From 4c9492e10f024c6bc36b053a22fd5356b1b140e1 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Mon, 18 Jan 2016 23:16:31 -0800
Subject: [PATCH] Rebase changes on upstream master

This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 Makefile                                       | 5 ++++-
 cmake/configs/nuttx_px4fmu-v2_default.cmake    | 1 +
 cmake/posix/px4_impl_posix.cmake               | 1 +
 src/include/mavlink/mavlink_log.h              | 4 ++--
 src/modules/systemlib/circuit_breaker_params.c | 2 ++
 5 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index 1d2e4cb1cc..919fabac24 100644
--- a/Makefile
+++ b/Makefile
@@ -155,6 +155,9 @@ posix_sitl_ekf2:
 ros_sitl_default:
 	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
 
+ros_sitl_default:
+	$(call cmake-build,$@)
+
 qurt_eagle_travis:
 	$(call cmake-build,$@)
 
@@ -163,7 +166,7 @@ qurt_eagle_release:
 
 posix_eagle_release:
 	$(call cmake-build,$@)
-
+	
 qurt_eagle_default:
 	$(call cmake-build,$@)
 
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 9b2c674167..edf597406e 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -83,6 +83,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/ekf2
 
 	#
 	# Vehicle Control
diff --git a/cmake/posix/px4_impl_posix.cmake b/cmake/posix/px4_impl_posix.cmake
index 875b8b7594..312510f0ed 100644
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@@ -182,6 +182,7 @@ if(UNIX AND APPLE)
 
 else()
 
+
         set(added_definitions
 		-D__PX4_POSIX
 		-D__PX4_LINUX
diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index f0141d8a17..28ee6457a0 100644
--- a/src/include/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
@@ -110,7 +110,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
 		fprintf(stderr, "telem> "); \
 		fprintf(stderr, _text, ##__VA_ARGS__); \
 		fprintf(stderr, "\n"); } while(0);
-
+		
 /**
  * Send a mavlink critical message and print to console.
  *
@@ -121,7 +121,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
 		fprintf(stderr, "telem> "); \
 		fprintf(stderr, _text, ##__VA_ARGS__); \
 		fprintf(stderr, "\n");  } while(0);
-
+		
 /**
  * Send a mavlink emergency message and print to console.
  *
diff --git a/src/modules/systemlib/circuit_breaker_params.c b/src/modules/systemlib/circuit_breaker_params.c
index a3eaebbb33..e078bb4820 100644
--- a/src/modules/systemlib/circuit_breaker_params.c
+++ b/src/modules/systemlib/circuit_breaker_params.c
@@ -42,6 +42,8 @@
  * parameter needs to set to the key (magic).
  */
 
+#ifdef __PX4_QURT
+
 /**
  * Circuit breaker for power supply check
  *