to have a delay for the motor
+							  when launching a fixed wing aircraft from a bungee */
+	LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS = 2 /**< Launch has been detected, teh controller should control
+							attitude and also throttle up the motors. */
+};
+
 class LaunchMethod
 {
 public:
 	virtual void update(float accel_x) = 0;
-	virtual bool getLaunchDetected() = 0;
+	virtual LaunchDetectionResult getLaunchDetected() const = 0;
 	virtual void reset() = 0;
 
 protected:
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index 02f01bc66..d35eb11f6 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -78,14 +78,16 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
 PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
 
 /**
- * Catapult delay
- *
+ * Motor delay
  *
+ * Delay between starting attitude control and powering up the thorttle (giving throttle control to the controller)
+ * Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate
  *
+ * @unit seconds
  * @min 0
  * @group Launch detection
  */
-PARAM_DEFINE_FLOAT(LAUN_CAT_DELAY, 0.0f);
+PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
 /**
  * Throttle setting while detecting launch.
  *
-- 
cgit v1.2.3


From 40d47fb069cb60303102f3bfba21f6dc5e0aa5a9 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 23 Aug 2014 11:45:20 +0200
Subject: fw pos control: use new lauchdetector states

---
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp   | 73 +++++++++++++---------
 1 file changed, 43 insertions(+), 30 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 350ce6dec..6dd458516 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
@@ -102,6 +102,8 @@ static int	_control_task = -1;			/**< task handle for sensor task */
  */
 extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]);
 
+using namespace launchdetection;
+
 class FixedwingPositionControl
 {
 public:
@@ -171,7 +173,7 @@ private:
 	bool land_onslope;
 
 	/* takeoff/launch states */
-	bool launch_detected;
+	LaunchDetectionResult launch_detection_state;
 	bool usePreTakeoffThrust;
 
 	bool last_manual;				///< true if the last iteration was in manual mode (used to determine when a reset is needed)
@@ -438,7 +440,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	land_stayonground(false),
 	land_motor_lim(false),
 	land_onslope(false),
-	launch_detected(false),
+	launch_detection_state(LAUNCHDETECTION_RES_NONE),
 	usePreTakeoffThrust(false),
 	last_manual(false),
 	landingslope(),
@@ -1076,39 +1078,51 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) {
 
 			/* Perform launch detection */
-			if(!launch_detected) { //do not do further checks once a launch was detected
-				if (launchDetector.launchDetectionEnabled()) {
-					static hrt_abstime last_sent = 0;
-					if(hrt_absolute_time() - last_sent > 4e6) {
-						mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
-						last_sent = hrt_absolute_time();
-					}
+			if (launchDetector.launchDetectionEnabled() &&
+					launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
+				/* Inform user that launchdetection is running */
+				static hrt_abstime last_sent = 0;
+				if(hrt_absolute_time() - last_sent > 4e6) {
+					mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
+					last_sent = hrt_absolute_time();
+				}
+
+				/* Detect launch */
+				launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
+
+				/* update our copy of the laucn detection state */
+				launch_detection_state = launchDetector.getLaunchDetected();
 
+				/* Depending on launch detection state set control flags */
+				if(launch_detection_state == LAUNCHDETECTION_RES_NONE) {
 					/* Tell the attitude controller to stop integrating while we are waiting
 					 * for the launch */
 					_att_sp.roll_reset_integral = true;
 					_att_sp.pitch_reset_integral = true;
 					_att_sp.yaw_reset_integral = true;
 
-					/* Detect launch */
-					launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
-					if (launchDetector.getLaunchDetected()) {
-						launch_detected = true;
-						mavlink_log_info(_mavlink_fd, "#audio: Takeoff");
-					}
-				} else	{
-					/* no takeoff detection --> fly */
-					launch_detected = true;
-					warnx("launchdetection off");
+					usePreTakeoffThrust = true;
+				} else if (launch_detection_state == LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL) {
+					usePreTakeoffThrust = true;
+				} else {
+					usePreTakeoffThrust = false;
 				}
+			} else	{
+				/* no takeoff detection --> fly */
+				usePreTakeoffThrust = false;
+				launch_detection_state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
 			}
 
-			_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
-			_att_sp.roll_body = _l1_control.nav_roll();
-			_att_sp.yaw_body = _l1_control.nav_bearing();
+			if (launch_detection_state != LAUNCHDETECTION_RES_NONE) {
+				/* Launch has been detected, hence we have to control the plane. The usePreTakeoffThrust
+				 * flag determines how much thrust we apply */
 
-			if (launch_detected) {
-				usePreTakeoffThrust = false;
+				_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
+				_att_sp.roll_body = _l1_control.nav_roll();
+				_att_sp.yaw_body = _l1_control.nav_bearing();
+
+				float takeoff_throttle = usePreTakeoffThrust ? launchDetector.getThrottlePreTakeoff() :
+					_parameters.throttle_max;
 
 				/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
 				if (_parameters.climbout_diff > 0.001f && altitude_error > _parameters.climbout_diff) {
@@ -1119,7 +1133,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							eas2tas,
 							math::radians(_parameters.pitch_limit_min),
 							math::radians(_parameters.pitch_limit_max),
-							_parameters.throttle_min, _parameters.throttle_max,
+							_parameters.throttle_min, takeoff_throttle,
 							_parameters.throttle_cruise,
 							true,
 							math::max(math::radians(pos_sp_triplet.current.pitch_min),
@@ -1138,17 +1152,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 								math::radians(_parameters.pitch_limit_min),
 								math::radians(_parameters.pitch_limit_max),
 								_parameters.throttle_min,
-								_parameters.throttle_max,
+								takeoff_throttle,
 								_parameters.throttle_cruise,
 								false,
 								math::radians(_parameters.pitch_limit_min),
 								_global_pos.alt,
 								ground_speed);
 				}
-
-			} else {
-				usePreTakeoffThrust = true;
 			}
+
 		}
 
 		/* reset landing state */
@@ -1182,6 +1194,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 	}
 
+	/* making sure again that the correct thrust is used, without depending on library calls */
 	if (usePreTakeoffThrust) {
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
 	}
@@ -1342,7 +1355,7 @@ FixedwingPositionControl::task_main()
 
 void FixedwingPositionControl::reset_takeoff_state()
 {
-	launch_detected = false;
+	launch_detection_state = LAUNCHDETECTION_RES_NONE;
 	usePreTakeoffThrust = false;
 	launchDetector.reset();
 }
-- 
cgit v1.2.3


From 9f5004be2d282a0bb8f2618545d0c6174df2e29a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 23 Aug 2014 12:13:30 +0200
Subject: fw pos control: set default roll, pitch while waiting for launch

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

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 6dd458516..9cbe5483b 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
@@ -1143,7 +1143,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							TECS_MODE_TAKEOFF);
 
 					/* limit roll motion to ensure enough lift */
-					_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
+					_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f),
+							math::radians(15.0f));
 
 				} else {
 					tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
@@ -1159,6 +1160,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 								_global_pos.alt,
 								ground_speed);
 				}
+			} else {
+				/* Set default roll and pitch setpoints during detection phase */
+				_att_sp.roll_body = 0.0f;
+				_att_sp.pitch_body = math::max(math::radians(pos_sp_triplet.current.pitch_min),
+						math::radians(10.0f));
 			}
 
 		}
-- 
cgit v1.2.3


From cfbbe60291028c60a5dd0a8f2b8bad265a7ee839 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 23 Aug 2014 12:41:48 +0200
Subject: fw pos control: launchdetection logic cleanup

---
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp   | 44 +++++++++-------------
 1 file changed, 18 insertions(+), 26 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 9cbe5483b..da81b0dba 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
@@ -174,7 +174,6 @@ private:
 
 	/* takeoff/launch states */
 	LaunchDetectionResult launch_detection_state;
-	bool usePreTakeoffThrust;
 
 	bool last_manual;				///< true if the last iteration was in manual mode (used to determine when a reset is needed)
 
@@ -441,7 +440,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	land_motor_lim(false),
 	land_onslope(false),
 	launch_detection_state(LAUNCHDETECTION_RES_NONE),
-	usePreTakeoffThrust(false),
 	last_manual(false),
 	landingslope(),
 	flare_curve_alt_rel_last(0.0f),
@@ -1092,37 +1090,24 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 				/* update our copy of the laucn detection state */
 				launch_detection_state = launchDetector.getLaunchDetected();
-
-				/* Depending on launch detection state set control flags */
-				if(launch_detection_state == LAUNCHDETECTION_RES_NONE) {
-					/* Tell the attitude controller to stop integrating while we are waiting
-					 * for the launch */
-					_att_sp.roll_reset_integral = true;
-					_att_sp.pitch_reset_integral = true;
-					_att_sp.yaw_reset_integral = true;
-
-					usePreTakeoffThrust = true;
-				} else if (launch_detection_state == LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL) {
-					usePreTakeoffThrust = true;
-				} else {
-					usePreTakeoffThrust = false;
-				}
 			} else	{
 				/* no takeoff detection --> fly */
-				usePreTakeoffThrust = false;
-				launch_detection_state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
+				launch_detection_state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
 			}
 
+			/* Set control values depending on the detection state */
 			if (launch_detection_state != LAUNCHDETECTION_RES_NONE) {
-				/* Launch has been detected, hence we have to control the plane. The usePreTakeoffThrust
-				 * flag determines how much thrust we apply */
+				/* Launch has been detected, hence we have to control the plane. */
 
 				_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
 				_att_sp.roll_body = _l1_control.nav_roll();
 				_att_sp.yaw_body = _l1_control.nav_bearing();
 
-				float takeoff_throttle = usePreTakeoffThrust ? launchDetector.getThrottlePreTakeoff() :
-					_parameters.throttle_max;
+				/* Select throttle: only in LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS we want to use
+				 * full throttle, otherwise we use the preTakeOff Throttle */
+				float takeoff_throttle = launch_detection_state !=
+					LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS ?
+					launchDetector.getThrottlePreTakeoff() : _parameters.throttle_max;
 
 				/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
 				if (_parameters.climbout_diff > 0.001f && altitude_error > _parameters.climbout_diff) {
@@ -1161,6 +1146,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 								ground_speed);
 				}
 			} else {
+				/* Tell the attitude controller to stop integrating while we are waiting
+				 * for the launch */
+				_att_sp.roll_reset_integral = true;
+				_att_sp.pitch_reset_integral = true;
+				_att_sp.yaw_reset_integral = true;
+
 				/* Set default roll and pitch setpoints during detection phase */
 				_att_sp.roll_body = 0.0f;
 				_att_sp.pitch_body = math::max(math::radians(pos_sp_triplet.current.pitch_min),
@@ -1200,8 +1191,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 	}
 
-	/* making sure again that the correct thrust is used, without depending on library calls */
-	if (usePreTakeoffThrust) {
+	/* Copy thrust and pitch values from tecs
+	 * making sure again that the correct thrust is used, without depending on library calls */
+	if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
+			launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
 	}
 	else {
@@ -1362,7 +1355,6 @@ FixedwingPositionControl::task_main()
 void FixedwingPositionControl::reset_takeoff_state()
 {
 	launch_detection_state = LAUNCHDETECTION_RES_NONE;
-	usePreTakeoffThrust = false;
 	launchDetector.reset();
 }
 
-- 
cgit v1.2.3


From bcca3cae748ffea2df51907992e4a3c7ca673fd2 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 23 Aug 2014 16:03:24 +0200
Subject: Run full update straight after reset, filter wind speed dynamically

---
 .../ekf_att_pos_estimator_main.cpp                 | 22 ++----------
 .../ekf_att_pos_estimator/estimator_23states.cpp   | 40 +++++++++++++++-------
 .../ekf_att_pos_estimator/estimator_23states.h     |  1 +
 3 files changed, 31 insertions(+), 32 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 c384b2566..b7e118d47 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
@@ -1220,30 +1220,12 @@ FixedwingEstimator::task_main()
 				} else if (_ekf->statesInitialised) {
 
 					// We're apparently initialized in this case now
-					int check = check_filter_state();
-
-					if (check) {
-						// Let the system re-initialize itself
-						continue;
-					}
+					// check (and reset the filter as needed)
+					(void)check_filter_state();
 
 					// Run the strapdown INS equations every IMU update
 					_ekf->UpdateStrapdownEquationsNED();
-	#if 0
-					// debug code - could be tunred into a filter mnitoring/watchdog function
-					float tempQuat[4];
-
-					for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
-
-					quat2eul(eulerEst, tempQuat);
 
-					for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
-
-					if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
-
-					if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
-
-	#endif
 					// store the predicted states for subsequent use by measurement fusion
 					_ekf->StoreStates(IMUmsec);
 					// Check if on ground - status is used by covariance prediction
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index d176ccee2..249cc419e 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -74,6 +74,7 @@ AttPosEKF::AttPosEKF() :
     windSpdFiltNorth(0.0f),
     windSpdFiltEast(0.0f),
     windSpdFiltAltitude(0.0f),
+    windSpdFiltClimb(0.0f),
     fusionModeGPS(0),
     innovVelPos{},
     varInnovVelPos{},
@@ -1660,22 +1661,30 @@ void AttPosEKF::FuseAirspeed()
     // Perform fusion of True Airspeed measurement
     if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f))
     {
-        // Lowpass the output of the wind estimate - we want a long-term
-        // stable estimate, but not start to load into the overall dynamics
-        // of the system (which adjusting covariances would do)
-
-        // Nominally damp to 0.02% of the noise, but reduce the damping for strong altitude variations
-        // assuming equal wind speeds on the same altitude and varying wind speeds on
-        // different altitudes
-        float windFiltCoeff = 0.0002f;
 
         float altDiff = fabsf(windSpdFiltAltitude - hgtMea);
 
-        // Change filter coefficient based on altitude
-        windFiltCoeff += ConstrainFloat(0.00001f * altDiff, windFiltCoeff, 0.1f);
+        if (isfinite(windSpdFiltClimb)) {
+            windSpdFiltClimb = ((1.0f - 0.0002f) * windSpdFiltClimb) + (0.0002f * states[6]);
+        } else {
+            windSpdFiltClimb = states[6];
+        }
+
+        if (altDiff < 20.0f) {
+            // Lowpass the output of the wind estimate - we want a long-term
+            // stable estimate, but not start to load into the overall dynamics
+            // of the system (which adjusting covariances would do)
+
+            // Change filter coefficient based on altitude change rate
+            float windFiltCoeff = ConstrainFloat(fabsf(windSpdFiltClimb) / 1000.0f, 0.00005f, 0.2f);
+
+            windSpdFiltNorth = ((1.0f - windFiltCoeff) * windSpdFiltNorth) + (windFiltCoeff * vwn);
+            windSpdFiltEast = ((1.0f - windFiltCoeff) * windSpdFiltEast) + (windFiltCoeff * vwe);
+        } else {
+            windSpdFiltNorth = vwn;
+            windSpdFiltEast = vwe;
+        }
 
-        windSpdFiltNorth = ((1.0f - windFiltCoeff) * windSpdFiltNorth) + (windFiltCoeff * vwn);
-        windSpdFiltEast = ((1.0f - windFiltCoeff) * windSpdFiltEast) + (windFiltCoeff * vwe);
         windSpdFiltAltitude = hgtMea;
 
         // Calculate observation jacobians
@@ -3097,6 +3106,13 @@ void AttPosEKF::ZeroVariables()
     dVelIMU.zero();
     lastGyroOffset.zero();
 
+    windSpdFiltNorth = 0.0f;
+    windSpdFiltEast = 0.0f;
+    // setting the altitude to zero will give us a higher
+    // gain to adjust faster in the first step
+    windSpdFiltAltitude = 0.0f;
+    windSpdFiltClimb = 0.0f;
+
     for (unsigned i = 0; i < data_buffer_size; i++) {
 
         for (unsigned j = 0; j < n_states; j++) {
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
index 6349b03f0..f8bb7a9c4 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -152,6 +152,7 @@ public:
     float windSpdFiltNorth; // average wind speed north component
     float windSpdFiltEast; // average wind speed east component
     float windSpdFiltAltitude; // the last altitude used to filter wind speed
+    float windSpdFiltClimb; // filtered climb rate
     uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
     float innovVelPos[6]; // innovation output
     float varInnovVelPos[6]; // innovation variance output
-- 
cgit v1.2.3


From 92cc44fe1e09f426087e91fff88effde04b32c5d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 24 Aug 2014 12:07:59 +0200
Subject: avoid changing the reset logic

---
 src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

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 b7e118d47..8fdc40d41 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
@@ -1221,7 +1221,12 @@ FixedwingEstimator::task_main()
 
 					// We're apparently initialized in this case now
 					// check (and reset the filter as needed)
-					(void)check_filter_state();
+					int check = check_filter_state();
+
+					if (check) {
+						// Let the system re-initialize itself
+						continue;
+					}
 
 					// Run the strapdown INS equations every IMU update
 					_ekf->UpdateStrapdownEquationsNED();
-- 
cgit v1.2.3


From c591444c1e2e4124d28a03653c0ccdbcd305c1c2 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 25 Aug 2014 12:48:14 +0200
Subject: fw pos control: set pitch sp correctly while waiting for launch

---
 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 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 da81b0dba..b3a78ad82 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
@@ -1192,7 +1192,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 	}
 
 	/* Copy thrust and pitch values from tecs
-	 * making sure again that the correct thrust is used, without depending on library calls */
+	 * making sure again that the correct thrust is used,
+	 * without depending on library calls */
 	if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
 			launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
@@ -1200,7 +1201,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 	else {
 		_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max);
 	}
-	_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
+	/* During a takeoff waypoint while waiting for launch the pitch sp is set
+	 * already (not by tecs) */
+	if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
+			launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
+		_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
+	}
 
 	if (_control_mode.flag_control_position_enabled) {
 		last_manual = false;
-- 
cgit v1.2.3


From 9f94e4ac8409dc15484ee3bcfb89958890a305e6 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 1 Sep 2014 10:33:59 +0200
Subject: add terrain alt field to global pos topic

---
 src/modules/uORB/topics/vehicle_global_position.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index 25137c1c6..6cbe25fbd 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -72,6 +72,7 @@ struct vehicle_global_position_s {
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
 	float eph;			/**< Standard deviation of position estimate horizontally */
 	float epv;			/**< Standard deviation of position vertically */
+	float terrain_alt;		/**< Terrain altitude in m, WGS84 */
 };
 
 /**
-- 
cgit v1.2.3


From 0f548ab88cb36be362d14f9e9e76c53e3764e3c9 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 1 Sep 2014 10:38:40 +0200
Subject: add global pos valid flag

---
 src/modules/uORB/topics/vehicle_global_position.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index 6cbe25fbd..c3bb3b893 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -73,6 +73,7 @@ struct vehicle_global_position_s {
 	float eph;			/**< Standard deviation of position estimate horizontally */
 	float epv;			/**< Standard deviation of position vertically */
 	float terrain_alt;		/**< Terrain altitude in m, WGS84 */
+	bool terrain_alt_valid;		/**< Terrain altitude estimate is valid */
 };
 
 /**
-- 
cgit v1.2.3


From 1f951b0df9ad475349ba4c7e815483445128cc2a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 1 Sep 2014 10:42:56 +0200
Subject: add logging for gpos terrain alt

---
 src/modules/sdlog2/sdlog2.c          | 7 ++++++-
 src/modules/sdlog2/sdlog2_messages.h | 3 ++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index dbda8ea6f..e13593077 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1432,6 +1432,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
 			log_msg.body.log_GPOS.eph = buf.global_pos.eph;
 			log_msg.body.log_GPOS.epv = buf.global_pos.epv;
+			if (buf.global_pos.terrain_alt_valid) {
+				log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt;
+			} else {
+				log_msg.body.log_GPOS.terrain_alt = -1.0f;
+			}
 			LOGBUFFER_WRITE_AND_COUNT(GPOS);
 		}
 
@@ -1464,7 +1469,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
 			LOGBUFFER_WRITE_AND_COUNT(VICN);
 		}
-		
+
 		/* --- VISION POSITION --- */
 		if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
 			log_msg.msg_type = LOG_VISN_MSG;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 6741c7e25..d2845eb75 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -220,6 +220,7 @@ struct log_GPOS_s {
 	float vel_d;
 	float eph;
 	float epv;
+	float terrain_alt;
 };
 
 /* --- GPSP - GLOBAL POSITION SETPOINT --- */
@@ -449,7 +450,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
 	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "hhfffBB",		"RawX,RawY,CompX,CompY,Dist,Q,SensID"),
-	LOG_FORMAT(GPOS, "LLffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
+	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
 	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHHHHHfH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
-- 
cgit v1.2.3


From 71a2025f7d904c77b7f6351ccc69acd181a42a55 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 1 Sep 2014 11:35:41 +0200
Subject: Add filter estimates

---
 .../ekf_att_pos_estimator_main.cpp                 | 35 +++++++++++++++++++++-
 1 file changed, 34 insertions(+), 1 deletion(-)

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 91d17e787..e34cce078 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
@@ -58,6 +58,7 @@
 #include <drivers/drv_accel.h>
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
+#include <drivers/drv_range_finder.h>
 #ifdef SENSOR_COMBINED_SUB
 #include <uORB/topics/sensor_combined.h>
 #endif
@@ -171,6 +172,7 @@ private:
 #else
 	int		_sensor_combined_sub;
 #endif
+	int		_distance_sub;			/**< distance measurement */
 	int		_airspeed_sub;			/**< airspeed subscription */
 	int		_baro_sub;			/**< barometer subscription */
 	int		_gps_sub;			/**< GPS subscription */
@@ -196,7 +198,8 @@ private:
 	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
 	struct vehicle_local_position_s			_local_pos;		/**< local vehicle position */
 	struct vehicle_gps_position_s			_gps;			/**< GPS position */
-	struct wind_estimate_s				_wind;			/**< Wind estimate */
+	struct wind_estimate_s				_wind;			/**< wind estimate */
+	struct range_finder_report			_distance;		/**< distance estimate */
 
 	struct gyro_scale				_gyro_offsets;
 	struct accel_scale				_accel_offsets;
@@ -226,6 +229,7 @@ private:
 	hrt_abstime					_filter_start_time;
 	hrt_abstime					_last_sensor_timestamp;
 	hrt_abstime					_last_run;
+	hrt_abstime					_distance_last_valid;
 	bool						_gyro_valid;
 	bool						_accel_valid;
 	bool						_mag_valid;
@@ -342,6 +346,7 @@ FixedwingEstimator::FixedwingEstimator() :
 #else
 	_sensor_combined_sub(-1),
 #endif
+	_distance_sub(-1),
 	_airspeed_sub(-1),
 	_baro_sub(-1),
 	_gps_sub(-1),
@@ -399,6 +404,7 @@ FixedwingEstimator::FixedwingEstimator() :
 	_filter_start_time(0),
 	_last_sensor_timestamp(0),
 	_last_run(0),
+	_distance_last_valid(0),
 	_gyro_valid(false),
 	_accel_valid(false),
 	_mag_valid(false),
@@ -549,6 +555,7 @@ FixedwingEstimator::parameters_update()
 		_ekf->gyroProcessNoise = _parameters.gyro_pnoise;
         	_ekf->accelProcessNoise = _parameters.acc_pnoise;
 		_ekf->airspeedMeasurementSigma = _parameters.eas_noise;
+		_ekf->rngFinderPitch = 0.0f; // XXX base on SENS_BOARD_Y_OFF
 	}
 
 	return OK;
@@ -704,6 +711,7 @@ FixedwingEstimator::task_main()
 	/*
 	 * do subscriptions
 	 */
+	_distance_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
@@ -753,6 +761,7 @@ FixedwingEstimator::task_main()
 	bool newHgtData = false;
 	bool newAdsData = false;
 	bool newDataMag = false;
+	bool newRangeData = false;
 
 	float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m)
 
@@ -1114,6 +1123,19 @@ FixedwingEstimator::task_main()
 				newDataMag = false;
 			}
 
+			orb_check(_distance_sub, &newRangeData);
+
+			if (newRangeData) {
+				orb_copy(ORB_ID(sensor_range_finder), _distance_sub, &_distance);
+
+				if (_distance.valid) {
+					_ekf->rngMea = _distance.distance;
+					_distance_last_valid = _distance.timestamp;
+				} else {
+					newRangeData = false;
+				}
+			}
+
 			/*
 			 *    CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY
 			 */
@@ -1334,6 +1356,13 @@ FixedwingEstimator::task_main()
 						_ekf->fuseVtasData = false;
 					}
 
+					if (newRangeData) {
+						_ekf->fuseRngData = true;
+						_ekf->useRangeFinder = true;
+						_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f));
+						_ekf->FuseRangeFinder();
+					}
+
 
 					// Output results
 					math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
@@ -1447,6 +1476,10 @@ FixedwingEstimator::task_main()
 							_global_pos.vel_d = _local_pos.vz;
 						}
 
+						/* terrain altitude */
+						_global_pos.terrain_alt = _ekf->states[22];
+						_global_pos.terrain_alt_valid = (_distance_last_valid > 0) &&
+						(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);
 
 						_global_pos.yaw = _local_pos.yaw;
 
-- 
cgit v1.2.3


From 4c7cc10b6294c799798d05faad688d9dec2102f3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 2 Sep 2014 15:37:18 +0200
Subject: Working and replay-tested altitude fusion

---
 .../ekf_att_pos_estimator_main.cpp                 |   4 +-
 .../ekf_att_pos_estimator/estimator_23states.cpp   | 719 ++++++++++++---------
 .../ekf_att_pos_estimator/estimator_23states.h     |  40 +-
 3 files changed, 461 insertions(+), 302 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 87a20a775..97abb76a9 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
@@ -1370,7 +1370,7 @@ FixedwingEstimator::task_main()
 						_ekf->fuseRngData = true;
 						_ekf->useRangeFinder = true;
 						_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f));
-						_ekf->FuseRangeFinder();
+						_ekf->GroundEKF();
 					}
 
 
@@ -1487,7 +1487,7 @@ FixedwingEstimator::task_main()
 						}
 
 						/* terrain altitude */
-						_global_pos.terrain_alt = _ekf->states[22];
+						_global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1];
 						_global_pos.terrain_alt_valid = (_distance_last_valid > 0) &&
 						(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);
 
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 249cc419e..94a6d165f 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -50,7 +50,7 @@ AttPosEKF::AttPosEKF() :
     statesAtMagMeasTime{},
     statesAtVtasMeasTime{},
     statesAtRngTime{},
-    statesAtOptFlowTime{},
+    statesAtFlowTime{},
     correctedDelAng(),
     correctedDelVel(),
     summedDelAng(),
@@ -118,13 +118,13 @@ AttPosEKF::AttPosEKF() :
 
     inhibitWindStates(true),
     inhibitMagStates(true),
-    inhibitGndHgtState(true),
+    inhibitGndState(true),
 
     onGround(true),
     staticMode(true),
     useAirspeed(true),
     useCompass(true),
-    useRangeFinder(false),
+    useRangeFinder(true),
     useOpticalFlow(false),
 
     ekfDiverged(false),
@@ -132,7 +132,24 @@ AttPosEKF::AttPosEKF() :
     current_ekf_state{},
     last_ekf_error{},
     numericalProtection(true),
-    storeIndex(0)
+    storeIndex(0),
+    storedOmega{},
+    Popt{},
+    flowStates{},
+    prevPosN(0.0f),
+    prevPosE(0.0f),
+    auxFlowObsInnov{},
+    auxFlowObsInnovVar{},
+    fScaleFactorVar(0.0f),
+    Tnb_flow{},
+    R_LOS(0.0f),
+    auxFlowTestRatio{},
+    auxRngTestRatio(0.0f),
+    flowInnovGate(0.0f),
+    auxFlowInnovGate(0.0f),
+    rngInnovGate(0.0f),
+    minFlowRng(0.0f),
+    moCompR_LOS(0.0f)
 {
     memset(&last_ekf_error, 0, sizeof(last_ekf_error));
     memset(&current_ekf_state, 0, sizeof(current_ekf_state));
@@ -330,7 +347,7 @@ void AttPosEKF::CovariancePrediction(float dt)
     } else {
         for (uint8_t i=16; i<=21; i++) processNoise[i] = 0;
     }
-    if (!inhibitGndHgtState) {
+    if (!inhibitGndState) {
         processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma;
     } else {
         processNoise[22] = 0;
@@ -1218,7 +1235,7 @@ void AttPosEKF::FuseVelposNED()
                     }
                 }
                 // Don't update terrain state if inhibited
-                if (inhibitGndHgtState) {
+                if (inhibitGndState) {
                     Kfusion[22] = 0;
                }
 
@@ -1401,7 +1418,7 @@ void AttPosEKF::FuseMagnetometer()
                     Kfusion[i] = 0;
                 }
             }
-            if (!inhibitGndHgtState) {
+            if (!inhibitGndState) {
                 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;
@@ -1475,11 +1492,6 @@ void AttPosEKF::FuseMagnetometer()
                 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;
         }
@@ -1550,11 +1562,6 @@ void AttPosEKF::FuseMagnetometer()
                 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;
 
@@ -1746,11 +1753,6 @@ void AttPosEKF::FuseAirspeed()
                 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
@@ -1882,8 +1884,11 @@ void AttPosEKF::FuseRangeFinder()
         rngPred = (ptd - pd)/cosRngTilt;
         innovRng = rngPred - rngMea;
 
-        // Check the innovation for consistency and don't fuse if > 5Sigma
-        if ((innovRng*innovRng*SK_RNG[0]) < 25)
+        // calculate the innovation consistency test ratio
+        auxRngTestRatio = sq(innovRng) / (sq(rngInnovGate) * varInnovRng);
+
+        // Check the innovation for consistency and don't fuse if out of bounds
+        if (auxRngTestRatio < 1.0f)
         {
             // correct the state vector
             states[22] = states[22] - Kfusion[22] * innovRng;
@@ -1898,286 +1903,386 @@ 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 float R_LOS = 0.01f;
-    static float losPred[2];
-
-    // Transformation matrix from nav to body axes
-    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
-    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_local;
-    Vector3f relVelSensor;
+//     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 float R_LOS = 0.01f;
+//     static float losPred[2];
+
+//     // Transformation matrix from nav to body axes
+//     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
+//     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_local;
+//     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_local.x = vn;
+//             velNED_local.y = ve;
+//             velNED_local.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_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_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_local;
+
+//             // 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];
+
+//             // set the observation index to 1 to fuse the y component next time round and reset the commence fusion flag
+//             obsIndex = 1;
+//             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];
+
+//             // reset the observation index
+//             obsIndex = 0;
+//             fuseOptFlowData = false;
+//         }
+
+//         // 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-12f)
+//             {
+//                 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];
+//             }
+//         }
+//         ForceSymmetry();
+//         ConstrainVariances();
+//     }
+}
 
-// 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.
+/*
+Estimation of optical flow sensor focal length scale factor and terrain height using a two state EKF
+This fiter requires optical flow rates that are not motion compensated
+Range to ground measurement is assumed to be via a narrow beam type sensor - eg laser
+*/
+void AttPosEKF::GroundEKF()
+{
+    // propagate ground position state noise each time this is called using the difference in position since the last observations and an RMS gradient assumption
+    // limit distance to prevent intialisation afer bad gps causing bad numerical conditioning
+    if (!inhibitGndState) {
+        float distanceTravelledSq;
+        distanceTravelledSq = sq(statesAtRngTime[7] - prevPosN) + sq(statesAtRngTime[8] - prevPosE);
+        prevPosN = statesAtRngTime[7];
+        prevPosE = statesAtRngTime[8];
+        distanceTravelledSq = min(distanceTravelledSq, 100.0f);
+        Popt[1][1] += (distanceTravelledSq * sq(gndHgtSigma));
+    }
+    // we aren't using optical flow measurements in this hacked implementation so set the covariances for this state to zero to avoid numerical problems
+    Popt[0][0] = 0.0f;
+    Popt[0][1] = 0.0f;
+    Popt[1][0] = 0.0f;
+
+    // Fuse range finder data
+    // Need to check that our range finder tilt angle is less than 30 degrees
+    float cosRngTilt = - Tbn.z.x * sinf(rngFinderPitch) + Tbn.z.z * cosf(rngFinderPitch);
+    if (useRangeFinder && fuseRngData && cosRngTilt > 0.87f) {
+        float range; // range from camera to centre of image
+        float q0; // quaternion at optical flow measurement time
+        float q1; // quaternion at optical flow measurement time
+        float q2; // quaternion at optical flow measurement time
+        float q3; // quaternion at optical flow measurement time
+        float R_RNG = 0.5; // range measurement variance (m^2) TODO make this a function of range and tilt to allow for sensor, alignment and AHRS errors
+
+        // Copy required states to local variable names
+        q0             = statesAtRngTime[0];
+        q1             = statesAtRngTime[1];
+        q2             = statesAtRngTime[2];
+        q3             = statesAtRngTime[3];
+
+        // calculate Kalman gains
+        float SK_RNG[3];
+        SK_RNG[0] = sq(q0) - sq(q1) - sq(q2) + sq(q3);
+        SK_RNG[1] = 1/(R_RNG + Popt[1][1]/sq(SK_RNG[0]));
+        SK_RNG[2] = 1/SK_RNG[0];
+        float K_RNG[2];
+        if (!inhibitScaleState) {
+            K_RNG[0] = Popt[0][1]*SK_RNG[1]*SK_RNG[2];
+        } else {
+            K_RNG[0] = 0.0f;
+        }
+        if (!inhibitGndState) {
+            K_RNG[1] = Popt[1][1]*SK_RNG[1]*SK_RNG[2];
+        } else {
+            K_RNG[1] = 0.0f;
+        }
 
-        // 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_local.x = vn;
-            velNED_local.y = ve;
-            velNED_local.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_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_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_local;
-
-            // 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 the innovation variance for data logging
+        varInnovRng = 1.0f/SK_RNG[1];
 
-            // 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];
+        // constrain terrain height to be below the vehicle
+        flowStates[1] = maxf(flowStates[1], statesAtRngTime[9] + minFlowRng);
 
-            // 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];
-
-            // set the observation index to 1 to fuse the y component next time round and reset the commence fusion flag
-            obsIndex = 1;
-            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];
-
-            // reset the observation index
-            obsIndex = 0;
-            fuseOptFlowData = false;
-        }
+        // estimate range to centre of image
+        range = (flowStates[1] - statesAtRngTime[9]) * SK_RNG[2];
 
-        // 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-12f)
-            {
-                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++)
+        // Calculate the measurement innovation
+        innovRng = range - rngMea;
+
+        // calculate the innovation consistency test ratio
+        auxRngTestRatio = sq(innovRng) / (sq(rngInnovGate) * varInnovRng);
+
+        // Check the innovation for consistency and don't fuse if out of bounds
+        if (auxRngTestRatio < 1.0f)
         {
-            for (uint8_t j = 0; j <  n_states; j++)
-            {
-                P[i][j] = P[i][j] - KHP[i][j];
+            // correct the state
+            for (uint8_t i = 0; i < 2 ; i++) {
+                flowStates[i] -= K_RNG[i] * innovRng;
             }
+            // constrain the states
+
+            // constrain focal length to 0.1 to 10 mm
+            flowStates[0] = ConstrainFloat(flowStates[0], 0.1f, 10.0f);
+            // constrain altitude
+            flowStates[1] = maxf(flowStates[1], statesAtRngTime[9] + minFlowRng);
+
+            // correct the covariance matrix
+            float nextPopt[2][2];
+            nextPopt[0][0] = Popt[0][0] - (Popt[0][1]*Popt[1][0]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2];
+            nextPopt[0][1] = Popt[0][1] - (Popt[0][1]*Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2];
+            nextPopt[1][0] = -Popt[1][0]*((Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2] - 1.0f);
+            nextPopt[1][1] = -Popt[1][1]*((Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2] - 1.0f);
+            // prevent the state variances from becoming negative and maintain symmetry
+            Popt[0][0] = maxf(nextPopt[0][0],0.0f);
+            Popt[1][1] = maxf(nextPopt[1][1],0.0f);
+            Popt[0][1] = 0.5f * (nextPopt[0][1] + nextPopt[1][0]);
+            Popt[1][0] = Popt[0][1];
         }
-        ForceSymmetry();
-        ConstrainVariances();
     }
 }
 
@@ -2199,6 +2304,24 @@ float AttPosEKF::sq(float valIn)
     return valIn*valIn;
 }
 
+float AttPosEKF::maxf(float valIn1, float valIn2)
+{
+    if (valIn1 >= valIn2) {
+        return valIn1;
+    } else {
+        return valIn2;
+    }
+}
+
+float AttPosEKF::min(float valIn1, float valIn2)
+{
+    if (valIn1 <= valIn2) {
+        return valIn1;
+    } else {
+        return valIn2;
+    }
+}
+
 // Store states in a history array along with time stamp
 void AttPosEKF::StoreStates(uint64_t timestamp_ms)
 {
@@ -2395,9 +2518,9 @@ void AttPosEKF::OnGroundCheck()
     }
     // don't update terrain offset state if on ground
     if (onGround) {
-        inhibitGndHgtState = true;
+        inhibitGndState = true;
     } else {
-        inhibitGndHgtState = false;
+        inhibitGndState = false;
     }
 }
 
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
index f8bb7a9c4..8ba1c1573 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -80,6 +80,14 @@ public:
         airspeedMeasurementSigma = 1.4f;
         gyroProcessNoise = 1.4544411e-2f;
         accelProcessNoise = 0.5f;
+
+        gndHgtSigma  = 0.1f; // terrain gradient 1-sigma
+        R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2
+        flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check
+        auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter
+        rngInnovGate = 5.0f; // number of standard deviations applied to the rnage finder innovation consistency check
+        minFlowRng = 0.01f; //minimum range between ground and flow sensor
+        moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate
     }
 
     struct mag_state_struct {
@@ -125,7 +133,7 @@ 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
+    float statesAtFlowTime[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)
@@ -204,7 +212,8 @@ public:
 
     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 inhibitGndState; // true when the terrain ground height offset state and covariances are to remain constant
+    bool inhibitScaleState; // true when the focal length scale factor 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
@@ -223,6 +232,27 @@ public:
 
     unsigned storeIndex;
 
+    // Optical Flow error estimation
+    float storedOmega[3][data_buffer_size]; // angular rate vector stored for the last 50 time steps used by optical flow eror estimators
+
+    // Two state EKF used to estimate focal length scale factor and terrain position
+    float Popt[2][2];                       // state covariance matrix
+    float flowStates[2];                    // flow states [scale factor, terrain position]
+    float prevPosN;                         // north position at last measurement
+    float prevPosE;                         // east position at last measurement
+    float auxFlowObsInnov[2];               // optical flow observation innovations from focal length scale factor estimator
+    float auxFlowObsInnovVar[2];            // innovation variance for optical flow observations from focal length scale factor estimator
+    float fScaleFactorVar;                  // optical flow sensor focal length scale factor variance
+    Mat3f Tnb_flow;                         // Transformation matrix from nav to body at the time fo the optical flow measurement
+    float R_LOS;                            // Optical flow observation noise variance (rad/sec)^2
+    float auxFlowTestRatio[2];              // ratio of X and Y flow observation innovations to fault threshold
+    float auxRngTestRatio;                  // ratio of range observation innovations to fault threshold
+    float flowInnovGate;                    // number of standard deviations used for the innovation consistency check
+    float auxFlowInnovGate;                 // number of standard deviations applied to the optical flow innovation consistency check
+    float rngInnovGate;                     // number of standard deviations used for the innovation consistency check
+    float minFlowRng;                       // minimum range over which to fuse optical flow measurements
+    float moCompR_LOS;                      // scaler from sensor gyro rate to uncertainty in LOS rate
+
 void updateDtGpsFilt(float dt);
 
 void updateDtHgtFilt(float dt);
@@ -241,6 +271,8 @@ void FuseRangeFinder();
 
 void FuseOptFlow();
 
+void GroundEKF();
+
 void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
 
 void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
@@ -283,6 +315,10 @@ static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
 
 static float sq(float valIn);
 
+static float maxf(float valIn1, float valIn2);
+
+static float min(float valIn1, float valIn2);
+
 void OnGroundCheck();
 
 void CovarianceInit();
-- 
cgit v1.2.3


From 752b89b99811e27082be8147c7ff8426f0199478 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Tue, 2 Sep 2014 23:24:54 +0200
Subject: parse hil_optical_flow message

publish to flow and range finder topic
---
 src/modules/mavlink/mavlink_receiver.cpp | 54 +++++++++++++++++++++++++++++++-
 src/modules/mavlink/mavlink_receiver.h   |  2 ++
 2 files changed, 55 insertions(+), 1 deletion(-)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index bed1bd789..45ea0e168 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -54,6 +54,7 @@
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
+#include <drivers/drv_range_finder.h>
 #include <time.h>
 #include <float.h>
 #include <unistd.h>
@@ -102,6 +103,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_battery_pub(-1),
 	_cmd_pub(-1),
 	_flow_pub(-1),
+	_range_pub(-1),
 	_offboard_control_sp_pub(-1),
 	_local_pos_sp_pub(-1),
 	_global_vel_sp_pub(-1),
@@ -200,6 +202,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			handle_message_hil_state_quaternion(msg);
 			break;
 
+		case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
+			handle_message_hil_optical_flow(msg);
+			break;
+
 		default:
 			break;
 		}
@@ -363,6 +369,52 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
 	}
 }
 
+void
+MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
+{
+	/* optical flow */
+	mavlink_hil_optical_flow_t flow;
+	mavlink_msg_hil_optical_flow_decode(msg, &flow);
+
+	struct optical_flow_s f;
+	memset(&f, 0, sizeof(f));
+
+	f.timestamp = hrt_absolute_time();
+	f.flow_timestamp = flow.time_usec;
+	f.flow_raw_x = flow.flow_x;
+	f.flow_raw_y = flow.flow_y;
+	f.flow_comp_x_m = flow.flow_comp_m_x;
+	f.flow_comp_y_m = flow.flow_comp_m_y;
+	f.ground_distance_m = flow.ground_distance;
+	f.quality = flow.quality;
+	f.sensor_id = flow.sensor_id;
+
+	if (_flow_pub < 0) {
+		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+
+	} else {
+		orb_publish(ORB_ID(optical_flow), _flow_pub, &f);
+	}
+
+	struct range_finder_report r;
+	memset(&r, 0, sizeof(f));
+
+	r.timestamp = hrt_absolute_time();
+	r.error_count = 0;
+	r.type = RANGE_FINDER_TYPE_LASER;
+	r.distance = flow.ground_distance;
+	r.minimum_distance = 0.0f;
+	r.maximum_distance = 40.0f; // this is set to match the typical range of real sensors, could be made configurable
+	r.valid = (r.distance > r.minimum_distance) && (r.distance < r.maximum_distance);
+
+	if (_range_pub < 0) {
+		_range_pub = orb_advertise(ORB_ID(sensor_range_finder), &r);
+
+	} else {
+		orb_publish(ORB_ID(sensor_range_finder), _range_pub, &r);
+	}
+}
+
 void
 MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
 {
@@ -444,7 +496,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
 	vision_position.vx = 0.0f;
 	vision_position.vy = 0.0f;
 	vision_position.vz = 0.0f;
-	
+
 	math::Quaternion q;
 	q.from_euler(pos.roll, pos.pitch, pos.yaw);
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 91125736c..c4e12d8d8 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -112,6 +112,7 @@ private:
 	void handle_message_command_long(mavlink_message_t *msg);
 	void handle_message_command_int(mavlink_message_t *msg);
 	void handle_message_optical_flow(mavlink_message_t *msg);
+	void handle_message_hil_optical_flow(mavlink_message_t *msg);
 	void handle_message_set_mode(mavlink_message_t *msg);
 	void handle_message_vicon_position_estimate(mavlink_message_t *msg);
 	void handle_message_vision_position_estimate(mavlink_message_t *msg);
@@ -142,6 +143,7 @@ private:
 	orb_advert_t _battery_pub;
 	orb_advert_t _cmd_pub;
 	orb_advert_t _flow_pub;
+	orb_advert_t _range_pub;
 	orb_advert_t _offboard_control_sp_pub;
 	orb_advert_t _local_pos_sp_pub;
 	orb_advert_t _global_vel_sp_pub;
-- 
cgit v1.2.3


From 49f1637d7f6486295c5fc7f541fe06ed934688cf Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Tue, 2 Sep 2014 23:32:24 +0200
Subject: comment and whitespace

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

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 45ea0e168..1115304d4 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -396,6 +396,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 		orb_publish(ORB_ID(optical_flow), _flow_pub, &f);
 	}
 
+	/* Use distance value for range finder report */
 	struct range_finder_report r;
 	memset(&r, 0, sizeof(f));
 
@@ -409,7 +410,6 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 
 	if (_range_pub < 0) {
 		_range_pub = orb_advertise(ORB_ID(sensor_range_finder), &r);
-
 	} else {
 		orb_publish(ORB_ID(sensor_range_finder), _range_pub, &r);
 	}
-- 
cgit v1.2.3


From 7db57310d5cdd7295da6c919dafa92d3831296db Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 2 Sep 2014 15:32:16 -0700
Subject: New mavlink_ftp unit test data

---
 .../unit_test_data/mavlink_tests/empty_dir/.gitignore     |   0
 .../unit_test_data/mavlink_tests/test_234.data            | Bin 0 -> 234 bytes
 .../unit_test_data/mavlink_tests/test_235.data            | Bin 0 -> 235 bytes
 .../unit_test_data/mavlink_tests/test_236.data            | Bin 0 -> 236 bytes
 4 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore
 create mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data
 create mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data
 create mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data

diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/empty_dir/.gitignore
new file mode 100644
index 000000000..e69de29bb
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data
new file mode 100644
index 000000000..3e075aa4f
Binary files /dev/null and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data differ
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data
new file mode 100644
index 000000000..61372f769
Binary files /dev/null and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data differ
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data
new file mode 100644
index 000000000..eb7fcb11a
Binary files /dev/null and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data differ
-- 
cgit v1.2.3


From 81275e624e87d5cbb10535ffa2fcc2adbccc793f Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 2 Sep 2014 15:32:33 -0700
Subject: Added mavlink_ftp unit test

---
 makefiles/config_px4fmu-v2_test.mk | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 932f92261..a41670a77 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -54,6 +54,9 @@ MODULES		+= lib/conversion
 #
 LIBRARIES	+= lib/mathlib/CMSIS
 
+MODULES 	+= modules/unit_test
+MODULES		+= modules/mavlink/mavlink_tests
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
-- 
cgit v1.2.3


From 6f0160bb5db552c921773f278e93d33862811a2a Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 2 Sep 2014 15:32:50 -0700
Subject: New mavlink_ftp unit test

---
 .../mavlink/mavlink_tests/mavlink_ftp_test.cpp     | 788 +++++++++++++++++++++
 .../mavlink/mavlink_tests/mavlink_ftp_test.h       | 109 +++
 .../mavlink/mavlink_tests/mavlink_tests.cpp        |  52 ++
 src/modules/mavlink/mavlink_tests/module.mk        |  48 ++
 4 files changed, 997 insertions(+)
 create mode 100644 src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
 create mode 100644 src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
 create mode 100644 src/modules/mavlink/mavlink_tests/mavlink_tests.cpp
 create mode 100644 src/modules/mavlink/mavlink_tests/module.mk

diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
new file mode 100644
index 000000000..ebfce6d74
--- /dev/null
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
@@ -0,0 +1,788 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/// @file mavlink_ftp_test.cpp
+///	@author Don Gagne <don@thegagnes.com>
+
+#include <sys/stat.h>
+#include <crc32.h>
+#include <stdio.h>
+#include <fcntl.h>
+
+#include "mavlink_ftp_test.h"
+#include "../mavlink_ftp.h"
+
+/// @brief Test case file name for Read command. File are generated using mavlink_ftp_test_data.py
+const MavlinkFtpTest::ReadTestCase MavlinkFtpTest::_rgReadTestCases[] = {
+	{ "/etc/unit_test_data/mavlink_tests/test_234.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) - 1},	// Read takes less than single packet
+	{ "/etc/unit_test_data/mavlink_tests/test_235.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) },		// Read completely fills single packet
+	{ "/etc/unit_test_data/mavlink_tests/test_236.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) + 1 },	// Read take two packets
+};
+
+const char MavlinkFtpTest::_unittest_microsd_dir[] = "/fs/microsd/ftp_unit_test_dir";
+const char MavlinkFtpTest::_unittest_microsd_file[] = "/fs/microsd/ftp_unit_test_dir/file";
+
+MavlinkFtpTest::MavlinkFtpTest() :
+	_ftp_server{},
+	_reply_msg{},
+	_lastOutgoingSeqNumber{}
+{
+}
+
+MavlinkFtpTest::~MavlinkFtpTest()
+{
+	
+}
+
+/// @brief Called before every test to initialize the FTP Server.
+void MavlinkFtpTest::init(void)
+{
+	_ftp_server = new MavlinkFTP;;
+	_ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message, this);
+
+	_cleanup_microsd();
+}
+
+/// @brief Called after every test to take down the FTP Server.
+void MavlinkFtpTest::cleanup(void)
+{
+	delete _ftp_server;
+	
+	_cleanup_microsd();
+}
+
+/// @brief Tests for correct behavior of an Ack response.
+bool MavlinkFtpTest::_ack_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	payload.opcode = MavlinkFTP::kCmdNone;
+
+	bool success = _send_receive_msg(&payload,	// FTP payload header
+					 0,		// size in bytes of data
+					 nullptr,	// Data to start into FTP message payload
+					 &ftp_msg,	// Response from server
+					 &reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+	ut_compare("Incorrect payload size", reply->size, 0);
+	
+	return true;
+}
+
+/// @brief Tests for correct response to a message sent with an invalid CRC.
+bool MavlinkFtpTest::_bad_crc_test(void)
+{
+	mavlink_message_t			msg;
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	payload.opcode = MavlinkFTP::kCmdNone;
+	
+	_setup_ftp_msg(&payload, 0, nullptr, &msg);
+
+	((MavlinkFTP::PayloadHeader*)((mavlink_file_transfer_protocol_t*)msg.payload64)->payload)->crc32++;
+	
+	_ftp_server->handle_message(nullptr /* mavlink */, &msg);
+	
+	if (!_decode_message(&_reply_msg, &ftp_msg, &reply)) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+	ut_compare("Incorrect payload size", reply->size, 1);
+	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrCrc);
+	
+	return true;
+}
+
+/// @brief Tests for correct response to an invalid opcpde.
+bool MavlinkFtpTest::_bad_opcode_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	payload.opcode = 0xFF;	// bogus opcode
+
+	bool success = _send_receive_msg(&payload,	// FTP payload header
+					 0,		// size in bytes of data
+					 nullptr,	// Data to start into FTP message payload
+					 &ftp_msg,	// Response from server
+					 &reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+	ut_compare("Incorrect payload size", reply->size, 1);
+	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrUnknownCommand);
+	
+	return true;
+}
+
+/// @brief Tests for correct reponse to a payload which an invalid data size field.
+bool MavlinkFtpTest::_bad_datasize_test(void)
+{
+	mavlink_message_t			msg;
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	payload.opcode = MavlinkFTP::kCmdListDirectory;
+	
+	_setup_ftp_msg(&payload, 0, nullptr, &msg);
+	
+	// Set the data size to be one larger than is legal
+	((MavlinkFTP::PayloadHeader*)((mavlink_file_transfer_protocol_t*)msg.payload64)->payload)->size = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN + 1;
+	
+	_ftp_server->handle_message(nullptr /* mavlink */, &msg);
+	
+	if (!_decode_message(&_reply_msg, &ftp_msg, &reply)) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+	ut_compare("Incorrect payload size", reply->size, 1);
+	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidDataSize);
+	
+	return true;
+}
+
+bool MavlinkFtpTest::_list_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	char response1[] = "D.|Dempty_dir|Ftest_234.data\t234|Ftest_235.data\t235|Ftest_236.data\t236";
+	char response2[] = "Ddev|Detc|Dfs|Dobj";
+	
+	struct _testCase {
+		const char	*dir;
+		char		*response;
+		bool		success;
+	};
+	struct _testCase rgTestCases[] = {
+		{ "/bogus",				nullptr,	false },
+		{ "/etc/unit_test_data/mavlink_tests",	response1,	true },
+		{ "/",					response2,	true },
+	};
+
+	for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+		const struct _testCase *test = &rgTestCases[i];
+		
+		uint8_t expected_data_size = strlen(test->response) + 1;
+		
+		char *ptr = strtok (test->response, "|");
+		while (ptr != nullptr)
+		{
+			ptr = strtok (nullptr, "|");
+		}
+
+		payload.opcode = MavlinkFTP::kCmdListDirectory;
+		payload.offset = 0;
+		
+		bool success = _send_receive_msg(&payload,		// FTP payload header
+						strlen(test->dir)+1,	// size in bytes of data
+						(uint8_t*)test->dir,	// Data to start into FTP message payload
+						&ftp_msg,		// Response from server
+						&reply);		// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		if (test->success) {
+			ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+			ut_compare("Incorrect payload size", reply->size, expected_data_size);
+			ut_compare("Ack payload contents incorrect", memcmp(reply->data, test->response, expected_data_size), 0);
+		} else {
+			ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+			ut_compare("Incorrect payload size", reply->size, 2);
+			ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
+		}
+	}
+	
+	return true;
+}
+
+/// @brief Tests for correct reponse to a List command on a valid directory, but with an offset that
+/// is beyond the last directory entry.
+bool MavlinkFtpTest::_list_eof_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	const char				*dir = "/";
+	
+	payload.opcode = MavlinkFTP::kCmdListDirectory;
+	payload.offset = 4;	// offset past top level dirs
+	
+	bool success = _send_receive_msg(&payload,	// FTP payload header
+					strlen(dir)+1,	// size in bytes of data
+					(uint8_t*)dir,	// Data to start into FTP message payload
+					&ftp_msg,	// Response from server
+					&reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+
+	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+	ut_compare("Incorrect payload size", reply->size, 1);
+	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrEOF);
+	
+	return true;
+}
+
+/// @brief Tests for correct reponse to an Open command on a file which does not exist.
+bool MavlinkFtpTest::_open_badfile_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	const char				*dir = "/foo";	// non-existent file
+	
+	payload.opcode = MavlinkFTP::kCmdOpenFile;
+	payload.offset = 0;
+	
+	bool success = _send_receive_msg(&payload,	// FTP payload header
+					strlen(dir)+1,	// size in bytes of data
+					(uint8_t*)dir,	// Data to start into FTP message payload
+					&ftp_msg,	// Response from server
+					&reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+	ut_compare("Incorrect payload size", reply->size, 2);
+	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
+	
+	return true;
+}
+
+/// @brief Tests for correct reponse to an Open command on a file, followed by Terminate
+bool MavlinkFtpTest::_open_terminate_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	for (size_t i=0; i<sizeof(_rgReadTestCases)/sizeof(_rgReadTestCases[0]); i++) {
+		struct stat st;
+		const ReadTestCase *test = &_rgReadTestCases[i];
+		
+		payload.opcode = MavlinkFTP::kCmdOpenFile;
+		payload.offset = 0;
+		
+		bool success = _send_receive_msg(&payload,		// FTP payload header
+						 strlen(test->file)+1,	// size in bytes of data
+						 (uint8_t*)test->file,	// Data to start into FTP message payload
+						 &ftp_msg,		// Response from server
+						 &reply);		// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		ut_compare("stat failed", stat(test->file, &st), 0);
+		
+		
+		ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+		ut_compare("Incorrect payload size", reply->size, sizeof(uint32_t));
+		ut_compare("File size incorrect", *((uint32_t*)&reply->data[0]), (uint32_t)st.st_size);
+
+		payload.opcode = MavlinkFTP::kCmdTerminateSession;
+		payload.session = reply->session;
+		payload.size = 0;
+		
+		success = _send_receive_msg(&payload,	// FTP payload header
+					    0,		// size in bytes of data
+					    nullptr,	// Data to start into FTP message payload
+					    &ftp_msg,	// Response from server
+					    &reply);	// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+		ut_compare("Incorrect payload size", reply->size, 0);
+	}
+
+	return true;
+}
+
+/// @brief Tests for correct reponse to a Terminate command on an invalid session.
+bool MavlinkFtpTest::_terminate_badsession_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	const char				*file = _rgReadTestCases[0].file;
+	
+	payload.opcode = MavlinkFTP::kCmdOpenFile;
+	payload.offset = 0;
+	
+	bool success = _send_receive_msg(&payload,	// FTP payload header
+					strlen(file)+1,	// size in bytes of data
+					(uint8_t*)file,	// Data to start into FTP message payload
+					&ftp_msg,	// Response from server
+					&reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+	
+	payload.opcode = MavlinkFTP::kCmdTerminateSession;
+	payload.session = reply->session + 1;
+	payload.size = 0;
+	
+	success = _send_receive_msg(&payload,	// FTP payload header
+				   0,		// size in bytes of data
+				   nullptr,	// Data to start into FTP message payload
+				   &ftp_msg,	// Response from server
+				   &reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+	ut_compare("Incorrect payload size", reply->size, 1);
+	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession);
+	
+	return true;
+}
+
+/// @brief Tests for correct reponse to a Read command on an open session.
+bool MavlinkFtpTest::_read_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	for (size_t i=0; i<sizeof(_rgReadTestCases)/sizeof(_rgReadTestCases[0]); i++) {
+		struct stat st;
+		const ReadTestCase *test = &_rgReadTestCases[i];
+		
+		// Read in the file so we can compare it to what we get back
+		ut_compare("stat failed", stat(test->file, &st), 0);
+		uint8_t *bytes = new uint8_t[st.st_size];
+		ut_assert("new failed", bytes != nullptr);
+		int fd = ::open(test->file, O_RDONLY);
+		ut_assert("open failed", fd != -1);
+		int bytes_read = ::read(fd, bytes, st.st_size);
+		ut_compare("read failed", bytes_read, st.st_size);
+		::close(fd);
+		
+		// Test case data files are created for specific boundary conditions
+		ut_compare("Test case data files are out of date", test->length, st.st_size);
+		
+		payload.opcode = MavlinkFTP::kCmdOpenFile;
+		payload.offset = 0;
+		
+		bool success = _send_receive_msg(&payload,		// FTP payload header
+						 strlen(test->file)+1,	// size in bytes of data
+						 (uint8_t*)test->file,	// Data to start into FTP message payload
+						 &ftp_msg,		// Response from server
+						 &reply);		// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+		
+		payload.opcode = MavlinkFTP::kCmdReadFile;
+		payload.session = reply->session;
+		payload.offset = 0;
+		
+		success = _send_receive_msg(&payload,	// FTP payload header
+					    0,		// size in bytes of data
+					    nullptr,	// Data to start into FTP message payload
+					    &ftp_msg,	// Response from server
+					    &reply);	// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+		ut_compare("Offset incorrect", reply->offset, 0);
+		
+		if (test->length <= MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader)) {
+			ut_compare("Payload size incorrect", reply->size, (uint32_t)st.st_size);
+			ut_compare("File contents differ", memcmp(reply->data, bytes, st.st_size), 0);
+		}
+		
+		payload.opcode = MavlinkFTP::kCmdTerminateSession;
+		payload.session = reply->session;
+		payload.size = 0;
+		
+		success = _send_receive_msg(&payload,	// FTP payload header
+					    0,		// size in bytes of data
+					    nullptr,	// Data to start into FTP message payload
+					    &ftp_msg,	// Response from server
+					    &reply);	// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+		ut_compare("Incorrect payload size", reply->size, 0);
+	}
+	
+	return true;
+}
+
+/// @brief Tests for correct reponse to a Read command on an invalid session.
+bool MavlinkFtpTest::_read_badsession_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	const char				*file = _rgReadTestCases[0].file;
+	
+	payload.opcode = MavlinkFTP::kCmdOpenFile;
+	payload.offset = 0;
+	
+	bool success = _send_receive_msg(&payload,	// FTP payload header
+					 strlen(file)+1,	// size in bytes of data
+					 (uint8_t*)file,	// Data to start into FTP message payload
+					 &ftp_msg,	// Response from server
+					 &reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+	
+	payload.opcode = MavlinkFTP::kCmdReadFile;
+	payload.session = reply->session + 1;	// Invalid session
+	payload.offset = 0;
+	
+	success = _send_receive_msg(&payload,	// FTP payload header
+				    0,		// size in bytes of data
+				    nullptr,	// Data to start into FTP message payload
+				    &ftp_msg,	// Response from server
+				    &reply);	// Payload inside FTP message response
+	if (!success) {
+		return false;
+	}
+	
+	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+	ut_compare("Incorrect payload size", reply->size, 1);
+	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession);
+	
+	return true;
+}
+
+bool MavlinkFtpTest::_removedirectory_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	int					fd;
+	
+	struct _testCase {
+		const char	*dir;
+		bool		success;
+		bool		deleteFile;
+	};
+	static const struct _testCase rgTestCases[] = {
+		{ "/bogus",						false,	false },
+		{ "/etc/unit_test_data/mavlink_tests/empty_dir",	false,	false },
+		{ _unittest_microsd_dir,				false,	false },
+		{ _unittest_microsd_file,				false,	false },
+		{ _unittest_microsd_dir,				true,	true },
+	};
+	
+	ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0);
+	ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1);
+	::close(fd);
+	
+	for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+		const struct _testCase *test = &rgTestCases[i];
+		
+		if (test->deleteFile) {
+			ut_compare("unlink failed", ::unlink(_unittest_microsd_file), 0);
+		}
+		
+		payload.opcode = MavlinkFTP::kCmdRemoveDirectory;
+		payload.offset = 0;
+		
+		bool success = _send_receive_msg(&payload,		// FTP payload header
+						 strlen(test->dir)+1,	// size in bytes of data
+						 (uint8_t*)test->dir,	// Data to start into FTP message payload
+						 &ftp_msg,		// Response from server
+						 &reply);		// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		if (test->success) {
+			ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+			ut_compare("Incorrect payload size", reply->size, 0);
+		} else {
+			ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+			ut_compare("Incorrect payload size", reply->size, 2);
+			ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
+		}
+	}
+	
+	return true;
+}
+
+bool MavlinkFtpTest::_createdirectory_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	
+	struct _testCase {
+		const char	*dir;
+		bool		success;
+	};
+	static const struct _testCase rgTestCases[] = {
+		{ "/etc/bogus",			false },
+		{ _unittest_microsd_dir,	true },
+		{ _unittest_microsd_dir,	false },
+		{ "/fs/microsd/bogus/bogus",	false },
+	};
+	
+	for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+		const struct _testCase *test = &rgTestCases[i];
+		
+		payload.opcode = MavlinkFTP::kCmdCreateDirectory;
+		payload.offset = 0;
+		
+		bool success = _send_receive_msg(&payload,		// FTP payload header
+						 strlen(test->dir)+1,	// size in bytes of data
+						 (uint8_t*)test->dir,	// Data to start into FTP message payload
+						 &ftp_msg,		// Response from server
+						 &reply);		// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		if (test->success) {
+			ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+			ut_compare("Incorrect payload size", reply->size, 0);
+		} else {
+			ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+			ut_compare("Incorrect payload size", reply->size, 2);
+			ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
+		}
+	}
+	
+	return true;
+}
+
+bool MavlinkFtpTest::_removefile_test(void)
+{
+	MavlinkFTP::PayloadHeader		payload;
+	mavlink_file_transfer_protocol_t	ftp_msg;
+	MavlinkFTP::PayloadHeader		*reply;
+	int					fd;
+	
+	struct _testCase {
+		const char	*file;
+		bool		success;
+	};
+	static const struct _testCase rgTestCases[] = {
+		{ "/bogus",			false },
+		{ _rgReadTestCases[0].file,	false },
+		{ _unittest_microsd_dir,	false },
+		{ _unittest_microsd_file,	true },
+		{ _unittest_microsd_file,	false },
+	};
+	
+	ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0);
+	ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1);
+	::close(fd);
+	
+	for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+		const struct _testCase *test = &rgTestCases[i];
+		
+		payload.opcode = MavlinkFTP::kCmdRemoveFile;
+		payload.offset = 0;
+		
+		bool success = _send_receive_msg(&payload,		// FTP payload header
+						 strlen(test->file)+1,	// size in bytes of data
+						 (uint8_t*)test->file,	// Data to start into FTP message payload
+						 &ftp_msg,		// Response from server
+						 &reply);		// Payload inside FTP message response
+		if (!success) {
+			return false;
+		}
+		
+		if (test->success) {
+			ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
+			ut_compare("Incorrect payload size", reply->size, 0);
+		} else {
+			ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
+			ut_compare("Incorrect payload size", reply->size, 2);
+			ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
+		}
+	}
+	
+	return true;
+}
+
+/// @brief Static method used as callback from MavlinkFTP. This method will be called by MavlinkFTP when
+/// it needs to send a message out on Mavlink.
+void MavlinkFtpTest::receive_message(const mavlink_message_t *msg, MavlinkFtpTest *ftp_test)
+{
+	ftp_test->_receive_message(msg);
+}
+
+/// @brief Non-Static version of receive_message
+void MavlinkFtpTest::_receive_message(const mavlink_message_t *msg)
+{
+	// Move the message into our own member variable
+	memcpy(&_reply_msg, msg, sizeof(mavlink_message_t));
+}
+
+/// @brief Decode and validate the incoming message
+bool MavlinkFtpTest::_decode_message(const mavlink_message_t		*msg,		///< Mavlink message to decode
+				     mavlink_file_transfer_protocol_t	*ftp_msg,	///< Decoded FTP message
+				     MavlinkFTP::PayloadHeader		**payload)	///< Payload inside FTP message response
+{
+	mavlink_msg_file_transfer_protocol_decode(msg, ftp_msg);
+	
+	// Make sure the targets are correct
+	ut_compare("Target network non-zero", ftp_msg->target_network, 0);
+	ut_compare("Target system id mismatch", ftp_msg->target_system, clientSystemId);
+	ut_compare("Target component id mismatch", ftp_msg->target_component, clientComponentId);
+	
+	*payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(ftp_msg->payload);
+	
+	// Make sure we have a good CRC
+	ut_compare("Incoming CRC mismatch", (*payload)->crc32, _payload_crc32((*payload)));
+	
+	// Make sure we have a good sequence number
+	ut_compare("Sequence number mismatch", (*payload)->seqNumber, _lastOutgoingSeqNumber + 1);
+	
+	// Bump sequence number for next outgoing message
+	_lastOutgoingSeqNumber++;
+	
+	return true;
+}
+
+/// @brief Returns the 32 bit CRC for the payload, crc32 and padding are set to 0 for calculation.
+uint32_t MavlinkFtpTest::_payload_crc32(struct MavlinkFTP::PayloadHeader *payload)
+{
+	// We calculate CRC with crc and padding set to 0.
+	uint32_t saveCRC = payload->crc32;
+	payload->crc32 = 0;
+	payload->padding[0] = 0;
+	payload->padding[1] = 0;
+	payload->padding[2] = 0;
+	uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(MavlinkFTP::PayloadHeader));
+	payload->crc32 = saveCRC;
+	
+	return retCRC;
+}
+
+/// @brief Initializes an FTP message into a mavlink message
+void MavlinkFtpTest::_setup_ftp_msg(MavlinkFTP::PayloadHeader	*payload_header,	///< FTP payload header
+				    uint8_t			size,			///< size in bytes of data
+				    const uint8_t		*data,			///< Data to start into FTP message payload
+				    mavlink_message_t		*msg)			///< Returned mavlink message
+{
+	uint8_t payload_bytes[MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN];
+	MavlinkFTP::PayloadHeader *payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(payload_bytes);
+			     
+	memcpy(payload, payload_header, sizeof(MavlinkFTP::PayloadHeader));
+	
+	payload->seqNumber = _lastOutgoingSeqNumber;
+	payload->size = size;
+	if (size != 0) {
+		memcpy(payload->data, data, size);
+	}
+    
+	payload->crc32 = _payload_crc32(payload);
+	
+	msg->checksum = 0;
+	mavlink_msg_file_transfer_protocol_pack(clientSystemId,		// Sender system id
+						clientComponentId,	// Sender component id
+						msg,			// Message to pack payload into
+						0,			// Target network
+						serverSystemId,		// Target system id
+						serverComponentId,	// Target component id
+						payload_bytes);		// Payload to pack into message
+}
+
+/// @brief Sends the specified FTP message to the server and returns response
+bool MavlinkFtpTest::_send_receive_msg(MavlinkFTP::PayloadHeader	*payload_header,	///< FTP payload header
+				      uint8_t				size,			///< size in bytes of data
+				      const uint8_t			*data,			///< Data to start into FTP message payload
+				      mavlink_file_transfer_protocol_t	*ftp_msg_reply,		///< Response from server
+				      MavlinkFTP::PayloadHeader		**payload_reply)	///< Payload inside FTP message response
+{
+	mavlink_message_t msg;
+
+	_setup_ftp_msg(payload_header, size, data, &msg);
+	_ftp_server->handle_message(nullptr /* mavlink */, &msg);
+	return _decode_message(&_reply_msg, ftp_msg_reply, payload_reply);
+}
+	
+/// @brief Cleans up an files created on microsd during testing
+void MavlinkFtpTest::_cleanup_microsd(void)
+{
+	::unlink(_unittest_microsd_file);
+	::rmdir(_unittest_microsd_dir);
+}
+
+/// @brief Runs all the unit tests
+void MavlinkFtpTest::runTests(void)
+{
+	ut_run_test(_ack_test);
+	ut_run_test(_bad_crc_test);
+	ut_run_test(_bad_opcode_test);
+	ut_run_test(_bad_datasize_test);
+	ut_run_test(_list_test);
+	ut_run_test(_list_eof_test);
+	ut_run_test(_open_badfile_test);
+	ut_run_test(_open_terminate_test);
+	ut_run_test(_terminate_badsession_test);
+	ut_run_test(_read_test);
+	ut_run_test(_read_badsession_test);
+	ut_run_test(_removedirectory_test);
+	ut_run_test(_createdirectory_test);
+	ut_run_test(_removefile_test);
+}
+
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
new file mode 100644
index 000000000..bbb095a08
--- /dev/null
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/// @file mavlink_ftp_test.h
+///	@author Don Gagne <don@thegagnes.com>
+
+#pragma once
+
+#include <unit_test/unit_test.h>
+#include "../mavlink_bridge_header.h"
+#include "../mavlink_ftp.h"
+
+class MavlinkFtpTest : public UnitTest
+{
+public:
+	MavlinkFtpTest();
+	virtual ~MavlinkFtpTest();
+	
+	virtual void init(void);
+	virtual void cleanup(void);
+	
+	virtual void runTests(void);
+	
+	static void receive_message(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest);
+	
+	static const uint8_t serverSystemId = 50;	///< System ID for server
+	static const uint8_t serverComponentId = 1;	///< Component ID for server
+	static const uint8_t serverChannel = 0;		///< Channel to send to
+	
+	static const uint8_t clientSystemId = 1;	///< System ID for client
+	static const uint8_t clientComponentId = 0;	///< Component ID for client
+	
+	// We don't want any of these
+	MavlinkFtpTest(const MavlinkFtpTest&);
+	MavlinkFtpTest& operator=(const MavlinkFtpTest&);
+	
+private:
+	bool _ack_test(void);
+	bool _bad_crc_test(void);
+	bool _bad_opcode_test(void);
+	bool _bad_datasize_test(void);
+	bool _list_test(void);
+	bool _list_eof_test(void);
+	bool _open_badfile_test(void);
+	bool _open_terminate_test(void);
+	bool _terminate_badsession_test(void);
+	bool _read_test(void);
+	bool _read_badsession_test(void);
+	bool _removedirectory_test(void);
+	bool _createdirectory_test(void);
+	bool _removefile_test(void);
+	
+	void _receive_message(const mavlink_message_t *msg);
+	uint32_t _payload_crc32(struct MavlinkFTP::PayloadHeader *payload);
+	void _setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, uint8_t size, const uint8_t *data, mavlink_message_t *msg);
+	bool _decode_message(const mavlink_message_t *msg, mavlink_file_transfer_protocol_t *ftp_msg, MavlinkFTP::PayloadHeader **payload);
+	bool _send_receive_msg(MavlinkFTP::PayloadHeader	*payload_header,
+                           uint8_t				size,
+                           const uint8_t			*data,
+                           mavlink_file_transfer_protocol_t	*ftp_msg_reply,
+                           MavlinkFTP::PayloadHeader		**payload_reply);
+	void _cleanup_microsd(void);
+	
+	MavlinkFTP *_ftp_server;
+    
+	mavlink_message_t _reply_msg;
+    
+	uint16_t _lastOutgoingSeqNumber;
+	
+	struct ReadTestCase {
+		const char	*file;
+		const uint16_t	length;
+	};
+	static const ReadTestCase _rgReadTestCases[];
+	
+	static const char _unittest_microsd_dir[];
+	static const char _unittest_microsd_file[];
+};
+
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp b/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp
new file mode 100644
index 000000000..d9c1e413a
--- /dev/null
+++ b/src/modules/mavlink/mavlink_tests/mavlink_tests.cpp
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_ftp_tests.cpp
+ */
+
+#include <systemlib/err.h>
+
+#include "mavlink_ftp_test.h"
+
+extern "C" __EXPORT int mavlink_tests_main(int argc, char *argv[]);
+
+int mavlink_tests_main(int argc, char *argv[])
+{
+	MavlinkFtpTest* test = new MavlinkFtpTest;
+	
+	test->runTests();
+	test->printResults();
+
+	return 0;
+}
diff --git a/src/modules/mavlink/mavlink_tests/module.mk b/src/modules/mavlink/mavlink_tests/module.mk
new file mode 100644
index 000000000..07cfce1dc
--- /dev/null
+++ b/src/modules/mavlink/mavlink_tests/module.mk
@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# System state machine tests.
+#
+
+MODULE_COMMAND		= mavlink_tests
+SRCS			= mavlink_tests.cpp \
+			mavlink_ftp_test.cpp \
+			../mavlink_ftp.cpp \
+			../mavlink.c
+
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MODULE_STACKSIZE = 5000
+
+EXTRACXXFLAGS	= -Weffc++ -DMAVLINK_FTP_UNIT_TEST
-- 
cgit v1.2.3


From 1969c9ccf6797c4d86f32b9f57332a9e59071251 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 2 Sep 2014 15:33:43 -0700
Subject: Improved unit test framework

- Added init/cleanup calls before after test
- Added ut_compare macro with better failure reporting
---
 src/modules/unit_test/unit_test.cpp |  5 +++++
 src/modules/unit_test/unit_test.h   | 18 ++++++++++++++++++
 2 files changed, 23 insertions(+)

diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp
index 02d1af481..be3b9461a 100644
--- a/src/modules/unit_test/unit_test.cpp
+++ b/src/modules/unit_test/unit_test.cpp
@@ -56,3 +56,8 @@ void UnitTest::printAssert(const char* msg, const char* test, const char* file,
 {
     warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
 }
+
+void UnitTest::printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line)
+{
+	warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
+}
diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h
index 32eb8c308..1a5489709 100644
--- a/src/modules/unit_test/unit_test.h
+++ b/src/modules/unit_test/unit_test.h
@@ -52,11 +52,15 @@ INLINE_GLOBAL(const char*, mu_last_test)
 
 	UnitTest();
     virtual ~UnitTest();
+	
+	virtual void init(void) { };
+	virtual void cleanup(void) { };
 
     virtual void runTests(void) = 0;
     void printResults(void);
     
     void printAssert(const char* msg, const char* test, const char* file, int line);
+	void printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line);
     
 #define ut_assert(message, test)                                \
     do {                                                        \
@@ -68,10 +72,23 @@ INLINE_GLOBAL(const char*, mu_last_test)
         }                                                       \
     } while (0)
     
+#define ut_compare(message, v1, v2)							\
+	do {										\
+		int _v1 = v1;								\
+		int _v2 = v2;								\
+		if (_v1 != _v2) {							\
+			printCompare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__);	\
+			return false;							\
+		} else {								\
+			mu_assertion()++;						\
+		}									\
+	} while (0)
+    
 #define ut_run_test(test)                       \
     do {                                        \
         warnx("RUNNING TEST: %s", #test);       \
         mu_tests_run()++;                       \
+	init();					\
         if (!test()) {                          \
             warnx("TEST FAILED: %s", #test);    \
             mu_tests_failed()++;                \
@@ -79,6 +96,7 @@ INLINE_GLOBAL(const char*, mu_last_test)
             warnx("TEST PASSED: %s", #test);    \
             mu_tests_passed()++;                \
         }                                       \
+	cleanup();				\
     } while (0)
 
 };
-- 
cgit v1.2.3


From e7165d6cbf364cb95e45dad998daa7c494de409e Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 2 Sep 2014 15:34:02 -0700
Subject: Generator for mavlink_ftp test files

---
 src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py | 7 +++++++
 1 file changed, 7 insertions(+)
 create mode 100644 src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py

diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py
new file mode 100644
index 000000000..a7e68f2a3
--- /dev/null
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py
@@ -0,0 +1,7 @@
+import sys
+print 'Arguments: file - ' + sys.argv[1] + ', length - ' + sys.argv[2]
+file = open(sys.argv[1], 'w')
+for i in range(int(sys.argv[2])):
+	b = bytearray([i & 0xFF])
+	file.write(b)
+file.close()
\ No newline at end of file
-- 
cgit v1.2.3


From 37ea85968da111f7dc63cdfa8ca02ad6e601a8c3 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 2 Sep 2014 15:34:20 -0700
Subject: Tweak for mavlink_ftp api change

---
 src/modules/mavlink/mavlink_receiver.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index bed1bd789..823de5172 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -121,7 +121,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 {
 
 	// make sure the FTP server is started
-	(void)MavlinkFTP::getServer();
+	(void)MavlinkFTP::get_server();
 }
 
 MavlinkReceiver::~MavlinkReceiver()
@@ -173,7 +173,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		break;
 
 	case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
-		MavlinkFTP::getServer()->handle_message(_mavlink, msg);
+		MavlinkFTP::get_server()->handle_message(_mavlink, msg);
 		break;
 
 	default:
-- 
cgit v1.2.3


From 828fb5efd10355d0d33b05fcf597bc4c05cd4db4 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 2 Sep 2014 15:36:32 -0700
Subject: Additional FTP command support plus unit test

- Restructured to a flatter class implementation
- Added support for create/remove directory, remove file
- Refactored error codes and command opcodes
- Added unit test support
- Fixed bugs found by unit test
---
 src/modules/mavlink/mavlink_ftp.cpp | 445 +++++++++++++++++++++++++-----------
 src/modules/mavlink/mavlink_ftp.h   | 293 ++++++++++--------------
 2 files changed, 427 insertions(+), 311 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index 5b65dc369..72ede8797 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -31,38 +31,39 @@
  *
  ****************************************************************************/
 
+/// @file mavlink_ftp.cpp
+///	@author px4dev, Don Gagne <don@thegagnes.com>
+
 #include <crc32.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <fcntl.h>
 #include <sys/stat.h>
+#include <errno.h>
 
 #include "mavlink_ftp.h"
+#include "mavlink_tests/mavlink_ftp_test.h"
 
 // Uncomment the line below to get better debug output. Never commit with this left on.
 //#define MAVLINK_FTP_DEBUG
 
-MavlinkFTP *MavlinkFTP::_server;
-
 MavlinkFTP *
-MavlinkFTP::getServer()
+MavlinkFTP::get_server(void)
 {
-	// XXX this really cries out for some locking...
-	if (_server == nullptr) {
-		_server = new MavlinkFTP;
-	}
-	return _server;
+	static MavlinkFTP server;
+        return &server;
 }
 
 MavlinkFTP::MavlinkFTP() :
-	_session_fds{},
-	_workBufs{},
-	_workFree{},
-	_lock{}
+	_request_bufs{},
+	_request_queue{},
+	_request_queue_sem{},
+	_utRcvMsgFunc{},
+	_ftp_test{}
 {
 	// initialise the request freelist
-	dq_init(&_workFree);
-	sem_init(&_lock, 0, 1);
+	dq_init(&_request_queue);
+	sem_init(&_request_queue_sem, 0, 1);
 
 	// initialize session list
 	for (size_t i=0; i<kMaxSession; i++) {
@@ -71,167 +72,247 @@ MavlinkFTP::MavlinkFTP() :
 
 	// drop work entries onto the free list
 	for (unsigned i = 0; i < kRequestQueueSize; i++) {
-		_qFree(&_workBufs[i]);
+		_return_request(&_request_bufs[i]);
 	}
 
 }
 
+#ifdef MAVLINK_FTP_UNIT_TEST
+void
+MavlinkFTP::set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, MavlinkFtpTest *ftp_test)
+{
+	_utRcvMsgFunc = rcvMsgFunc;
+	_ftp_test = ftp_test;
+}
+#endif
+
 void
 MavlinkFTP::handle_message(Mavlink* mavlink, mavlink_message_t *msg)
 {
 	// get a free request
-	auto req = _dqFree();
+	struct Request* req = _get_request();
 
 	// if we couldn't get a request slot, just drop it
-	if (req != nullptr) {
-
-		// decode the request
-		if (req->decode(mavlink, msg)) {
+	if (req == nullptr) {
+		warnx("Dropping FTP request: queue full\n");
+		return;
+	}
 
-			// and queue it for the worker
-			work_queue(LPWORK, &req->work, &MavlinkFTP::_workerTrampoline, req, 0);
-		} else {
-			_qFree(req);
+	if (msg->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
+		mavlink_msg_file_transfer_protocol_decode(msg, &req->message);
+		
+#ifdef MAVLINK_FTP_UNIT_TEST
+		if (!_utRcvMsgFunc) {
+			warnx("Incorrectly written unit test\n");
+			return;
+		}
+		// We use fake ids when unit testing
+		req->serverSystemId = MavlinkFtpTest::serverSystemId;
+		req->serverComponentId = MavlinkFtpTest::serverComponentId;
+		req->serverChannel = MavlinkFtpTest::serverChannel;
+#else
+		// Not unit testing, use the real thing
+		req->serverSystemId = mavlink->get_system_id();
+		req->serverComponentId = mavlink->get_component_id();
+		req->serverChannel = mavlink->get_channel();
+#endif
+		
+		// This is the system id we want to target when sending
+		req->targetSystemId = msg->sysid;
+			
+		if (req->message.target_system == req->serverSystemId) {
+			req->mavlink = mavlink;
+#ifdef MAVLINK_FTP_UNIT_TEST
+			// We are running in Unit Test mode. Don't queue, just call _worket directly.
+			_process_request(req);
+#else
+			// We are running in normal mode. Queue the request to the worker
+			work_queue(LPWORK, &req->work, &MavlinkFTP::_worker_trampoline, req, 0);
+#endif
+            return;
 		}
 	}
+
+	_return_request(req);
 }
 
+/// @brief Queued static work queue routine to handle mavlink messages
 void
-MavlinkFTP::_workerTrampoline(void *arg)
+MavlinkFTP::_worker_trampoline(void *arg)
 {
-	auto req = reinterpret_cast<Request *>(arg);
-	auto server = MavlinkFTP::getServer();
+	Request* req = reinterpret_cast<Request *>(arg);
+	MavlinkFTP* server = MavlinkFTP::get_server();
 
 	// call the server worker with the work item
-	server->_worker(req);
+	server->_process_request(req);
 }
 
+/// @brief Processes an FTP message
 void
-MavlinkFTP::_worker(Request *req)
+MavlinkFTP::_process_request(Request *req)
 {
-	auto hdr = req->header();
+	PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
+
 	ErrorCode errorCode = kErrNone;
-	uint32_t messageCRC;
 
 	// basic sanity checks; must validate length before use
-	if (hdr->size > kMaxDataLength) {
-		errorCode = kErrNoRequest;
+	if (payload->size > kMaxDataLength) {
+		errorCode = kErrInvalidDataSize;
 		goto out;
 	}
 
 	// check request CRC to make sure this is one of ours
-	messageCRC = hdr->crc32;
-	hdr->crc32 = 0;
-	hdr->padding[0] = 0;
-	hdr->padding[1] = 0;
-	hdr->padding[2] = 0;
-	if (crc32(req->rawData(), req->dataSize()) != messageCRC) {
-		errorCode = kErrNoRequest;
+	if (_payload_crc32(payload) != payload->crc32) {
+		errorCode = kErrCrc;
 		goto out;
 		warnx("ftp: bad crc");
 	}
 
 #ifdef MAVLINK_FTP_DEBUG
-	printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset);
+	printf("ftp: channel %u opc %u size %u offset %u\n", req->serverChannel, payload->opcode, payload->size, payload->offset);
 #endif
 
-	switch (hdr->opcode) {
+	switch (payload->opcode) {
 	case kCmdNone:
 		break;
 
-	case kCmdTerminate:
-		errorCode = _workTerminate(req);
+	case kCmdTerminateSession:
+		errorCode = _workTerminate(payload);
 		break;
 
-	case kCmdReset:
-		errorCode = _workReset();
+	case kCmdResetSessions:
+		errorCode = _workReset(payload);
 		break;
 
-	case kCmdList:
-		errorCode = _workList(req);
+	case kCmdListDirectory:
+		errorCode = _workList(payload);
 		break;
 
-	case kCmdOpen:
-		errorCode = _workOpen(req, false);
+	case kCmdOpenFile:
+		errorCode = _workOpen(payload, false);
 		break;
 
-	case kCmdCreate:
-		errorCode = _workOpen(req, true);
+	case kCmdCreateFile:
+		errorCode = _workOpen(payload, true);
 		break;
 
-	case kCmdRead:
-		errorCode = _workRead(req);
+	case kCmdReadFile:
+		errorCode = _workRead(payload);
 		break;
 
-	case kCmdWrite:
-		errorCode = _workWrite(req);
+	case kCmdWriteFile:
+		errorCode = _workWrite(payload);
 		break;
 
-	case kCmdRemove:
-		errorCode = _workRemove(req);
+	case kCmdRemoveFile:
+		errorCode = _workRemoveFile(payload);
 		break;
 
+	case kCmdCreateDirectory:
+		errorCode = _workCreateDirectory(payload);
+		break;
+			
+	case kCmdRemoveDirectory:
+		errorCode = _workRemoveDirectory(payload);
+		break;
+			
 	default:
-		errorCode = kErrNoRequest;
+		errorCode = kErrUnknownCommand;
 		break;	
 	}
 
 out:
 	// handle success vs. error
 	if (errorCode == kErrNone) {
-		hdr->opcode = kRspAck;
+		payload->opcode = kRspAck;
 #ifdef MAVLINK_FTP_DEBUG
 		warnx("FTP: ack\n");
 #endif
 	} else {
 		warnx("FTP: nak %u", errorCode);
-		hdr->opcode = kRspNak;
-		hdr->size = 1;
-		hdr->data[0] = errorCode;
+		payload->opcode = kRspNak;
+		payload->size = 1;
+		payload->data[0] = errorCode;
+		if (errorCode == kErrFailErrno) {
+			payload->size = 2;
+			payload->data[1] = errno;
+		}
 	}
 
+	
 	// respond to the request
 	_reply(req);
 
-	// free the request buffer back to the freelist
-	_qFree(req);
+	_return_request(req);
 }
 
+/// @brief Sends the specified FTP reponse message out through mavlink
 void
 MavlinkFTP::_reply(Request *req)
 {
-	auto hdr = req->header();
+	PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
 	
-	hdr->seqNumber = req->header()->seqNumber + 1;
+	payload->seqNumber = payload->seqNumber + 1;
 
-	// message is assumed to be already constructed in the request buffer, so generate the CRC
-	hdr->crc32 = 0;
-	hdr->padding[0] = 0;
-	hdr->padding[1] = 0;
-	hdr->padding[2] = 0;
-	hdr->crc32 = crc32(req->rawData(), req->dataSize());
+	payload->crc32 = _payload_crc32(payload);
 
-	// then pack and send the reply back to the request source
-	req->reply();
+	mavlink_message_t msg;
+	msg.checksum = 0;
+#ifndef MAVLINK_FTP_UNIT_TEST
+	uint16_t len =
+#endif
+	mavlink_msg_file_transfer_protocol_pack_chan(req->serverSystemId,	// Sender system id
+								    req->serverComponentId,	// Sender component id
+								    req->serverChannel,		// Channel to send on
+								    &msg,			// Message to pack payload into
+								    0,				// Target network
+								    req->targetSystemId,	// Target system id
+								    0,				// Target component id
+								    (const uint8_t*)payload);	// Payload to pack into message
+	
+	bool success = true;
+#ifdef MAVLINK_FTP_UNIT_TEST
+	// Unit test hook is set, call that instead
+	_utRcvMsgFunc(&msg, _ftp_test);
+#else
+	Mavlink	*mavlink = req->mavlink;
+	
+	mavlink->lockMessageBufferMutex();
+	success = mavlink->message_buffer_write(&msg, len);
+	mavlink->unlockMessageBufferMutex();
+		
+#endif
+
+	if (!success) {
+		warnx("FTP TX ERR");
+	}
+#ifdef MAVLINK_FTP_DEBUG
+	else {
+		warnx("wrote: sys: %d, comp: %d, chan: %d, checksum: %d",
+		      req->serverSystemId,
+		      req->serverComponentId,
+		      req->serverChannel,
+		      msg.checksum);
+	}
+#endif
 }
 
+/// @brief Responds to a List command
 MavlinkFTP::ErrorCode
-MavlinkFTP::_workList(Request *req)
+MavlinkFTP::_workList(PayloadHeader* payload)
 {
-	auto hdr = req->header();
-    
     char dirPath[kMaxDataLength];
-    strncpy(dirPath, req->dataAsCString(), kMaxDataLength);
+    strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
     
 	DIR *dp = opendir(dirPath);
 
 	if (dp == nullptr) {
 		warnx("FTP: can't open path '%s'", dirPath);
-		return kErrNotDir;
+		return kErrFailErrno;
 	}
     
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("FTP: list %s offset %d", dirPath, hdr->offset);
+	warnx("FTP: list %s offset %d", dirPath, payload->offset);
 #endif
 
 	ErrorCode errorCode = kErrNone;
@@ -239,19 +320,19 @@ MavlinkFTP::_workList(Request *req)
 	unsigned offset = 0;
 
 	// move to the requested offset
-	seekdir(dp, hdr->offset);
+	seekdir(dp, payload->offset);
 
 	for (;;) {
 		// read the directory entry
 		if (readdir_r(dp, &entry, &result)) {
 			warnx("FTP: list %s readdir_r failure\n", dirPath);
-			errorCode = kErrIO;
+			errorCode = kErrFailErrno;
 			break;
 		}
 
 		// no more entries?
 		if (result == nullptr) {
-			if (hdr->offset != 0 && offset == 0) {
+			if (payload->offset != 0 && offset == 0) {
 				// User is requesting subsequent dir entries but there were none. This means the user asked
 				// to seek past EOF.
 				errorCode = kErrEOF;
@@ -299,94 +380,95 @@ MavlinkFTP::_workList(Request *req)
 		}
 		
 		// Move the data into the buffer
-		hdr->data[offset++] = direntType;
-		strcpy((char *)&hdr->data[offset], buf);
+		payload->data[offset++] = direntType;
+		strcpy((char *)&payload->data[offset], buf);
 #ifdef MAVLINK_FTP_DEBUG
-		printf("FTP: list %s %s\n", dirPath, (char *)&hdr->data[offset-1]);
+		printf("FTP: list %s %s\n", dirPath, (char *)&payload->data[offset-1]);
 #endif
 		offset += nameLen + 1;
 	}
 
 	closedir(dp);
-	hdr->size = offset;
+	payload->size = offset;
 
 	return errorCode;
 }
 
+/// @brief Responds to an Open command
 MavlinkFTP::ErrorCode
-MavlinkFTP::_workOpen(Request *req, bool create)
+MavlinkFTP::_workOpen(PayloadHeader* payload, bool create)
 {
-	auto hdr = req->header();
-    
-	int session_index = _findUnusedSession();
+	int session_index = _find_unused_session();
 	if (session_index < 0) {
-		return kErrNoSession;
+		warnx("FTP: Open failed - out of sessions\n");
+		return kErrNoSessionsAvailable;
 	}
-
+	
+	char *filename = _data_as_cstring(payload);
 	
 	uint32_t fileSize = 0;
 	if (!create) {
 		struct stat st;
-		if (stat(req->dataAsCString(), &st) != 0) {
-			return kErrNotFile;
+		if (stat(filename, &st) != 0) {
+			return kErrFailErrno;
 		}
 		fileSize = st.st_size;
 	}
 
 	int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY;
     
-	int fd = ::open(req->dataAsCString(), oflag);
+	int fd = ::open(filename, oflag);
 	if (fd < 0) {
-		return create ? kErrPerm : kErrNotFile;
+		return kErrFailErrno;
 	}
 	_session_fds[session_index] = fd;
 
-	hdr->session = session_index;
+	payload->session = session_index;
 	if (create) {
-		hdr->size = 0;
+		payload->size = 0;
 	} else {
-		hdr->size = sizeof(uint32_t);
-		*((uint32_t*)hdr->data) = fileSize;
+		payload->size = sizeof(uint32_t);
+		*((uint32_t*)payload->data) = fileSize;
 	}
 
 	return kErrNone;
 }
 
+/// @brief Responds to a Read command
 MavlinkFTP::ErrorCode
-MavlinkFTP::_workRead(Request *req)
+MavlinkFTP::_workRead(PayloadHeader* payload)
 {
-	auto hdr = req->header();
+	int session_index = payload->session;
 
-	int session_index = hdr->session;
-
-	if (!_validSession(session_index)) {
-		return kErrNoSession;
+	if (!_valid_session(session_index)) {
+		return kErrInvalidSession;
 	}
 
 	// Seek to the specified position
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("seek %d", hdr->offset);
+	warnx("seek %d", payload->offset);
 #endif
-	if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) {
+	if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) {
 		// Unable to see to the specified location
 		warnx("seek fail");
 		return kErrEOF;
 	}
 
-	int bytes_read = ::read(_session_fds[session_index], &hdr->data[0], kMaxDataLength);
+	int bytes_read = ::read(_session_fds[session_index], &payload->data[0], kMaxDataLength);
 	if (bytes_read < 0) {
 		// Negative return indicates error other than eof
 		warnx("read fail %d", bytes_read);
-		return kErrIO;
+		return kErrFailErrno;
 	}
 
-	hdr->size = bytes_read;
+	payload->size = bytes_read;
 
 	return kErrNone;
 }
 
+/// @brief Responds to a Write command
 MavlinkFTP::ErrorCode
-MavlinkFTP::_workWrite(Request *req)
+MavlinkFTP::_workWrite(PayloadHeader* payload)
 {
 #if 0
     // NYI: Coming soon
@@ -409,35 +491,44 @@ MavlinkFTP::_workWrite(Request *req)
 	hdr->size = result;
 	return kErrNone;
 #else
-	return kErrPerm;
+	return kErrUnknownCommand;
 #endif
 }
 
+/// @brief Responds to a RemoveFile command
 MavlinkFTP::ErrorCode
-MavlinkFTP::_workRemove(Request *req)
+MavlinkFTP::_workRemoveFile(PayloadHeader* payload)
 {
-	//auto hdr = req->header();
-
-	// for now, send error reply
-	return kErrPerm;
+	char file[kMaxDataLength];
+	strncpy(file, _data_as_cstring(payload), kMaxDataLength);
+	
+	if (unlink(file) == 0) {
+		payload->size = 0;
+		return kErrNone;
+	} else {
+		return kErrFailErrno;
+	}
 }
 
+/// @brief Responds to a Terminate command
 MavlinkFTP::ErrorCode
-MavlinkFTP::_workTerminate(Request *req)
+MavlinkFTP::_workTerminate(PayloadHeader* payload)
 {
-	auto hdr = req->header();
-    
-	if (!_validSession(hdr->session)) {
-		return kErrNoSession;
+	if (!_valid_session(payload->session)) {
+		return kErrInvalidSession;
 	}
     
-	::close(_session_fds[hdr->session]);
+	::close(_session_fds[payload->session]);
+	_session_fds[payload->session] = -1;
+	
+	payload->size = 0;
 
 	return kErrNone;
 }
 
+/// @brief Responds to a Reset command
 MavlinkFTP::ErrorCode
-MavlinkFTP::_workReset(void)
+MavlinkFTP::_workReset(PayloadHeader* payload)
 {
 	for (size_t i=0; i<kMaxSession; i++) {
 		if (_session_fds[i] != -1) {
@@ -446,11 +537,44 @@ MavlinkFTP::_workReset(void)
 		}
 	}
 
+	payload->size = 0;
+	
 	return kErrNone;
 }
 
+/// @brief Responds to a RemoveDirectory command
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload)
+{
+	char dir[kMaxDataLength];
+	strncpy(dir, _data_as_cstring(payload), kMaxDataLength);
+	
+	if (rmdir(dir) == 0) {
+		payload->size = 0;
+		return kErrNone;
+	} else {
+		return kErrFailErrno;
+	}
+}
+
+/// @brief Responds to a CreateDirectory command
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
+{
+	char dir[kMaxDataLength];
+	strncpy(dir, _data_as_cstring(payload), kMaxDataLength);
+	
+	if (mkdir(dir, S_IRWXU | S_IRWXG | S_IRWXO) == 0) {
+		payload->size = 0;
+		return kErrNone;
+	} else {
+		return kErrFailErrno;
+	}
+}
+
+/// @brief Returns true if the specified session is a valid open session
 bool
-MavlinkFTP::_validSession(unsigned index)
+MavlinkFTP::_valid_session(unsigned index)
 {
 	if ((index >= kMaxSession) || (_session_fds[index] < 0)) {
 		return false;
@@ -458,8 +582,9 @@ MavlinkFTP::_validSession(unsigned index)
 	return true;
 }
 
+/// @brief Returns an unused session index
 int
-MavlinkFTP::_findUnusedSession(void)
+MavlinkFTP::_find_unused_session(void)
 {
 	for (size_t i=0; i<kMaxSession; i++) {
 		if (_session_fds[i] == -1) {
@@ -470,16 +595,68 @@ MavlinkFTP::_findUnusedSession(void)
 	return -1;
 }
 
+/// @brief Guarantees that the payload data is null terminated.
+///     @return Returns a pointer to the payload data as a char *
 char *
-MavlinkFTP::Request::dataAsCString()
+MavlinkFTP::_data_as_cstring(PayloadHeader* payload)
 {
 	// guarantee nul termination
-	if (header()->size < kMaxDataLength) {
-		requestData()[header()->size] = '\0';
+	if (payload->size < kMaxDataLength) {
+		payload->data[payload->size] = '\0';
 	} else {
-		requestData()[kMaxDataLength - 1] = '\0';
+		payload->data[kMaxDataLength - 1] = '\0';
 	}
 
 	// and return data
-	return (char *)&(header()->data[0]);
+	return (char *)&(payload->data[0]);
+}
+
+/// @brief Returns a unused Request entry. NULL if none available.
+MavlinkFTP::Request *
+MavlinkFTP::_get_request(void)
+{
+	_lock_request_queue();
+	Request* req = reinterpret_cast<Request *>(dq_remfirst(&_request_queue));
+	_unlock_request_queue();
+	return req;
+}
+
+/// @brief Locks a semaphore to provide exclusive access to the request queue
+void
+MavlinkFTP::_lock_request_queue(void)
+{
+	do {}
+	while (sem_wait(&_request_queue_sem) != 0);
+}
+
+/// @brief Unlocks the semaphore providing exclusive access to the request queue
+void
+MavlinkFTP::_unlock_request_queue(void)
+{
+	sem_post(&_request_queue_sem);
+}
+
+/// @brief Returns a no longer needed request to the queue
+void
+MavlinkFTP::_return_request(Request *req)
+{
+	_lock_request_queue();
+	dq_addlast(&req->work.dq, &_request_queue);
+	_unlock_request_queue();
+}
+
+/// @brief Returns the 32 bit CRC for the payload, crc32 and padding members are set to 0 for calculation.
+uint32_t
+MavlinkFTP::_payload_crc32(PayloadHeader *payload)
+{
+	// We calculate CRC with crc and padding set to 0.
+	uint32_t saveCRC = payload->crc32;
+	payload->crc32 = 0;
+	payload->padding[0] = 0;
+	payload->padding[1] = 0;
+	payload->padding[2] = 0;
+	uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(PayloadHeader));
+	payload->crc32 = saveCRC;
+		
+	return retCRC;
 }
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index 1dd8f102e..b4cc154d1 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -33,17 +33,8 @@
 
 #pragma once
 
-/**
- * @file mavlink_ftp.h
- *
- * MAVLink remote file server.
- *
- * A limited number of requests (currently 2) may be outstanding at a time.
- * Additional messages will be discarded.
- *
- * Messages consist of a fixed header, followed by a data area.
- *
- */
+/// @file mavlink_ftp.h
+///     @author px4dev, Don Gagne <don@thegagnes.com>
  
 #include <dirent.h>
 #include <queue.h>
@@ -54,183 +45,131 @@
 #include "mavlink_messages.h"
 #include "mavlink_main.h"
 
+class MavlinkFtpTest;
+
+/// @brief MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message.
+/// A limited number of requests (kRequestQueueSize) may be outstanding at a time. Additional messages will be discarded.
 class MavlinkFTP
 {
 public:
+	/// @brief Returns the one Mavlink FTP server in the system.
+	static MavlinkFTP* get_server(void);
+    
+	/// @brief Contructor is only public so unit test code can new objects.
 	MavlinkFTP();
-
-	static MavlinkFTP	*getServer();
-
-	// static interface
-	void			handle_message(Mavlink* mavlink,
-					mavlink_message_t *msg);
-
-private:
-
-	static const unsigned	kRequestQueueSize = 2;
-
-	static MavlinkFTP	*_server;
-
-	/// @brief Trying to pack structures across differing compilers is questionable for Clients, so we pad the
-	/// structure ourselves to 32 bit alignment which should get us what we want.
-	struct RequestHeader
+	
+	/// @brief Adds the specified message to the work queue.
+	void handle_message(Mavlink* mavlink, mavlink_message_t *msg);
+    
+	typedef void (*ReceiveMessageFunc_t)(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest);
+	
+	/// @brief Sets up the server to run in unit test mode.
+	///	@param rcvmsgFunc Function which will be called to handle outgoing mavlink messages.
+	///	@param ftp_test MavlinkFtpTest object which the function is associated with
+	void set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, MavlinkFtpTest *ftp_test);
+
+	/// @brief This is the payload which is in mavlink_file_transfer_protocol_t.payload. We pad the structure ourselves to
+	/// 32 bit alignment to avoid usage of any pack pragmas.
+	struct PayloadHeader
         {
-		uint16_t	seqNumber;  ///< sequence number for message
-		uint8_t		session;    ///< Session id for read and write commands
-		uint8_t		opcode;     ///< Command opcode
-		uint8_t		size;       ///< Size of data
-		uint8_t		padding[3];
-		uint32_t	crc32;      ///< CRC for entire Request structure, with crc32 and padding set to 0
-		uint32_t	offset;     ///< Offsets for List and Read commands
-		uint8_t		data[];
+		uint16_t	seqNumber;	///< sequence number for message
+		uint8_t		session;	///< Session id for read and write commands
+		uint8_t		opcode;		///< Command opcode
+		uint8_t		size;		///< Size of data
+		uint8_t		padding[3];	///< 32 bit aligment padding
+		uint32_t	crc32;		///< CRC for entire Request structure, with crc32 and padding set to 0
+		uint32_t	offset;		///< Offsets for List and Read commands
+		uint8_t		data[];		///< command data, varies by Opcode
         };
-
+	
+	/// @brief Command opcodes
 	enum Opcode : uint8_t
 	{
-		kCmdNone,	// ignored, always acked
-		kCmdTerminate,	// releases sessionID, closes file
-		kCmdReset,	// terminates all sessions
-		kCmdList,	// list files in <path> from <offset>
-		kCmdOpen,	// opens <path> for reading, returns <session>
-		kCmdRead,	// reads <size> bytes from <offset> in <session>
-		kCmdCreate,	// creates <path> for writing, returns <session>
-		kCmdWrite,	// appends <size> bytes at <offset> in <session>
-		kCmdRemove,	// remove file (only if created by server?)
-
-		kRspAck,
-		kRspNak
+		kCmdNone,		///< ignored, always acked
+		kCmdTerminateSession,	///< Terminates open Read session
+		kCmdResetSessions,	///< Terminates all open Read sessions
+		kCmdListDirectory,	///< List files in <path> from <offset>
+		kCmdOpenFile,		///< Opens file at <path> for reading, returns <session>
+		kCmdReadFile,		///< Reads <size> bytes from <offset> in <session>
+		kCmdCreateFile,		///< Creates file at <path> for writing, returns <session>
+		kCmdWriteFile,		///< Appends <size> bytes to file in <session>
+		kCmdRemoveFile,		///< Remove file at <path>
+		kCmdCreateDirectory,	///< Creates directory at <path>
+		kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
+		
+		kRspAck,		///< Ack response
+		kRspNak			///< Nak response
 	};
-
+	
+	/// @brief Error codes returned in Nak response PayloadHeader.data[0].
 	enum ErrorCode : uint8_t
-	{
+        {
 		kErrNone,
-		kErrNoRequest,
-		kErrNoSession,
-		kErrSequence,
-		kErrNotDir,
-		kErrNotFile,
-		kErrEOF,
-		kErrNotAppend,
-		kErrTooBig,
-		kErrIO,
-		kErrPerm
-	};
-
-    int _findUnusedSession(void);
-    bool _validSession(unsigned index);
-
-    static const unsigned kMaxSession = 2;
-    int	_session_fds[kMaxSession];
-
-	class Request
+		kErrFail,			///< Unknown failure
+		kErrFailErrno,			///< Command failed, errno sent back in PayloadHeader.data[1]
+		kErrInvalidDataSize,		///< PayloadHeader.size is invalid
+		kErrInvalidSession,		///< Session is not currently open
+		kErrNoSessionsAvailable,	///< All available Sessions in use
+		kErrEOF,			///< Offset past end of file for List and Read commands
+		kErrUnknownCommand,		///< Unknown command opcode
+		kErrCrc				///< CRC on Payload is incorrect
+        };
+	
+private:
+	/// @brief Unit of work which is queued to work_queue
+	struct Request
 	{
-	public:
-		union {
-			dq_entry_t	entry;
-			work_s		work;
-		};
-
-		bool		decode(Mavlink *mavlink, mavlink_message_t *fromMessage) {
-			if (fromMessage->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
-				_systemId = fromMessage->sysid;
-				_mavlink = mavlink;
-				mavlink_msg_file_transfer_protocol_decode(fromMessage, &_message);
-				return _message.target_system == _mavlink->get_system_id();
-			}
-			return false;
-		}
-
-		void		reply() {
-
-			// XXX the proper way would be an IOCTL / uORB call, rather than exploiting the
-			// flat memory architecture, as we're operating between threads here.
-			mavlink_message_t msg;
-			msg.checksum = 0;
-			unsigned len = mavlink_msg_file_transfer_protocol_pack_chan(_mavlink->get_system_id(),		// Sender system id
-										    _mavlink->get_component_id(),	// Sender component id
-										    _mavlink->get_channel(),		// Channel to send on
-										    &msg,				// Message to pack payload into
-										    0,					// Target network
-										    _systemId,				// Target system id
-										    0,					// Target component id
-										    rawData());				// Payload to pack into message
-
-			_mavlink->lockMessageBufferMutex();
-			bool success = _mavlink->message_buffer_write(&msg, len);
-			_mavlink->unlockMessageBufferMutex();
-
-			if (!success) {
-				warnx("FTP TX ERR");
-			}
-#ifdef MAVLINK_FTP_DEBUG
-			else {
-				warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
-				      _mavlink->get_system_id(),
-				      _mavlink->get_component_id(),
-				      _mavlink->get_channel(),
-				      len,
-				      msg.checksum);
-			}
-#endif
-		}
-
-		uint8_t		*rawData() { return &_message.payload[0]; }
-		RequestHeader 	*header()  { return reinterpret_cast<RequestHeader *>(&_message.payload[0]); }
-		uint8_t         *requestData() { return &(header()->data[0]); }
-		unsigned	dataSize() { return header()->size + sizeof(RequestHeader); }
-		mavlink_channel_t channel() { return _mavlink->get_channel(); }
-
-		char		*dataAsCString();
-
-	private:
-		Mavlink			*_mavlink;
-		mavlink_file_transfer_protocol_t _message;
-		uint8_t _systemId;
-
+		work_s	work;			///< work queue entry
+		Mavlink	*mavlink;		///< Mavlink to reply to
+		uint8_t serverSystemId;		///< System ID to send from
+		uint8_t serverComponentId;	///< Component ID to send from
+		uint8_t serverChannel;		///< Channel to send to
+		uint8_t targetSystemId;		///< System ID to target reply to
+
+		mavlink_file_transfer_protocol_t message;	///< Protocol message
 	};
-
-	static const char	kDirentFile = 'F';
-	static const char	kDirentDir = 'D';
-	static const char	kDirentUnknown = 'U';
-	static const uint8_t	kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(RequestHeader);
-
-	/// Request worker; runs on the low-priority work queue to service
-	/// remote requests.
-	///
-	static void		_workerTrampoline(void *arg);
-	void			_worker(Request *req);
-
-	/// Reply to a request (XXX should be a Request method)
-	///
-	void			_reply(Request *req);
-
-	ErrorCode		_workList(Request *req);
-	ErrorCode		_workOpen(Request *req, bool create);
-	ErrorCode		_workRead(Request *req);
-	ErrorCode		_workWrite(Request *req);
-	ErrorCode		_workRemove(Request *req);
-	ErrorCode		_workTerminate(Request *req);
-	ErrorCode		_workReset();
-
-	// work freelist
-	Request			_workBufs[kRequestQueueSize];
-	dq_queue_t		_workFree;
-	sem_t			_lock;
-
-	void			_qLock() { do {} while (sem_wait(&_lock) != 0); }
-	void			_qUnlock() { sem_post(&_lock); }
-
-	void			_qFree(Request *req) {
-		_qLock();
-		dq_addlast(&req->entry, &_workFree);
-		_qUnlock();
-	}
-
-	Request			*_dqFree() {
-		_qLock();
-		auto req = reinterpret_cast<Request *>(dq_remfirst(&_workFree));
-		_qUnlock();
-		return req;
-	}
-    
+	
+	Request		*_get_request(void);
+	void		_return_request(Request *req);
+	void		_lock_request_queue(void);
+	void		_unlock_request_queue(void);
+	
+	uint32_t	_payload_crc32(PayloadHeader *hdr);
+	
+	char		*_data_as_cstring(PayloadHeader* payload);
+	
+	static void	_worker_trampoline(void *arg);
+	void		_process_request(Request *req);
+	void		_reply(Request *req);
+
+	ErrorCode	_workList(PayloadHeader *payload);
+	ErrorCode	_workOpen(PayloadHeader *payload, bool create);
+	ErrorCode	_workRead(PayloadHeader *payload);
+	ErrorCode	_workWrite(PayloadHeader *payload);
+	ErrorCode	_workTerminate(PayloadHeader *payload);
+	ErrorCode	_workReset(PayloadHeader* payload);
+	ErrorCode	_workRemoveDirectory(PayloadHeader *payload);
+	ErrorCode	_workCreateDirectory(PayloadHeader *payload);
+	ErrorCode	_workRemoveFile(PayloadHeader *payload);
+
+	static const unsigned	kRequestQueueSize = 2;			///< Max number of queued requests
+	Request			_request_bufs[kRequestQueueSize];	///< Request buffers which hold work
+	dq_queue_t		_request_queue;				///< Queue of available Request buffers
+	sem_t			_request_queue_sem;			///< Semaphore for locking access to _request_queue
+	
+	int _find_unused_session(void);
+	bool _valid_session(unsigned index);
+	
+	static const char	kDirentFile = 'F';	///< Identifies File returned from List command
+	static const char	kDirentDir = 'D';	///< Identifies Directory returned from List command
+	static const char	kDirentUnknown = 'U';	///< Identifies Unknown entry returned from List command
+	
+	/// @brief Maximum data size in RequestHeader::data
+	static const uint8_t	kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(PayloadHeader);
+	
+	static const unsigned kMaxSession = 2;	///< Max number of active sessions
+	int	_session_fds[kMaxSession];	///< Session file descriptors, 0 for empty slot
+	
+	ReceiveMessageFunc_t _utRcvMsgFunc;	///< Unit test override for mavlink message sending
+	MavlinkFtpTest *_ftp_test;		///< Additional parameter to _utRcvMsgFunc;
 };
-- 
cgit v1.2.3


From 8c2a158e121e0a716a4b2d802687b0314c0217ba Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 3 Sep 2014 12:15:27 +0200
Subject: Trust the laser sensor more

---
 src/modules/ekf_att_pos_estimator/estimator_23states.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
index 8ba1c1573..a607955a8 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -85,7 +85,7 @@ public:
         R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2
         flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check
         auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter
-        rngInnovGate = 5.0f; // number of standard deviations applied to the rnage finder innovation consistency check
+        rngInnovGate = 10.0f; // number of standard deviations applied to the rnage finder innovation consistency check
         minFlowRng = 0.01f; //minimum range between ground and flow sensor
         moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate
     }
-- 
cgit v1.2.3


From 7dfc67d032220c8c679848c684703e13e8d13080 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 3 Sep 2014 17:52:24 +0200
Subject: fix mission item to mavink waypoint conversion

---
 src/modules/mavlink/mavlink_mission.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index d436c95e9..a3c127cdc 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -798,10 +798,10 @@ int
 MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
 {
 	if (mission_item->altitude_is_relative) {
-		mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
+		mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
 
 	} else {
-		mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
+		mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
 	}
 
 	switch (mission_item->nav_cmd) {
-- 
cgit v1.2.3


From 1d038eed047358eee30513673bbcb29bf93dd78e Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 3 Sep 2014 22:44:16 +0400
Subject: UAVCAN: GNSS fix message update

---
 src/modules/uavcan/sensors/gnss.cpp | 8 +++-----
 uavcan                              | 2 +-
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index 0d67aad47..24afe6aaf 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -43,8 +43,6 @@
 #include <systemlib/err.h>
 #include <mathlib/mathlib.h>
 
-#define MM_PER_CM 			10	// Millimeters per centimeter
-
 const char *const UavcanGnssBridge::NAME = "gnss";
 
 UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
@@ -95,9 +93,9 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 	auto report = ::vehicle_gps_position_s();
 
 	report.timestamp_position = hrt_absolute_time();
-	report.lat = msg.lat_1e7;
-	report.lon = msg.lon_1e7;
-	report.alt = msg.alt_1e2 * MM_PER_CM;	// Convert from centimeter (1e2) to millimeters (1e3)
+	report.lat = msg.latitude_deg_1e8 / 10;
+	report.lon = msg.longitude_deg_1e8 / 10;
+	report.alt = msg.height_msl_mm;
 
 	report.timestamp_variance = report.timestamp_position;
 
diff --git a/uavcan b/uavcan
index c4c14c60f..286adbcc5 160000
--- a/uavcan
+++ b/uavcan
@@ -1 +1 @@
-Subproject commit c4c14c60fbbd9acd281ee97d5bb2a4027d0ae2d9
+Subproject commit 286adbcc56c4b093143b647ec7546abb149cd53b
-- 
cgit v1.2.3


From 5a35d20b7ba7f13356050096024c416235ba7a1a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 3 Sep 2014 21:18:32 +0200
Subject: FOH mode for altitude

This introduces a parameter for the navigator. When enabled the navigator
publishes a first order old (FOH) type altitude setpoint instead of the
default zero order hold. For takeoff and landing the FOH mode is not
active. The FOH altitude is calculated such that the sp reaches the
altitude of the waypoint when the system is at a horizontal distance
equal to the acceptance radius. Also the altitude setpoint will only
converge towards the waypoint altitude but never diverge.
---
 src/modules/navigator/mission.cpp      | 86 +++++++++++++++++++++++++++++++++-
 src/modules/navigator/mission.h        | 25 +++++++++-
 src/modules/navigator/mission_params.c | 13 +++++
 3 files changed, 121 insertions(+), 3 deletions(-)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index c0e37a3ed..7000dd6c0 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -36,12 +36,14 @@
  * Helper class to access missions
  *
  * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include <sys/types.h>
 #include <string.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <float.h>
 
 #include <drivers/drv_hrt.h>
 
@@ -49,6 +51,7 @@
 #include <mavlink/mavlink_log.h>
 #include <systemlib/err.h>
 #include <geo/geo.h>
+#include <lib/mathlib/mathlib.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
@@ -62,6 +65,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_param_onboard_enabled(this, "ONBOARD_EN"),
 	_param_takeoff_alt(this, "TAKEOFF_ALT"),
 	_param_dist_1wp(this, "DIST_1WP"),
+	_param_altmode(this, "ALTMODE"),
 	_onboard_mission({0}),
 	_offboard_mission({0}),
 	_current_onboard_mission_index(-1),
@@ -72,7 +76,11 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_mission_result({0}),
 	_mission_type(MISSION_TYPE_NONE),
 	_inited(false),
-	_dist_1wp_ok(false)
+	_dist_1wp_ok(false),
+	_missionFeasiblityChecker(),
+	_min_current_sp_distance_xy(FLT_MAX),
+	_mission_item_previous_alt(NAN),
+	_distance_current_previous(0.0f)
 {
 	/* load initial params */
 	updateParams();
@@ -144,6 +152,8 @@ Mission::on_active()
 		advance_mission();
 		set_mission_items();
 
+	} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
+		altitude_sp_foh_update();
 	} else {
 		/* if waypoint position reached allow loiter on the setpoint */
 		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
@@ -202,7 +212,7 @@ Mission::update_offboard_mission()
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
 		dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
 
-		missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
+		_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
 				_navigator->get_home_position()->alt);
 
@@ -313,11 +323,19 @@ Mission::set_mission_items()
 	/* make sure param is up to date */
 	updateParams();
 
+	/* reset the altitude foh logic, if altitude foh is enabled (param) a new foh element starts now */
+	altitude_sp_foh_reset();
+
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
 	/* set previous position setpoint to current */
 	set_previous_pos_setpoint();
 
+	/* Copy previous mission item altitude (can be extended to a copy of the full mission item if needed) */
+	if (pos_sp_triplet->previous.valid) {
+		_mission_item_previous_alt = _mission_item.altitude;
+	}
+
 	/* get home distance state */
 	bool home_dist_ok = check_dist_1wp();
 	/* the home dist check provides user feedback, so we initialize it to this */
@@ -446,9 +464,73 @@ Mission::set_mission_items()
 		}
 	}
 
+	/* Save the distance between the current sp and the previous one */
+	if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) {
+		_distance_current_previous = get_distance_to_next_waypoint(pos_sp_triplet->current.lat,
+				pos_sp_triplet->current.lon,
+				pos_sp_triplet->previous.lat,
+				pos_sp_triplet->previous.lon);
+	}
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+void
+Mission::altitude_sp_foh_update()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	/* Don't change setpoint if last and current waypoint are not valid */
+	if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid ||
+			!isfinite(_mission_item_previous_alt)) {
+		return;
+	}
+
+	/* Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one */
+	if (_distance_current_previous - _mission_item.acceptance_radius < 0.0f) {
+		return;
+	}
+
+	/* Don't do FOH for landing and takeoff waypoints, the ground may be near
+	 * and the FW controller has a custom landing logic */
+	if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
+		return;
+	}
+
+
+	/* Calculate distance to current waypoint */
+	float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
+			_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
+
+	/* Save distance to waypoint if it is the smallest ever achieved */
+	_min_current_sp_distance_xy = math::min(d_current, _min_current_sp_distance_xy);
+
+	/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
+	 * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
+	if (_min_current_sp_distance_xy < _mission_item.acceptance_radius) {
+		pos_sp_triplet->current.alt = _mission_item.altitude;
+	} else {
+		/* update the altitude sp of the 'current' item in the sp triplet, but do not update the altitude sp
+		* of the mission item as it is used to check if the mission item is reached
+		* The setpoint is set linearly and such that the system reaches the current altitude at the acceptance
+		* radius around the current waypoint
+		**/
+		float delta_alt = (_mission_item.altitude - _mission_item_previous_alt);
+		float grad = -delta_alt/(_distance_current_previous - _mission_item.acceptance_radius);
+		float a = _mission_item_previous_alt - grad * _distance_current_previous;
+		pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
+
+	}
+
 	_navigator->set_position_setpoint_triplet_updated();
 }
 
+void
+Mission::altitude_sp_foh_reset()
+{
+	_min_current_sp_distance_xy = FLT_MAX;
+}
+
 bool
 Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item)
 {
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 4da6a1155..f7d12da70 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -36,6 +36,7 @@
  * Navigator mode to access missions
  *
  * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #ifndef NAVIGATOR_MISSION_H
@@ -75,6 +76,11 @@ public:
 
 	virtual void on_active();
 
+	enum mission_altitude_mode {
+		MISSION_ALTMODE_ZOH = 0,
+		MISSION_ALTMODE_FOH =1
+	};
+
 private:
 	/**
 	 * Update onboard mission topic
@@ -102,6 +108,16 @@ private:
 	 */
 	void set_mission_items();
 
+	/**
+	 * Updates the altitude sp to follow a foh
+	 */
+	void altitude_sp_foh_update();
+
+	/**
+	 * Resets the altitude sp foh logic
+	 */
+	void altitude_sp_foh_reset();
+
 	/**
 	 * Read current or next mission item from the dataman and watch out for DO_JUMPS
 	 * @return true if successful
@@ -136,6 +152,7 @@ private:
 	control::BlockParamInt _param_onboard_enabled;
 	control::BlockParamFloat _param_takeoff_alt;
 	control::BlockParamFloat _param_dist_1wp;
+	control::BlockParamInt _param_altmode;
 
 	struct mission_s _onboard_mission;
 	struct mission_s _offboard_mission;
@@ -157,7 +174,13 @@ private:
 	bool _inited;
 	bool _dist_1wp_ok;
 
-	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+	MissionFeasibilityChecker _missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+
+	float _min_current_sp_distance_xy; /**< minimum distance which was achieved to the current waypoint  */
+	float _mission_item_previous_alt; /**< holds the altitude of the previous mission item,
+					    can be replaced by a full copy of the previous mission item if needed*/
+	float _distance_current_previous; /**< distance from previous to current sp in pos_sp_triplet,
+					    only use if current and previous are valid */
 };
 
 #endif
diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c
index d15e1e771..04c01fe51 100644
--- a/src/modules/navigator/mission_params.c
+++ b/src/modules/navigator/mission_params.c
@@ -82,3 +82,16 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
  * @group Mission
  */
 PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
+
+/**
+ * Altitude setpoint mode
+ *
+ * 0: the system will follow a zero order hold altitude setpoint
+ * 1: the system will follow a first order hold altitude setpoint
+ * values follow the definition in enum mission_altitude_mode
+ *
+ * @min 0
+ * @max 1
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MIS_ALTMODE, 0);
-- 
cgit v1.2.3


From 9cf5e6f7b268acd732a14e577752dc32aeaf9430 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 3 Sep 2014 22:08:03 +0200
Subject: whitespace

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

diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index f7d12da70..a91c89968 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -78,7 +78,7 @@ public:
 
 	enum mission_altitude_mode {
 		MISSION_ALTMODE_ZOH = 0,
-		MISSION_ALTMODE_FOH =1
+		MISSION_ALTMODE_FOH = 1
 	};
 
 private:
-- 
cgit v1.2.3


From 67422c9896fb952ccf6db555aeb6f99224f8178b Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 4 Sep 2014 11:41:13 +0200
Subject: foh alt mode: never sink below previous wp alt

---
 src/modules/navigator/mission.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 7000dd6c0..b33b2049f 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -502,8 +502,10 @@ Mission::altitude_sp_foh_update()
 	float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
 			_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
 
-	/* Save distance to waypoint if it is the smallest ever achieved */
-	_min_current_sp_distance_xy = math::min(d_current, _min_current_sp_distance_xy);
+	/* Save distance to waypoint if it is the smallest ever achieved, however make sure that
+	 * _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */
+	_min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy),
+			_distance_current_previous);
 
 	/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
 	 * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
-- 
cgit v1.2.3


From 4c7d6707936718760639ee60b3c27698f0ca119c Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 5 Sep 2014 10:04:42 +0200
Subject: loiter mission items: better reached check for FW

---
 src/modules/navigator/mission_block.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 4adf77dce..157a1cf71 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -113,6 +113,19 @@ MissionBlock::is_mission_item_reached()
 			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
+		} else if (!_navigator->get_vstatus()->is_rotary_wing &&
+			(_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
+			_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+			_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) {
+			/* Loiter mission item on a non rotary wing: the aircraft is going to circle the
+			 * coordinates with a radius equal to the loiter_radius field
+			 * Therefore the item is marked as reached once the system reaches the loiter
+			 * radius (+ some margin). Time inside and turn count is handled elsewhere.
+			 */
+			if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) {
+				_waypoint_position_reached = true;
+			}
+
 		} else {
 			/* for normal mission items used their acceptance radius */
 			if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
-- 
cgit v1.2.3


From 81837dcdde4bdef31fc153cd1f893e2fefc74c58 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 5 Sep 2014 10:18:25 +0200
Subject: update comment

---
 src/modules/navigator/mission_block.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 157a1cf71..723caec7c 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -118,14 +118,14 @@ MissionBlock::is_mission_item_reached()
 			_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
 			_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) {
 			/* Loiter mission item on a non rotary wing: the aircraft is going to circle the
-			 * coordinates with a radius equal to the loiter_radius field
+			 * coordinates with a radius equal to the loiter_radius field. It is not flying
+			 * through the waypoint center.
 			 * Therefore the item is marked as reached once the system reaches the loiter
 			 * radius (+ some margin). Time inside and turn count is handled elsewhere.
 			 */
 			if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) {
 				_waypoint_position_reached = true;
 			}
-
 		} else {
 			/* for normal mission items used their acceptance radius */
 			if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
-- 
cgit v1.2.3


From f315be54162c3284742cd2195d9c78c153289e66 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 6 Sep 2014 10:36:51 +0200
Subject: FW: in seatbelt/althold on ground reset integrators

---
 src/modules/fw_att_control/fw_att_control_main.cpp | 33 ++++++++++++++++++++++
 1 file changed, 33 insertions(+)

diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index ad873203e..c60d8d348 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -63,6 +63,7 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/pid/pid.h>
@@ -124,6 +125,7 @@ private:
 	int 		_params_sub;			/**< notification of parameter updates */
 	int 		_manual_sub;			/**< notification of manual control updates */
 	int		_global_pos_sub;		/**< global position subscription */
+	int		_vehicle_status_sub;		/**< vehicle status subscription */
 
 	orb_advert_t	_rate_sp_pub;			/**< rate setpoint publication */
 	orb_advert_t	_attitude_sp_pub;		/**< attitude setpoint point */
@@ -139,6 +141,7 @@ private:
 	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
 	struct actuator_controls_s			_actuators_airframe;	/**< actuator control inputs */
 	struct vehicle_global_position_s		_global_pos;		/**< global position */
+	struct vehicle_status_s				_vehicle_status;	/**< vehicle status */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
@@ -275,6 +278,11 @@ private:
 	 */
 	void		global_pos_poll();
 
+	/**
+	 * Check for vehicle status updates.
+	 */
+	void		vehicle_status_poll();
+
 	/**
 	 * Shim for calling task_main from task_create.
 	 */
@@ -313,6 +321,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_params_sub(-1),
 	_manual_sub(-1),
 	_global_pos_sub(-1),
+	_vehicle_status_sub(-1),
 
 /* publications */
 	_rate_sp_pub(-1),
@@ -338,6 +347,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_actuators = {};
 	_actuators_airframe = {};
 	_global_pos = {};
+	_vehicle_status = {};
 
 
 	_parameter_handles.tconst = param_find("FW_ATT_TC");
@@ -560,6 +570,18 @@ FixedwingAttitudeControl::global_pos_poll()
 	}
 }
 
+void
+FixedwingAttitudeControl::vehicle_status_poll()
+{
+	/* check if there is new status information */
+	bool vehicle_status_updated;
+	orb_check(_vehicle_status_sub, &vehicle_status_updated);
+
+	if (vehicle_status_updated) {
+		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
+	}
+}
+
 void
 FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
 {
@@ -585,6 +607,7 @@ FixedwingAttitudeControl::task_main()
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);
@@ -599,6 +622,7 @@ FixedwingAttitudeControl::task_main()
 	vehicle_accel_poll();
 	vehicle_control_mode_poll();
 	vehicle_manual_poll();
+	vehicle_status_poll();
 
 	/* wakeup source(s) */
 	struct pollfd fds[2];
@@ -667,6 +691,8 @@ FixedwingAttitudeControl::task_main()
 
 			global_pos_poll();
 
+			vehicle_status_poll();
+
 			/* lock integrator until control is started */
 			bool lock_integrator;
 
@@ -779,6 +805,13 @@ FixedwingAttitudeControl::task_main()
 					}
 				}
 
+				/* If the aircraft is on ground reset the integrators */
+				if (_vehicle_status.condition_landed) {
+					_roll_ctrl.reset_integrator();
+					_pitch_ctrl.reset_integrator();
+					_yaw_ctrl.reset_integrator();
+				}
+
 				/* Prepare speed_body_u and speed_body_w */
 				float speed_body_u = 0.0f;
 				float speed_body_v = 0.0f;
-- 
cgit v1.2.3


From e056fbb7038e4274fc54f4e19e66c8174ffff28f Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 4 Sep 2014 10:59:35 +0200
Subject: add heightrate ff for tecs

---
 src/lib/external_lgpl/tecs/tecs.cpp                |   2 +-
 src/lib/external_lgpl/tecs/tecs.h                  |   6 +
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp   |   5 +
 .../fw_pos_control_l1/fw_pos_control_l1_params.c   | 125 +++++++++++----------
 4 files changed, 78 insertions(+), 60 deletions(-)

diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index d27bf776f..023bd71bf 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -238,7 +238,7 @@ void TECS::_update_height_demand(float demand, float state)
 	_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
 	_hgt_dem_adj_last = _hgt_dem_adj;
 
-	_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p;
+	_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
 	// Limit height rate of change
 	if (_hgt_rate_dem > _maxClimbRate) {
 		_hgt_rate_dem = _maxClimbRate;
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 36ae4ecaf..8ac31de6f 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -47,6 +47,7 @@ public:
 		_rollComp(0.0f),
 		_spdWeight(0.5f),
 		_heightrate_p(0.0f),
+		_heightrate_ff(0.0f),
 		_speedrate_p(0.0f),
 		_throttle_dem(0.0f),
 		_pitch_dem(0.0f),
@@ -220,6 +221,10 @@ public:
 		_heightrate_p = heightrate_p;
 	}
 
+	void set_heightrate_ff(float heightrate_ff) {
+		_heightrate_ff = heightrate_ff;
+	}
+
 	void set_speedrate_p(float speedrate_p) {
 		_speedrate_p = speedrate_p;
 	}
@@ -256,6 +261,7 @@ private:
 	float _rollComp;
 	float _spdWeight;
 	float _heightrate_p;
+	float _heightrate_ff;
 	float _speedrate_p;
 
 	// throttle demand in the range from 0.0 to 1.0
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 84c14be01..d339b1c4d 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
@@ -211,6 +211,7 @@ private:
 		float max_climb_rate;
 		float climbout_diff;
 		float heightrate_p;
+		float heightrate_ff;
 		float speedrate_p;
 		float throttle_damp;
 		float integrator_gain;
@@ -256,6 +257,7 @@ private:
 		param_t max_climb_rate;
 		param_t climbout_diff;
 		param_t heightrate_p;
+		param_t heightrate_ff;
 		param_t speedrate_p;
 		param_t throttle_damp;
 		param_t integrator_gain;
@@ -494,6 +496,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.speed_weight = 			param_find("FW_T_SPDWEIGHT");
 	_parameter_handles.pitch_damping = 			param_find("FW_T_PTCH_DAMP");
 	_parameter_handles.heightrate_p =			param_find("FW_T_HRATE_P");
+	_parameter_handles.heightrate_ff =			param_find("FW_T_HRATE_FF");
 	_parameter_handles.speedrate_p =			param_find("FW_T_SRATE_P");
 
 	/* fetch initial parameter values */
@@ -563,6 +566,7 @@ FixedwingPositionControl::parameters_update()
 	param_get(_parameter_handles.climbout_diff, &(_parameters.climbout_diff));
 
 	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
+	param_get(_parameter_handles.heightrate_ff, &(_parameters.heightrate_ff));
 	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
 
 	param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
@@ -600,6 +604,7 @@ FixedwingPositionControl::parameters_update()
 	_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
 	_tecs.set_max_climb_rate(_parameters.max_climb_rate);
 	_tecs.set_heightrate_p(_parameters.heightrate_p);
+	_tecs.set_heightrate_ff(_parameters.heightrate_ff);
 	_tecs.set_speedrate_p(_parameters.speedrate_p);
 
 	/* sanity check parameters */
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 890ab3bad..847ecbb5c 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
@@ -131,8 +131,8 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
 /**
  * Throttle limit max
  *
- * This is the maximum throttle % that can be used by the controller. 
- * For overpowered aircraft, this should be reduced to a value that 
+ * This is the maximum throttle % that can be used by the controller.
+ * For overpowered aircraft, this should be reduced to a value that
  * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
  *
  * @group L1 Control
@@ -142,10 +142,10 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
 /**
  * Throttle limit min
  *
- * This is the minimum throttle % that can be used by the controller. 
- * For electric aircraft this will normally be set to zero, but can be set 
- * to a small non-zero value if a folding prop is fitted to prevent the 
- * prop from folding and unfolding repeatedly in-flight or to provide 
+ * This is the minimum throttle % that can be used by the controller.
+ * For electric aircraft this will normally be set to zero, but can be set
+ * to a small non-zero value if a folding prop is fitted to prevent the
+ * prop from folding and unfolding repeatedly in-flight or to provide
  * some aerodynamic drag from a turning prop to improve the descent rate.
  *
  * For aircraft with internal combustion engine this parameter should be set
@@ -158,7 +158,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 /**
  * Throttle limit value before flare
  *
- * This throttle value will be set as throttle limit at FW_LND_TLALT, 
+ * This throttle value will be set as throttle limit at FW_LND_TLALT,
  * before arcraft will flare.
  *
  * @group L1 Control
@@ -180,17 +180,17 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
 /**
  * Maximum climb rate
  *
- * This is the best climb rate that the aircraft can achieve with 
- * the throttle set to THR_MAX and the airspeed set to the 
- * default value. For electric aircraft make sure this number can be 
- * achieved towards the end of flight when the battery voltage has reduced. 
- * The setting of this parameter can be checked by commanding a positive 
- * altitude change of 100m in loiter, RTL or guided mode. If the throttle 
- * required to climb is close to THR_MAX and the aircraft is maintaining 
- * airspeed, then this parameter is set correctly. If the airspeed starts 
- * to reduce, then the parameter is set to high, and if the throttle 
- * demand required to climb and maintain speed is noticeably less than 
- * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or 
+ * This is the best climb rate that the aircraft can achieve with
+ * the throttle set to THR_MAX and the airspeed set to the
+ * default value. For electric aircraft make sure this number can be
+ * achieved towards the end of flight when the battery voltage has reduced.
+ * The setting of this parameter can be checked by commanding a positive
+ * altitude change of 100m in loiter, RTL or guided mode. If the throttle
+ * required to climb is close to THR_MAX and the aircraft is maintaining
+ * airspeed, then this parameter is set correctly. If the airspeed starts
+ * to reduce, then the parameter is set to high, and if the throttle
+ * demand required to climb and maintain speed is noticeably less than
+ * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
  * FW_THR_MAX reduced.
  *
  * @group L1 Control
@@ -200,8 +200,8 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
 /**
  * Minimum descent rate
  *
- * This is the sink rate of the aircraft with the throttle 
- * set to THR_MIN and flown at the same airspeed as used 
+ * This is the sink rate of the aircraft with the throttle
+ * set to THR_MIN and flown at the same airspeed as used
  * to measure FW_T_CLMB_MAX.
  *
  * @group Fixed Wing TECS
@@ -211,10 +211,10 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
 /**
  * Maximum descent rate
  *
- * This sets the maximum descent rate that the controller will use. 
- * If this value is too large, the aircraft can over-speed on descent. 
- * This should be set to a value that can be achieved without 
- * exceeding the lower pitch angle limit and without over-speeding 
+ * This sets the maximum descent rate that the controller will use.
+ * If this value is too large, the aircraft can over-speed on descent.
+ * This should be set to a value that can be achieved without
+ * exceeding the lower pitch angle limit and without over-speeding
  * the aircraft.
  *
  * @group Fixed Wing TECS
@@ -224,7 +224,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 /**
  * TECS time constant
  *
- * This is the time constant of the TECS control algorithm (in seconds). 
+ * This is the time constant of the TECS control algorithm (in seconds).
  * Smaller values make it faster to respond, larger values make it slower
  * to respond.
  *
@@ -235,7 +235,7 @@ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
 /**
  * TECS Throttle time constant
  *
- * This is the time constant of the TECS throttle control algorithm (in seconds). 
+ * This is the time constant of the TECS throttle control algorithm (in seconds).
  * Smaller values make it faster to respond, larger values make it slower
  * to respond.
  *
@@ -246,7 +246,7 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
 /**
  * Throttle damping factor
  *
- * This is the damping gain for the throttle demand loop. 
+ * This is the damping gain for the throttle demand loop.
  * Increase to add damping to correct for oscillations in speed and height.
  *
  * @group Fixed Wing TECS
@@ -256,9 +256,9 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
 /**
  * Integrator gain
  *
- * This is the integrator gain on the control loop. 
- * Increasing this gain increases the speed at which speed 
- * and height offsets are trimmed out, but reduces damping and 
+ * This is the integrator gain on the control loop.
+ * Increasing this gain increases the speed at which speed
+ * and height offsets are trimmed out, but reduces damping and
  * increases overshoot.
  *
  * @group Fixed Wing TECS
@@ -269,9 +269,9 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
  * Maximum vertical acceleration
  *
  * This is the maximum vertical acceleration (in metres/second square)
- * either up or down that the controller will use to correct speed 
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) 
- * allows for reasonably aggressive pitch changes if required to recover 
+ * either up or down that the controller will use to correct speed
+ * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
+ * allows for reasonably aggressive pitch changes if required to recover
  * from under-speed conditions.
  *
  * @group Fixed Wing TECS
@@ -281,10 +281,10 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 /**
  * Complementary filter "omega" parameter for height
  *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse vertical acceleration and barometric height to obtain 
- * an estimate of height rate and height. Increasing this frequency weights 
- * the solution more towards use of the barometer, whilst reducing it weights 
+ * This is the cross-over frequency (in radians/second) of the complementary
+ * filter used to fuse vertical acceleration and barometric height to obtain
+ * an estimate of height rate and height. Increasing this frequency weights
+ * the solution more towards use of the barometer, whilst reducing it weights
  * the solution more towards use of the accelerometer data.
  *
  * @group Fixed Wing TECS
@@ -294,10 +294,10 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
 /**
  * Complementary filter "omega" parameter for speed
  *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse longitudinal acceleration and airspeed to obtain an 
+ * This is the cross-over frequency (in radians/second) of the complementary
+ * filter used to fuse longitudinal acceleration and airspeed to obtain an
  * improved airspeed estimate. Increasing this frequency weights the solution
- * more towards use of the arispeed sensor, whilst reducing it weights the 
+ * more towards use of the arispeed sensor, whilst reducing it weights the
  * solution more towards use of the accelerometer data.
  *
  * @group Fixed Wing TECS
@@ -307,13 +307,13 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
 /**
  * Roll -> Throttle feedforward
  *
- * Increasing this gain turn increases the amount of throttle that will 
- * be used to compensate for the additional drag created by turning. 
- * Ideally this should be set to  approximately 10 x the extra sink rate 
- * in m/s created by a 45 degree bank turn. Increase this gain if 
- * the aircraft initially loses energy in turns and reduce if the 
- * aircraft initially gains energy in turns. Efficient high aspect-ratio 
- * aircraft (eg powered sailplanes) can use a lower value, whereas 
+ * Increasing this gain turn increases the amount of throttle that will
+ * be used to compensate for the additional drag created by turning.
+ * Ideally this should be set to  approximately 10 x the extra sink rate
+ * in m/s created by a 45 degree bank turn. Increase this gain if
+ * the aircraft initially loses energy in turns and reduce if the
+ * aircraft initially gains energy in turns. Efficient high aspect-ratio
+ * aircraft (eg powered sailplanes) can use a lower value, whereas
  * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
  *
  * @group Fixed Wing TECS
@@ -323,15 +323,15 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
 /**
  * Speed <--> Altitude priority
  *
- * This parameter adjusts the amount of weighting that the pitch control 
- * applies to speed vs height errors. Setting it to 0.0 will cause the 
- * pitch control to control height and ignore speed errors. This will 
- * normally improve height accuracy but give larger airspeed errors. 
- * Setting it to 2.0 will cause the pitch control loop to control speed 
- * and ignore height errors. This will normally reduce airspeed errors, 
- * but give larger height errors. The default value of 1.0 allows the pitch 
- * control to simultaneously control height and speed. 
- * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
+ * This parameter adjusts the amount of weighting that the pitch control
+ * applies to speed vs height errors. Setting it to 0.0 will cause the
+ * pitch control to control height and ignore speed errors. This will
+ * normally improve height accuracy but give larger airspeed errors.
+ * Setting it to 2.0 will cause the pitch control loop to control speed
+ * and ignore height errors. This will normally reduce airspeed errors,
+ * but give larger height errors. The default value of 1.0 allows the pitch
+ * control to simultaneously control height and speed.
+ * Note to Glider Pilots - set this parameter to 2.0 (The glider will
  * adjust its pitch angle to maintain airspeed, ignoring changes in height).
  *
  * @group Fixed Wing TECS
@@ -341,9 +341,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
 /**
  * Pitch damping factor
  *
- * This is the damping gain for the pitch demand loop. Increase to add 
- * damping to correct for oscillations in height. The default value of 0.0 
- * will work well provided the pitch to servo controller has been tuned 
+ * This is the damping gain for the pitch demand loop. Increase to add
+ * damping to correct for oscillations in height. The default value of 0.0
+ * will work well provided the pitch to servo controller has been tuned
  * properly.
  *
  * @group Fixed Wing TECS
@@ -357,6 +357,13 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
  */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
 
+/**
+ * Height rate FF factor
+ *
+ * @group Fixed Wing TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
+
 /**
  * Speed rate P factor
  *
-- 
cgit v1.2.3


From daf16184202b02119aa1ac83cb82cf85979d43f9 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 8 Sep 2014 12:42:42 +0200
Subject: additional upper pitch limit during launch

The pitch limit can be used by the laucnhdetector to limit pitch during
critical phases of a launch. For example this can be used to limit pitch
while attached to a bungee differently from the standard pitch limit.
---
 src/lib/launchdetection/CatapultLaunchMethod.cpp     | 13 ++++++++++++-
 src/lib/launchdetection/CatapultLaunchMethod.h       |  4 ++++
 src/lib/launchdetection/LaunchDetector.cpp           | 20 ++++++++++++++++++++
 src/lib/launchdetection/LaunchDetector.h             |  3 +++
 src/lib/launchdetection/LaunchMethod.h               |  3 +++
 src/lib/launchdetection/launchdetection_params.c     | 16 +++++++++++++++-
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp     | 12 +++++++++---
 7 files changed, 66 insertions(+), 5 deletions(-)

diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index 65ae461db..2ea1c414b 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -52,7 +52,8 @@ CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
 	state(LAUNCHDETECTION_RES_NONE),
 	thresholdAccel(this, "A"),
 	thresholdTime(this, "T"),
-	motorDelay(this, "MDEL")
+	motorDelay(this, "MDEL"),
+	pitchMaxPreThrottle(this, "PMAX")
 {
 
 }
@@ -118,4 +119,14 @@ void CatapultLaunchMethod::reset()
 	state = LAUNCHDETECTION_RES_NONE;
 }
 
+float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault) {
+	/* If motor is turned on do not impose the extra limit on maximum pitch */
+	if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
+		return pitchMaxDefault;
+	} else {
+		return pitchMaxPreThrottle.get();
+	}
+
+}
+
 }
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index d918c3a76..321dfb1de 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -59,6 +59,7 @@ public:
 	void update(float accel_x);
 	LaunchDetectionResult getLaunchDetected() const;
 	void reset();
+	float getPitchMax(float pitchMaxDefault);
 
 private:
 	hrt_abstime last_timestamp;
@@ -70,6 +71,9 @@ private:
 	control::BlockParamFloat thresholdAccel;
 	control::BlockParamFloat thresholdTime;
 	control::BlockParamFloat motorDelay;
+	control::BlockParamFloat pitchMaxPreThrottle; /**< Upper pitch limit before throttle is turned on.
+						       Can be used to make sure that the AC does not climb
+						       too much while attached to a bungee */
 
 };
 
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
index 2958c0a31..52f5c3257 100644
--- a/src/lib/launchdetection/LaunchDetector.cpp
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -105,4 +105,24 @@ LaunchDetectionResult LaunchDetector::getLaunchDetected()
 	return LAUNCHDETECTION_RES_NONE;
 }
 
+float LaunchDetector::getPitchMax(float pitchMaxDefault) {
+	if (!launchdetection_on.get()) {
+		return pitchMaxDefault;
+	}
+
+	/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
+	 * otherwise use the default limit */
+	if (activeLaunchDetectionMethodIndex < 0) {
+		if (sizeof(launchMethods)/sizeof(LaunchMethod) > 1) {
+			return pitchMaxDefault;
+		} else {
+			return launchMethods[0]->getPitchMax(pitchMaxDefault);
+		}
+	} else {
+		return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
+	}
+
+}
+
+
 }
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
index b48e724ba..4215b49d2 100644
--- a/src/lib/launchdetection/LaunchDetector.h
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -64,6 +64,9 @@ public:
 
 	float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }
 
+	/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
+	float getPitchMax(float pitchMaxDefault);
+
 //	virtual bool getLaunchDetected();
 protected:
 private:
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
index d2f091cea..8b5220cb3 100644
--- a/src/lib/launchdetection/LaunchMethod.h
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -62,6 +62,9 @@ public:
 	virtual LaunchDetectionResult getLaunchDetected() const = 0;
 	virtual void reset() = 0;
 
+	/* Returns a upper pitch limit if required, otherwise returns pitchMaxDefault */
+	virtual float getPitchMax(float pitchMaxDefault) = 0;
+
 protected:
 private:
 };
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index d35eb11f6..e3aa7ab2d 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
 /**
  * Motor delay
  *
- * Delay between starting attitude control and powering up the thorttle (giving throttle control to the controller)
+ * Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
  * Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate
  *
  * @unit seconds
@@ -88,6 +88,20 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
  * @group Launch detection
  */
 PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
+
+/**
+ * Maximum pitch before the throttle is powered up (during motor delay phase)
+ *
+ * This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
+ * This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
+ *
+ * @unit deg
+ * @min 0
+ * @max 45
+ * @group Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f);
+
 /**
  * Throttle setting while detecting launch.
  *
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 84c14be01..402b171f5 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
@@ -1115,7 +1115,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS ?
 					launchDetector.getThrottlePreTakeoff() : _parameters.throttle_max;
 
-				/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
+				/* select maximum pitch: the launchdetector may impose another limit for the pitch
+				 * depending on the state of the launch */
+				float takeoff_pitch_max_rad = math::radians(
+						launchDetector.getPitchMax(_parameters.pitch_limit_max));
+
+				/* apply minimum pitch and limit roll if target altitude is not within climbout_diff
+				 * meters */
 				if (_parameters.climbout_diff > 0.001f && altitude_error > _parameters.climbout_diff) {
 
 					/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
@@ -1123,7 +1129,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							calculate_target_airspeed(1.3f * _parameters.airspeed_min),
 							eas2tas,
 							math::radians(_parameters.pitch_limit_min),
-							math::radians(_parameters.pitch_limit_max),
+							takeoff_pitch_max_rad,
 							_parameters.throttle_min, takeoff_throttle,
 							_parameters.throttle_cruise,
 							true,
@@ -1199,7 +1205,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 	/* Copy thrust and pitch values from tecs
 	 * making sure again that the correct thrust is used,
-	 * without depending on library calls */
+	 * without depending on library calls for safety reasons */
 	if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
 			launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
-- 
cgit v1.2.3


From df181455ebdcfacda73615adba40fa224b4d074c Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 8 Sep 2014 13:00:26 +0200
Subject: launch pitch limit: add mtecs interface

---
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp     | 20 +++++++++++++++-----
 1 file changed, 15 insertions(+), 5 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 402b171f5..81e25da99 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
@@ -381,7 +381,8 @@ private:
 			bool climbout_mode, float climbout_pitch_min_rad,
 			float altitude,
 			const math::Vector<3> &ground_speed,
-			tecs_mode mode = TECS_MODE_NORMAL);
+			tecs_mode mode = TECS_MODE_NORMAL,
+			bool pitch_max_special = false);
 
 };
 
@@ -1117,8 +1118,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 				/* select maximum pitch: the launchdetector may impose another limit for the pitch
 				 * depending on the state of the launch */
-				float takeoff_pitch_max_rad = math::radians(
-						launchDetector.getPitchMax(_parameters.pitch_limit_max));
+				float takeoff_pitch_max_deg = launchDetector.getPitchMax(_parameters.pitch_limit_max);
+				float takeoff_pitch_max_rad = math::radians(takeoff_pitch_max_deg);
 
 				/* apply minimum pitch and limit roll if target altitude is not within climbout_diff
 				 * meters */
@@ -1137,7 +1138,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							math::radians(10.0f)),
 							_global_pos.alt,
 							ground_speed,
-							TECS_MODE_TAKEOFF);
+							TECS_MODE_TAKEOFF,
+							takeoff_pitch_max_deg != _parameters.pitch_limit_max);
 
 					/* limit roll motion to ensure enough lift */
 					_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f),
@@ -1391,7 +1393,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		bool climbout_mode, float climbout_pitch_min_rad,
 		float altitude,
 		const math::Vector<3> &ground_speed,
-		tecs_mode mode)
+		tecs_mode mode, bool pitch_max_special)
 {
 	if (_mTecs.getEnabled()) {
 		/* Using mtecs library: prepare arguments for mtecs call */
@@ -1406,6 +1408,14 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		} else {
 			limitOverride.disablePitchMinOverride();
 		}
+
+		if (pitch_max_special) {
+			/* Use the maximum pitch from the argument */
+			limitOverride.enablePitchMaxOverride(M_RAD_TO_DEG_F * pitch_max_rad);
+		} else {
+			/* use pitch max set by MT param */
+			limitOverride.disablePitchMaxOverride();
+		}
 		_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
 				limitOverride);
 	} else {
-- 
cgit v1.2.3


From f4664daa8ed80e369c8600f2f1d1ee8d5be328af Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 9 Sep 2014 09:08:56 +0200
Subject: Add license file

---
 LICENSE.md | 41 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 41 insertions(+)
 create mode 100644 LICENSE.md

diff --git a/LICENSE.md b/LICENSE.md
new file mode 100644
index 000000000..2ad83eba4
--- /dev/null
+++ b/LICENSE.md
@@ -0,0 +1,41 @@
+The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
+to be made under the same license. Any exception to this general rule is listed below.
+
+	/****************************************************************************
+	 *
+	 *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+	 *
+	 * Redistribution and use in source and binary forms, with or without
+	 * modification, are permitted provided that the following conditions
+	 * are met:
+	 *
+	 * 1. Redistributions of source code must retain the above copyright
+	 *    notice, this list of conditions and the following disclaimer.
+	 * 2. Redistributions in binary form must reproduce the above copyright
+	 *    notice, this list of conditions and the following disclaimer in
+	 *    the documentation and/or other materials provided with the
+	 *    distribution.
+	 * 3. Neither the name PX4 nor the names of its contributors may be
+	 *    used to endorse or promote products derived from this software
+	 *    without specific prior written permission.
+	 *
+	 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+	 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+	 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+	 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+	 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+	 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+	 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+	 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+	 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+	 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+	 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+	 * POSSIBILITY OF SUCH DAMAGE.
+	 *
+	 ****************************************************************************/
+
+
+  - PX4 middleware: BSD 3-clause
+  - PX4 flight control stack: BSD 3-clause
+  - NuttX operating system: BSD 3-clause
+  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
\ No newline at end of file
-- 
cgit v1.2.3


From 35a6074419b3dcf567f23db74b8ea53eff20c9d6 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 9 Sep 2014 09:12:38 +0200
Subject: Added readme

---
 README.md | 10 ++++++++++
 1 file changed, 10 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 000000000..84fb02e3b
--- /dev/null
+++ b/README.md
@@ -0,0 +1,10 @@
+## PX4 Aerial Middleware and Flight Control Stack ##
+
+*   Official Website: http://px4.io
+*   License: BSD 3-clause (see LICENSE.md)
+*   Supported airframes:
+  * Multicopters
+  * Fixed wing
+*   Binaries (always up-to-date from master):
+  * [Downloads](https://pixhawk.org/downloads)
+*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
-- 
cgit v1.2.3


From 564c9b7b60aaa1187570e188fe7d1e19945d40b5 Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Tue, 9 Sep 2014 17:02:25 +0400
Subject: FTP: Add req_opcode field for return request opcode in response
 message.

---
 src/modules/mavlink/mavlink_ftp.cpp | 3 ++-
 src/modules/mavlink/mavlink_ftp.h   | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index 72ede8797..ae9246ece 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -224,12 +224,14 @@ MavlinkFTP::_process_request(Request *req)
 out:
 	// handle success vs. error
 	if (errorCode == kErrNone) {
+		payload->req_opcode = payload->opcode;
 		payload->opcode = kRspAck;
 #ifdef MAVLINK_FTP_DEBUG
 		warnx("FTP: ack\n");
 #endif
 	} else {
 		warnx("FTP: nak %u", errorCode);
+		payload->req_opcode = payload->opcode;
 		payload->opcode = kRspNak;
 		payload->size = 1;
 		payload->data[0] = errorCode;
@@ -654,7 +656,6 @@ MavlinkFTP::_payload_crc32(PayloadHeader *payload)
 	payload->crc32 = 0;
 	payload->padding[0] = 0;
 	payload->padding[1] = 0;
-	payload->padding[2] = 0;
 	uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(PayloadHeader));
 	payload->crc32 = saveCRC;
 		
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index b4cc154d1..1fb50a17e 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -76,7 +76,8 @@ public:
 		uint8_t		session;	///< Session id for read and write commands
 		uint8_t		opcode;		///< Command opcode
 		uint8_t		size;		///< Size of data
-		uint8_t		padding[3];	///< 32 bit aligment padding
+		uint8_t		req_opcode;	///< Request opcode returned in kRspAck, kRspNak message
+		uint8_t		padding[2];	///< 32 bit aligment padding
 		uint32_t	crc32;		///< CRC for entire Request structure, with crc32 and padding set to 0
 		uint32_t	offset;		///< Offsets for List and Read commands
 		uint8_t		data[];		///< command data, varies by Opcode
-- 
cgit v1.2.3


From e7ae13a58e83263973feab3630f90f077786fcc3 Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Tue, 9 Sep 2014 17:17:11 +0400
Subject: FTP: Make responses start from opcode 128.

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

diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index 1fb50a17e..85e175d44 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -98,7 +98,7 @@ public:
 		kCmdCreateDirectory,	///< Creates directory at <path>
 		kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
 		
-		kRspAck,		///< Ack response
+		kRspAck = 128,		///< Ack response
 		kRspNak			///< Nak response
 	};
 	
-- 
cgit v1.2.3


From 0d2e250d119a5a14c8757982c96b2afef09c4d0d Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Tue, 9 Sep 2014 17:36:41 +0400
Subject: FTP: Remove CRC32 from protocol.

Extra crc not needed because mavlink already has crc16.
---
 src/modules/mavlink/mavlink_ftp.cpp | 27 +++------------------------
 src/modules/mavlink/mavlink_ftp.h   |  8 ++------
 2 files changed, 5 insertions(+), 30 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index ae9246ece..b847fc625 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -34,7 +34,6 @@
 /// @file mavlink_ftp.cpp
 ///	@author px4dev, Don Gagne <don@thegagnes.com>
 
-#include <crc32.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <fcntl.h>
@@ -161,13 +160,6 @@ MavlinkFTP::_process_request(Request *req)
 		goto out;
 	}
 
-	// check request CRC to make sure this is one of ours
-	if (_payload_crc32(payload) != payload->crc32) {
-		errorCode = kErrCrc;
-		goto out;
-		warnx("ftp: bad crc");
-	}
-
 #ifdef MAVLINK_FTP_DEBUG
 	printf("ftp: channel %u opc %u size %u offset %u\n", req->serverChannel, payload->opcode, payload->size, payload->offset);
 #endif
@@ -255,8 +247,9 @@ MavlinkFTP::_reply(Request *req)
 	PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
 	
 	payload->seqNumber = payload->seqNumber + 1;
-
-	payload->crc32 = _payload_crc32(payload);
+	payload->reserved[0] = 0;
+	payload->reserved[1] = 0;
+	payload->reserved[2] = 0;
 
 	mavlink_message_t msg;
 	msg.checksum = 0;
@@ -647,17 +640,3 @@ MavlinkFTP::_return_request(Request *req)
 	_unlock_request_queue();
 }
 
-/// @brief Returns the 32 bit CRC for the payload, crc32 and padding members are set to 0 for calculation.
-uint32_t
-MavlinkFTP::_payload_crc32(PayloadHeader *payload)
-{
-	// We calculate CRC with crc and padding set to 0.
-	uint32_t saveCRC = payload->crc32;
-	payload->crc32 = 0;
-	payload->padding[0] = 0;
-	payload->padding[1] = 0;
-	uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(PayloadHeader));
-	payload->crc32 = saveCRC;
-		
-	return retCRC;
-}
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index 85e175d44..ae7955ab7 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -77,8 +77,7 @@ public:
 		uint8_t		opcode;		///< Command opcode
 		uint8_t		size;		///< Size of data
 		uint8_t		req_opcode;	///< Request opcode returned in kRspAck, kRspNak message
-		uint8_t		padding[2];	///< 32 bit aligment padding
-		uint32_t	crc32;		///< CRC for entire Request structure, with crc32 and padding set to 0
+		uint16_t	reserved[3];	///< reserved area
 		uint32_t	offset;		///< Offsets for List and Read commands
 		uint8_t		data[];		///< command data, varies by Opcode
         };
@@ -112,8 +111,7 @@ public:
 		kErrInvalidSession,		///< Session is not currently open
 		kErrNoSessionsAvailable,	///< All available Sessions in use
 		kErrEOF,			///< Offset past end of file for List and Read commands
-		kErrUnknownCommand,		///< Unknown command opcode
-		kErrCrc				///< CRC on Payload is incorrect
+		kErrUnknownCommand		///< Unknown command opcode
         };
 	
 private:
@@ -135,8 +133,6 @@ private:
 	void		_lock_request_queue(void);
 	void		_unlock_request_queue(void);
 	
-	uint32_t	_payload_crc32(PayloadHeader *hdr);
-	
 	char		*_data_as_cstring(PayloadHeader* payload);
 	
 	static void	_worker_trampoline(void *arg);
-- 
cgit v1.2.3


From 745707d19377e2c650258ea77570a5f84a71c1b7 Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Wed, 10 Sep 2014 11:22:03 +0400
Subject: FTP: remove reserved uint32 from header.

---
 src/modules/mavlink/mavlink_ftp.cpp | 5 ++---
 src/modules/mavlink/mavlink_ftp.h   | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index b847fc625..a5c96274b 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -247,9 +247,8 @@ MavlinkFTP::_reply(Request *req)
 	PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
 	
 	payload->seqNumber = payload->seqNumber + 1;
-	payload->reserved[0] = 0;
-	payload->reserved[1] = 0;
-	payload->reserved[2] = 0;
+	payload->padding[0] = 0;
+	payload->padding[1] = 0;
 
 	mavlink_message_t msg;
 	msg.checksum = 0;
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index ae7955ab7..4892e548c 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -77,7 +77,7 @@ public:
 		uint8_t		opcode;		///< Command opcode
 		uint8_t		size;		///< Size of data
 		uint8_t		req_opcode;	///< Request opcode returned in kRspAck, kRspNak message
-		uint16_t	reserved[3];	///< reserved area
+		uint8_t		padding[2];	///< 32 bit aligment padding
 		uint32_t	offset;		///< Offsets for List and Read commands
 		uint8_t		data[];		///< command data, varies by Opcode
         };
-- 
cgit v1.2.3


From ed66097ebc4808587301bd569b5bef6c312800c4 Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Wed, 10 Sep 2014 11:54:42 +0400
Subject: FTP: Update unit test for new header size.

_list_test failed.
---
 .../unit_test_data/mavlink_tests/test_234.data     | Bin 234 -> 0 bytes
 .../unit_test_data/mavlink_tests/test_235.data     | Bin 235 -> 0 bytes
 .../unit_test_data/mavlink_tests/test_236.data     | Bin 236 -> 0 bytes
 .../unit_test_data/mavlink_tests/test_238.data     | Bin 0 -> 238 bytes
 .../unit_test_data/mavlink_tests/test_239.data     | Bin 0 -> 239 bytes
 .../unit_test_data/mavlink_tests/test_240.data     | Bin 0 -> 240 bytes
 .../mavlink/mavlink_tests/mavlink_ftp_test.cpp     |  57 +++------------------
 .../mavlink/mavlink_tests/mavlink_ftp_test.h       |   2 -
 8 files changed, 6 insertions(+), 53 deletions(-)
 delete mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data
 delete mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data
 delete mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data
 create mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data
 create mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data
 create mode 100644 ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data

diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data
deleted file mode 100644
index 3e075aa4f..000000000
Binary files a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data and /dev/null differ
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data
deleted file mode 100644
index 61372f769..000000000
Binary files a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data and /dev/null differ
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data
deleted file mode 100644
index eb7fcb11a..000000000
Binary files a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data and /dev/null differ
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data
new file mode 100644
index 000000000..973de16e5
Binary files /dev/null and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data differ
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data
new file mode 100644
index 000000000..7e8764c03
Binary files /dev/null and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data differ
diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data
new file mode 100644
index 000000000..f3fe31687
Binary files /dev/null and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data differ
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
index ebfce6d74..3616db237 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
@@ -44,9 +44,9 @@
 
 /// @brief Test case file name for Read command. File are generated using mavlink_ftp_test_data.py
 const MavlinkFtpTest::ReadTestCase MavlinkFtpTest::_rgReadTestCases[] = {
-	{ "/etc/unit_test_data/mavlink_tests/test_234.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) - 1},	// Read takes less than single packet
-	{ "/etc/unit_test_data/mavlink_tests/test_235.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) },		// Read completely fills single packet
-	{ "/etc/unit_test_data/mavlink_tests/test_236.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) + 1 },	// Read take two packets
+	{ "/etc/unit_test_data/mavlink_tests/test_238.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) - 1},	// Read takes less than single packet
+	{ "/etc/unit_test_data/mavlink_tests/test_239.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) },		// Read completely fills single packet
+	{ "/etc/unit_test_data/mavlink_tests/test_240.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) + 1 },	// Read take two packets
 };
 
 const char MavlinkFtpTest::_unittest_microsd_dir[] = "/fs/microsd/ftp_unit_test_dir";
@@ -105,33 +105,6 @@ bool MavlinkFtpTest::_ack_test(void)
 	return true;
 }
 
-/// @brief Tests for correct response to a message sent with an invalid CRC.
-bool MavlinkFtpTest::_bad_crc_test(void)
-{
-	mavlink_message_t			msg;
-	MavlinkFTP::PayloadHeader		payload;
-	mavlink_file_transfer_protocol_t	ftp_msg;
-	MavlinkFTP::PayloadHeader		*reply;
-	
-	payload.opcode = MavlinkFTP::kCmdNone;
-	
-	_setup_ftp_msg(&payload, 0, nullptr, &msg);
-
-	((MavlinkFTP::PayloadHeader*)((mavlink_file_transfer_protocol_t*)msg.payload64)->payload)->crc32++;
-	
-	_ftp_server->handle_message(nullptr /* mavlink */, &msg);
-	
-	if (!_decode_message(&_reply_msg, &ftp_msg, &reply)) {
-		return false;
-	}
-	
-	ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
-	ut_compare("Incorrect payload size", reply->size, 1);
-	ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrCrc);
-	
-	return true;
-}
-
 /// @brief Tests for correct response to an invalid opcpde.
 bool MavlinkFtpTest::_bad_opcode_test(void)
 {
@@ -191,7 +164,7 @@ bool MavlinkFtpTest::_list_test(void)
 	mavlink_file_transfer_protocol_t	ftp_msg;
 	MavlinkFTP::PayloadHeader		*reply;
 	
-	char response1[] = "D.|Dempty_dir|Ftest_234.data\t234|Ftest_235.data\t235|Ftest_236.data\t236";
+	char response1[] = "D.|Dempty_dir|Ftest_238.data\t238|Ftest_239.data\t239|Ftest_240.data\t240";
 	char response2[] = "Ddev|Detc|Dfs|Dobj";
 	
 	struct _testCase {
@@ -690,9 +663,6 @@ bool MavlinkFtpTest::_decode_message(const mavlink_message_t		*msg,		///< Mavlin
 	
 	*payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(ftp_msg->payload);
 	
-	// Make sure we have a good CRC
-	ut_compare("Incoming CRC mismatch", (*payload)->crc32, _payload_crc32((*payload)));
-	
 	// Make sure we have a good sequence number
 	ut_compare("Sequence number mismatch", (*payload)->seqNumber, _lastOutgoingSeqNumber + 1);
 	
@@ -702,21 +672,6 @@ bool MavlinkFtpTest::_decode_message(const mavlink_message_t		*msg,		///< Mavlin
 	return true;
 }
 
-/// @brief Returns the 32 bit CRC for the payload, crc32 and padding are set to 0 for calculation.
-uint32_t MavlinkFtpTest::_payload_crc32(struct MavlinkFTP::PayloadHeader *payload)
-{
-	// We calculate CRC with crc and padding set to 0.
-	uint32_t saveCRC = payload->crc32;
-	payload->crc32 = 0;
-	payload->padding[0] = 0;
-	payload->padding[1] = 0;
-	payload->padding[2] = 0;
-	uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(MavlinkFTP::PayloadHeader));
-	payload->crc32 = saveCRC;
-	
-	return retCRC;
-}
-
 /// @brief Initializes an FTP message into a mavlink message
 void MavlinkFtpTest::_setup_ftp_msg(MavlinkFTP::PayloadHeader	*payload_header,	///< FTP payload header
 				    uint8_t			size,			///< size in bytes of data
@@ -734,7 +689,8 @@ void MavlinkFtpTest::_setup_ftp_msg(MavlinkFTP::PayloadHeader	*payload_header,	/
 		memcpy(payload->data, data, size);
 	}
     
-	payload->crc32 = _payload_crc32(payload);
+	payload->padding[0] = 0;
+	payload->padding[1] = 0;
 	
 	msg->checksum = 0;
 	mavlink_msg_file_transfer_protocol_pack(clientSystemId,		// Sender system id
@@ -771,7 +727,6 @@ void MavlinkFtpTest::_cleanup_microsd(void)
 void MavlinkFtpTest::runTests(void)
 {
 	ut_run_test(_ack_test);
-	ut_run_test(_bad_crc_test);
 	ut_run_test(_bad_opcode_test);
 	ut_run_test(_bad_datasize_test);
 	ut_run_test(_list_test);
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
index bbb095a08..babd909da 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
@@ -66,7 +66,6 @@ public:
 	
 private:
 	bool _ack_test(void);
-	bool _bad_crc_test(void);
 	bool _bad_opcode_test(void);
 	bool _bad_datasize_test(void);
 	bool _list_test(void);
@@ -81,7 +80,6 @@ private:
 	bool _removefile_test(void);
 	
 	void _receive_message(const mavlink_message_t *msg);
-	uint32_t _payload_crc32(struct MavlinkFTP::PayloadHeader *payload);
 	void _setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, uint8_t size, const uint8_t *data, mavlink_message_t *msg);
 	bool _decode_message(const mavlink_message_t *msg, mavlink_file_transfer_protocol_t *ftp_msg, MavlinkFTP::PayloadHeader **payload);
 	bool _send_receive_msg(MavlinkFTP::PayloadHeader	*payload_header,
-- 
cgit v1.2.3


From 0e3c6060b6375fa08b6c0087f7aaf2905ea516d0 Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Wed, 10 Sep 2014 21:36:08 +0400
Subject: FTP: remove padding zeroing.

---
 src/modules/mavlink/mavlink_ftp.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index a5c96274b..64206ac54 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -247,8 +247,6 @@ MavlinkFTP::_reply(Request *req)
 	PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
 	
 	payload->seqNumber = payload->seqNumber + 1;
-	payload->padding[0] = 0;
-	payload->padding[1] = 0;
 
 	mavlink_message_t msg;
 	msg.checksum = 0;
-- 
cgit v1.2.3


From 981741f8cea95eebf34577935571260be917abc8 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Wed, 10 Sep 2014 13:11:36 -0700
Subject: Don't send back U or ./.. entries from List command

---
 src/modules/mavlink/mavlink_ftp.cpp | 8 ++++++--
 src/modules/mavlink/mavlink_ftp.h   | 1 -
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index 64206ac54..cf5fae3b3 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -349,11 +349,15 @@ MavlinkFTP::_workList(PayloadHeader* payload)
 			}
 			break;
 		case DTYPE_DIRECTORY:
+			if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
+				// Don't bother sending these back
+				continue;
+			}
 			direntType = kDirentDir;
 			break;
 		default:
-			direntType = kDirentUnknown;
-			break;
+			// We only send back file and diretory entries, skip everything else
+			continue;
 		}
 		
 		if (entry.d_type == DTYPE_FILE) {
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index 4892e548c..b52561e8a 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -159,7 +159,6 @@ private:
 	
 	static const char	kDirentFile = 'F';	///< Identifies File returned from List command
 	static const char	kDirentDir = 'D';	///< Identifies Directory returned from List command
-	static const char	kDirentUnknown = 'U';	///< Identifies Unknown entry returned from List command
 	
 	/// @brief Maximum data size in RequestHeader::data
 	static const uint8_t	kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(PayloadHeader);
-- 
cgit v1.2.3


From dbefa77943fb7f05f391933e82aa4ddf35755851 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Wed, 10 Sep 2014 13:12:04 -0700
Subject: Update for not getting back "." entries

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

diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
index 3616db237..c9566f7db 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
@@ -164,7 +164,7 @@ bool MavlinkFtpTest::_list_test(void)
 	mavlink_file_transfer_protocol_t	ftp_msg;
 	MavlinkFTP::PayloadHeader		*reply;
 	
-	char response1[] = "D.|Dempty_dir|Ftest_238.data\t238|Ftest_239.data\t239|Ftest_240.data\t240";
+	char response1[] = "Dempty_dir|Ftest_238.data\t238|Ftest_239.data\t239|Ftest_240.data\t240";
 	char response2[] = "Ddev|Detc|Dfs|Dobj";
 	
 	struct _testCase {
-- 
cgit v1.2.3


From 46a9f616eba368bb864f4faf8e920dad7fd4ecc5 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Fri, 12 Sep 2014 10:54:23 -0700
Subject: Fix List command test

Return order from List command is not repeatable
---
 .../mavlink/mavlink_tests/mavlink_ftp_test.cpp     | 46 ++++++++++++++--------
 1 file changed, 30 insertions(+), 16 deletions(-)

diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
index c9566f7db..022041c74 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
@@ -168,27 +168,20 @@ bool MavlinkFtpTest::_list_test(void)
 	char response2[] = "Ddev|Detc|Dfs|Dobj";
 	
 	struct _testCase {
-		const char	*dir;
-		char		*response;
-		bool		success;
+		const char	*dir;		///< Directory to run List command on
+		char		*response;	///< Expected response entries from List command
+		int		response_count;	///< Number of directories that should be returned
+		bool		success;	///< true: List command should succeed, false: List command should fail
 	};
 	struct _testCase rgTestCases[] = {
-		{ "/bogus",				nullptr,	false },
-		{ "/etc/unit_test_data/mavlink_tests",	response1,	true },
-		{ "/",					response2,	true },
+		{ "/bogus",				nullptr,	0,	false },
+		{ "/etc/unit_test_data/mavlink_tests",	response1,	4,	true },
+		{ "/",					response2,	4,	true },
 	};
 
 	for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
 		const struct _testCase *test = &rgTestCases[i];
 		
-		uint8_t expected_data_size = strlen(test->response) + 1;
-		
-		char *ptr = strtok (test->response, "|");
-		while (ptr != nullptr)
-		{
-			ptr = strtok (nullptr, "|");
-		}
-
 		payload.opcode = MavlinkFTP::kCmdListDirectory;
 		payload.offset = 0;
 		
@@ -203,8 +196,29 @@ bool MavlinkFtpTest::_list_test(void)
 		
 		if (test->success) {
 			ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
-			ut_compare("Incorrect payload size", reply->size, expected_data_size);
-			ut_compare("Ack payload contents incorrect", memcmp(reply->data, test->response, expected_data_size), 0);
+			ut_compare("Incorrect payload size", reply->size, strlen(test->response) + 1);
+			
+			// The return order of directories from the List command is not repeatable. So we can't do a direct comparison
+			// to a hardcoded return result string.
+			
+			// Convert null terminators to seperator char so we can use strok to parse returned data
+			for (uint8_t j=0; j<reply->size-1; j++) {
+				if (reply->data[j] == 0) {
+					reply->data[j] = '|';
+				}
+			}
+			
+			// Loop over returned directory entries trying to find then in the response list
+			char *dir;
+			int response_count = 0;
+			dir = strtok((char *)&reply->data[0], "|");
+			while (dir != nullptr) {
+				ut_assert("Returned directory not found in expected response", strstr(test->response, dir));
+				response_count++;
+				dir = strtok(nullptr, "|");
+			}
+			
+			ut_compare("Incorrect number of directory entires returned", test->response_count, response_count);
 		} else {
 			ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
 			ut_compare("Incorrect payload size", reply->size, 2);
-- 
cgit v1.2.3


From 50f7e27d13e3dfc4b94f17a06f29d775e47627f9 Mon Sep 17 00:00:00 2001
From: Anthony Kenga <muharred@gmail.com>
Date: Mon, 15 Sep 2014 12:24:11 +0300
Subject: Fixed parameter storage to support struct parameters.

---
 src/modules/systemlib/param/param.c | 3 ++-
 src/modules/systemlib/param/param.h | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index e44e6cdb0..6b8d0e634 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -322,7 +322,8 @@ param_get_value_ptr(param_t param)
 			v = &param_info_base[param].val;
 		}
 
-		if (param_type(param) == PARAM_TYPE_STRUCT) {
+		if (param_type(param) >= PARAM_TYPE_STRUCT
+				&& param_type(param) <= PARAM_TYPE_STRUCT_MAX) {
 			result = v->p;
 
 		} else {
diff --git a/src/modules/systemlib/param/param.h b/src/modules/systemlib/param/param.h
index 084cd931a..dc73b37e9 100644
--- a/src/modules/systemlib/param/param.h
+++ b/src/modules/systemlib/param/param.h
@@ -307,7 +307,7 @@ __EXPORT int 		param_load_default(void);
 	struct param_info_s __param__##_name = {	\
 		#_name,					\
 		PARAM_TYPE_STRUCT + sizeof(_default),	\
-		.val.p = &_default;			\
+		.val.p = &_default			\
 	}
 
 /**
-- 
cgit v1.2.3


From 006717734c351926e8daced9805767970c5e65b7 Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Mon, 15 Sep 2014 21:29:19 +0400
Subject: FTP: Add skip entry information for proper offset calculation.

---
 src/modules/mavlink/mavlink_ftp.cpp | 12 ++++++++----
 src/modules/mavlink/mavlink_ftp.h   |  1 +
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index cf5fae3b3..2a85c3702 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -351,16 +351,20 @@ MavlinkFTP::_workList(PayloadHeader* payload)
 		case DTYPE_DIRECTORY:
 			if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
 				// Don't bother sending these back
-				continue;
+				direntType = kDirentSkip;
+			} else {
+				direntType = kDirentDir;
 			}
-			direntType = kDirentDir;
 			break;
 		default:
 			// We only send back file and diretory entries, skip everything else
-			continue;
+			direntType = kDirentSkip;
 		}
 		
-		if (entry.d_type == DTYPE_FILE) {
+		if (direntType == kDirentSkip) {
+			// Skip send only dirent identifier
+			buf[0] = '\0';
+		} else if (direntType == kDirentFile) {
 			// Files send filename and file length
 			snprintf(buf, sizeof(buf), "%s\t%d", entry.d_name, fileSize);
 		} else {
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index b52561e8a..657e2f855 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -159,6 +159,7 @@ private:
 	
 	static const char	kDirentFile = 'F';	///< Identifies File returned from List command
 	static const char	kDirentDir = 'D';	///< Identifies Directory returned from List command
+	static const char	kDirentSkip = 'S';	///< Identifies Skipped entry from List command
 	
 	/// @brief Maximum data size in RequestHeader::data
 	static const uint8_t	kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(PayloadHeader);
-- 
cgit v1.2.3


From 772c5f745cdb2213e9d89d2ab3f373ac5ea2009a Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 17 Sep 2014 16:37:10 -0500
Subject: Make space on FMUv1

---
 makefiles/config_px4fmu-v1_default.mk | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 97eddfdd2..6f39b56a1 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -27,8 +27,6 @@ MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
@@ -42,7 +40,6 @@ MODULES		+= modules/sensors
 # System commands
 #
 MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/mixer
 MODULES		+= systemcmds/param
 MODULES		+= systemcmds/perf
-- 
cgit v1.2.3