From ef6c99c1ab4ebce2378bfeef1813b6e9d01367ed Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 6 Jul 2014 11:40:28 -0700
Subject: [PATCH 01/21] Restructure the locking around SPI transfers

---
 src/drivers/device/spi.cpp | 68 ++++++++++++++++++--------------------
 src/drivers/device/spi.h   |  2 ++
 2 files changed, 35 insertions(+), 35 deletions(-)

diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp
index fed6c312c1..57cef34d2f 100644
--- a/src/drivers/device/spi.cpp
+++ b/src/drivers/device/spi.cpp
@@ -133,26 +133,44 @@ SPI::probe()
 int
 SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 {
-	irqstate_t	state;
+	int result;
 
 	if ((send == nullptr) && (recv == nullptr))
 		return -EINVAL;
 
-	/* lock the bus as required */
-	if (!up_interrupt_context()) {
-		switch (locking_mode) {
-		default:
-		case LOCK_PREEMPTION:
-			state = irqsave();
-			break;
-		case LOCK_THREADS:
-			SPI_LOCK(_dev, true);
-			break;
-		case LOCK_NONE:
-			break;
-		}
-	}
+	LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
 
+	/* lock the bus as required */
+	switch (mode) {
+	default:
+	case LOCK_PREEMPTION:
+		{
+			irqstate_t state = irqsave();
+			result = _transfer(send, recv, len);
+			irqrestore(state);
+		}
+		break;
+	case LOCK_THREADS:
+		SPI_LOCK(_dev, true);
+		result = _transfer(send, recv, len);
+		SPI_LOCK(_dev, false);
+		break;
+	case LOCK_NONE:
+		result = _transfer(send, recv, len);
+		break;
+	}
+	return result;
+}
+
+void 
+SPI::set_frequency(uint32_t frequency)
+{
+	_frequency = frequency;
+}
+
+int
+SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
+{
 	SPI_SETFREQUENCY(_dev, _frequency);
 	SPI_SETMODE(_dev, _mode);
 	SPI_SETBITS(_dev, 8);
@@ -164,27 +182,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	/* and clean up */
 	SPI_SELECT(_dev, _device, false);
 
-	if (!up_interrupt_context()) {
-		switch (locking_mode) {
-		default:
-		case LOCK_PREEMPTION:
-			irqrestore(state);
-			break;
-		case LOCK_THREADS:
-			SPI_LOCK(_dev, false);
-			break;
-		case LOCK_NONE:
-			break;
-		}
-	}
-
 	return OK;
 }
 
-void 
-SPI::set_frequency(uint32_t frequency)
-{
-	_frequency = frequency;
-}
-
 } // namespace device
diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h
index 299575dc5c..8e943b3f24 100644
--- a/src/drivers/device/spi.h
+++ b/src/drivers/device/spi.h
@@ -129,6 +129,8 @@ private:
 	enum spi_mode_e		_mode;
 	uint32_t		_frequency;
 	struct spi_dev_s	*_dev;
+
+	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
 };
 
 } // namespace device

From 3b448078878b3b16b0145bc9c1288ce278c0acc7 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 8 Jul 2014 09:15:47 +0200
Subject: [PATCH 02/21] Reduce excessive FMU stack usage

---
 src/drivers/px4fmu/fmu.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 0a4635728e..d103935aed 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -329,7 +329,7 @@ PX4FMU::init()
 	_task = task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_DEFAULT,
-			       2048,
+			       1600,
 			       (main_t)&PX4FMU::task_main_trampoline,
 			       nullptr);
 

From 0054eb23d857844ebae34a7d198fc60e538ccd3c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 8 Jul 2014 15:44:22 +0200
Subject: [PATCH 03/21] Update sensors tests

---
 src/systemcmds/tests/test_sensors.c | 37 ++++++++++++++++++++++++++++-
 1 file changed, 36 insertions(+), 1 deletion(-)

diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index 096106ff33..a4f17eebde 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -139,7 +139,14 @@ accel(int argc, char *argv[])
 	}
 
 	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
-		warnx("ACCEL1 acceleration values out of range!");
+		warnx("ACCEL acceleration values out of range!");
+		return ERROR;
+	}
+
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len < 8.0f || len > 12.0f) {
+		warnx("ACCEL scale error!");
 		return ERROR;
 	}
 
@@ -186,6 +193,13 @@ accel1(int argc, char *argv[])
 		return ERROR;
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len < 8.0f || len > 12.0f) {
+		warnx("ACCEL1 scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: ACCEL1 passed all tests successfully\n");
 
@@ -225,6 +239,13 @@ gyro(int argc, char *argv[])
 		printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len > 0.3f) {
+		warnx("GYRO scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: GYRO passed all tests successfully\n");
 	close(fd);
@@ -263,6 +284,13 @@ gyro1(int argc, char *argv[])
 		printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len > 0.3f) {
+		warnx("GYRO1 scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: GYRO1 passed all tests successfully\n");
 	close(fd);
@@ -301,6 +329,13 @@ mag(int argc, char *argv[])
 		printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len < 1.0f || len > 3.0f) {
+		warnx("MAG scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: MAG passed all tests successfully\n");
 	close(fd);

From b4ab31a2bac2b069528d56740901b3d69d2f2227 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Tue, 8 Jul 2014 19:11:28 +0200
Subject: [PATCH 04/21] A more compatible way of checking for an empty string.

---
 Tools/check_submodules.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh
index fb180ef47e..086b6f35d9 100755
--- a/Tools/check_submodules.sh
+++ b/Tools/check_submodules.sh
@@ -3,7 +3,7 @@
 if [ -d NuttX/nuttx ];
 	then
 	STATUSRETVAL=$(git status --porcelain | grep -i "NuttX")
-	if [ "$STATUSRETVAL" == "" ]; then
+	if [ -z $STATUSRETVAL ]; then
 		echo "Checked NuttX submodule, correct version found"
 	else
 		echo "NuttX sub repo not at correct version. Try 'make updatesubmodules'"
@@ -19,7 +19,7 @@ fi
 if [ -d mavlink/include/mavlink/v1.0 ];
 	then
 	STATUSRETVAL=$(git status --porcelain | grep -i "mavlink/include/mavlink/v1.0")
-	if [ "$STATUSRETVAL" == "" ]; then
+	if [ -z $STATUSRETVAL ]; then
 		echo "Checked mavlink submodule, correct version found"
 	else
 		echo "mavlink sub repo not at correct version. Try 'make updatesubmodules'"

From 13b41a2629ddf964951eb228534c5a9680a0f100 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Tue, 8 Jul 2014 19:17:25 +0200
Subject: [PATCH 05/21] Add quotes around the variable. It's safer.

---
 Tools/check_submodules.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh
index 086b6f35d9..db81ed04a7 100755
--- a/Tools/check_submodules.sh
+++ b/Tools/check_submodules.sh
@@ -3,7 +3,7 @@
 if [ -d NuttX/nuttx ];
 	then
 	STATUSRETVAL=$(git status --porcelain | grep -i "NuttX")
-	if [ -z $STATUSRETVAL ]; then
+	if [ -z "$STATUSRETVAL" ]; then
 		echo "Checked NuttX submodule, correct version found"
 	else
 		echo "NuttX sub repo not at correct version. Try 'make updatesubmodules'"
@@ -19,7 +19,7 @@ fi
 if [ -d mavlink/include/mavlink/v1.0 ];
 	then
 	STATUSRETVAL=$(git status --porcelain | grep -i "mavlink/include/mavlink/v1.0")
-	if [ -z $STATUSRETVAL ]; then
+	if [ -z "$STATUSRETVAL" ]; then
 		echo "Checked mavlink submodule, correct version found"
 	else
 		echo "mavlink sub repo not at correct version. Try 'make updatesubmodules'"

From 8c6745d53fcb75c14caa21f3cb917ab6fa5f2bcf Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Thu, 10 Jul 2014 00:41:09 -0400
Subject: [PATCH 06/21] Prevent stack overflow when flashing px4io

Large local variable causing stack overflow when attempting to flash
IO!!!
---
 src/drivers/px4io/px4io_uploader.cpp | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 7b6361a7ca..652949e411 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -39,6 +39,7 @@
 #include <nuttx/config.h>
 
 #include <sys/types.h>
+#include <stdlib.h>
 #include <stdint.h>
 #include <stdbool.h>
 #include <assert.h>
@@ -413,11 +414,17 @@ static int read_with_retry(int fd, void *buf, size_t n)
 int
 PX4IO_Uploader::program(size_t fw_size)
 {
-	uint8_t	file_buf[PROG_MULTI_MAX];
+	uint8_t	*file_buf;
 	ssize_t count;
 	int ret;
 	size_t sent = 0;
 
+	file_buf = (uint8_t *)malloc(PROG_MULTI_MAX);
+	if (!file_buf) {
+		log("Can't allocate program buffer");
+		return -ENOMEM;
+	}
+
 	log("programming %u bytes...", (unsigned)fw_size);
 
 	ret = lseek(_fw_fd, 0, SEEK_SET);
@@ -438,8 +445,10 @@ PX4IO_Uploader::program(size_t fw_size)
 			    (int)errno);
 		}
 
-		if (count == 0)
+		if (count == 0) {
+			free(file_buf);
 			return OK;
+		}
 
 		sent += count;
 
@@ -455,9 +464,12 @@ PX4IO_Uploader::program(size_t fw_size)
 
 		ret = get_sync(1000);
 
-		if (ret != OK)
+		if (ret != OK) {
+			free(file_buf);
 			return ret;
+		}
 	}
+	free(file_buf);
 	return OK;
 }
 

From 12da0efbb24ad135dbacb4b8f90199b3b38cb40d Mon Sep 17 00:00:00 2001
From: Jean Cyr <jcyr@dillobits.com>
Date: Thu, 10 Jul 2014 00:55:33 -0400
Subject: [PATCH 07/21] Read the full buffer

sizeof wont work here since file_buf is now a pointer
---
 src/drivers/px4io/px4io_uploader.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 652949e411..d134c0246e 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -432,8 +432,8 @@ PX4IO_Uploader::program(size_t fw_size)
 	while (sent < fw_size) {
 		/* get more bytes to program */
 		size_t n = fw_size - sent;
-		if (n > sizeof(file_buf)) {
-			n = sizeof(file_buf);
+		if (n > PROG_MULTI_MAX) {
+			n = PROG_MULTI_MAX;
 		}
 		count = read_with_retry(_fw_fd, file_buf, n);
 

From 5bb8c501122de7daece58c5770b6aca13c0066cd Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 10 Jul 2014 16:14:21 +0200
Subject: [PATCH 08/21] Fixed the submodule check logic

---
 Tools/check_submodules.sh | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh
index db81ed04a7..a56de681f0 100755
--- a/Tools/check_submodules.sh
+++ b/Tools/check_submodules.sh
@@ -2,12 +2,19 @@
 
 if [ -d NuttX/nuttx ];
 	then
-	STATUSRETVAL=$(git status --porcelain | grep -i "NuttX")
+	STATUSRETVAL=$(git submodule summary | grep -A20 -i "NuttX" | grep "<")
 	if [ -z "$STATUSRETVAL" ]; then
 		echo "Checked NuttX submodule, correct version found"
 	else
-		echo "NuttX sub repo not at correct version. Try 'make updatesubmodules'"
+		echo ""
+		echo ""
+		echo "NuttX sub repo not at correct version. Try 'git submodule update'"
 		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
+		echo ""
+		echo ""
+		echo "New commits required:"
+		echo "$(git submodule summary)"
+		echo ""
 		exit 1
 	fi
 else
@@ -18,12 +25,19 @@ fi
 
 if [ -d mavlink/include/mavlink/v1.0 ];
 	then
-	STATUSRETVAL=$(git status --porcelain | grep -i "mavlink/include/mavlink/v1.0")
+	STATUSRETVAL=$(git submodule summary | grep -A20 -i "mavlink/include/mavlink/v1.0" | grep "<")
 	if [ -z "$STATUSRETVAL" ]; then
 		echo "Checked mavlink submodule, correct version found"
 	else
-		echo "mavlink sub repo not at correct version. Try 'make updatesubmodules'"
+		echo ""
+		echo ""
+		echo "mavlink sub repo not at correct version. Try 'git submodule update'"
 		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
+		echo ""
+		echo ""
+		echo "New commits required:"
+		echo "$(git submodule summary)"
+		echo ""
 		exit 1
 	fi
 else

From dca8daeec54624001f02acb7ad6f4c2d7304a5fb Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Thu, 10 Jul 2014 21:37:00 +0200
Subject: [PATCH 09/21] mavlink: use all outputs in HIL mode

---
 src/modules/mavlink/mavlink_messages.cpp | 55 ++++++++++--------------
 1 file changed, 23 insertions(+), 32 deletions(-)

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 667be87b70..c7ad605c5e 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1051,10 +1051,16 @@ protected:
 			uint32_t mavlink_custom_mode;
 			get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
 
+			float out[8];
+
+			const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
+
+			/* scale outputs depending on system type */
 			if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
 				mavlink_system.type == MAV_TYPE_HEXAROTOR ||
 				mavlink_system.type == MAV_TYPE_OCTOROTOR) {
-				/* set number of valid outputs depending on vehicle type */
+				/* multirotors: set number of rotor outputs depending on type */
+
 				unsigned n;
 
 				switch (mavlink_system.type) {
@@ -1071,59 +1077,44 @@ protected:
 					break;
 				}
 
-				/* scale / assign outputs depending on system type */
-				float out[8];
-
 				for (unsigned i = 0; i < 8; i++) {
-					if (i < n) {
-						if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-							/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
+					if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
+						if (i < n) {
+							/* scale PWM out 900..2100 us to 0..1 for rotors */
 							out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
 
 						} else {
-							/* send 0 when disarmed */
-							out[i] = 0.0f;
+							/* scale PWM out 900..2100 us to -1..1 for other channels */
+							out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
 						}
 
 					} else {
-						out[i] = -1.0f;
+						/* send 0 when disarmed */
+						out[i] = 0.0f;
 					}
 				}
 
-				mavlink_msg_hil_controls_send(_channel,
-							      hrt_absolute_time(),
-							      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
-							      mavlink_base_mode,
-							      0);
 			} else {
-
-				/* fixed wing: scale all channels except throttle -1 .. 1
-				 * because we know that we set the mixers up this way
-				 */
-
-				float out[8];
-
-				const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
+				/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
 
 				for (unsigned i = 0; i < 8; i++) {
 					if (i != 3) {
-						/* scale fake PWM out 900..2100 us to -1..+1 for normal channels */
+						/* scale PWM out 900..2100 us to -1..1 for normal channels */
 						out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
 
 					} else {
-
-						/* scale fake PWM out 900..2100 us to 0..1 for throttle */
+						/* scale PWM out 900..2100 us to 0..1 for throttle */
 						out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
 					}
 
 				}
-
-				mavlink_msg_hil_controls_send(_channel,
-							      hrt_absolute_time(),
-							      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
-							      mavlink_base_mode,
-							      0);
 			}
+
+			mavlink_msg_hil_controls_send(_channel,
+						      hrt_absolute_time(),
+						      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
+						      mavlink_base_mode,
+						      0);
 		}
 	}
 };

From 4c13c67504fb2b66c97ac6b902e67a864f1173e8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 14:02:22 +0200
Subject: [PATCH 10/21] Hotfix: Close fd before reusing it again

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

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 6b96e3a3f6..ca95f139e4 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -666,6 +666,8 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 	}
 
 	if (!status->is_rotary_wing) {
+		/* accel done, close it */
+		close(fd);
 		fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
 
 		if (fd < 0) {

From 7ea76336ca03f724ba76661f986cc12cd0466ff8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 14:24:07 +0200
Subject: [PATCH 11/21] Better Doxygen for topics, no code changes

---
 src/drivers/drv_px4flow.h      | 16 ++++++++++++++--
 src/drivers/drv_range_finder.h |  9 +++++++++
 src/drivers/drv_rc_input.h     |  9 +++++++++
 3 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h
index bef02d54ef..76ec55c3e8 100644
--- a/src/drivers/drv_px4flow.h
+++ b/src/drivers/drv_px4flow.h
@@ -46,10 +46,18 @@
 
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Optical flow in NED body frame in SI units.
  *
  * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ *
+ * @warning If possible the usage of the raw flow and performing rotation-compensation
+ *		using the autopilot angular rate estimate is recommended.
  */
 struct px4flow_report {
 
@@ -57,14 +65,18 @@ struct px4flow_report {
 
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */
 	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for px4flow data.
  */
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index e45939b371..0f8362f588 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -50,6 +50,11 @@ enum RANGE_FINDER_TYPE {
 	RANGE_FINDER_TYPE_LASER = 0,
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * range finder report structure.  Reads from the device must be in multiples of this
  * structure.
@@ -64,6 +69,10 @@ struct range_finder_report {
 	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for raw range finder data.
  */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 20763e2657..47fa8fa59a 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -67,6 +67,11 @@
  */
 #define RC_INPUT_RSSI_MAX	255
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Input signal type, value is a control position from zero to 100
  * percent.
@@ -141,6 +146,10 @@ struct rc_input_values {
 	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for R/C inputs.
  */

From ee573fea9d27e7925b375abd95d540c0fda30d4c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 14:25:16 +0200
Subject: [PATCH 12/21] GPS driver: Print velocity as part of status command

---
 src/drivers/gps/gps.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 401b65dd4f..34dd630866 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -127,7 +127,7 @@ private:
 	/**
 	 * Try to configure the GPS, handle outgoing communication to the GPS
 	 */
-	void				config();
+	void			 	config();
 
 	/**
 	 * Trampoline to the worker task
@@ -486,6 +486,8 @@ GPS::print_info()
 		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
 				_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
 		warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
+		warnx("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
+			(double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
 		warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
 		warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());

From b97c867420f477f2c3a7dbc073975f5d872194cb Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 14:51:13 +0200
Subject: [PATCH 13/21] Add a check command and fix error reporting

---
 src/modules/commander/commander.cpp           | 19 +++++++++------
 .../commander/state_machine_helper.cpp        | 23 ++++++++-----------
 src/modules/commander/state_machine_helper.h  |  2 ++
 3 files changed, 24 insertions(+), 20 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 2058cd92e2..106f05f572 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -286,15 +286,20 @@ int commander_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	/* commands needing the app to run below */
+	if (!thread_running) {
+		warnx("\tcommander not started");
+		exit(1);
+	}
+
 	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("\tcommander is running");
-			print_status();
-
-		} else {
-			warnx("\tcommander not started");
-		}
+		print_status();
+		exit(0);
+	}
 
+	if (!strcmp(argv[1], "check")) {
+		int checkres = prearm_check(&status, mavlink_fd);
+		warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
 		exit(0);
 	}
 
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index ca95f139e4..d6b4d43adc 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -70,8 +70,6 @@
 #endif
 static const int ERROR = -1;
 
-static int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
-
 // This array defines the arming state transitions. The rows are the new state, and the columns
 // are the current state. Using new state and current  state you can index into the array which
 // will be true for a valid transition or false for a invalid transition. In some cases even
@@ -622,12 +620,13 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 {
 	int ret;
+	bool failed = false;
 
 	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
 		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING");
-		ret = fd;
+		failed = true;
 		goto system_eval;
 	}
 
@@ -635,6 +634,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 
 	if (ret != OK) {
 		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION");
+		failed = true;
 		goto system_eval;
 	}
 
@@ -646,22 +646,20 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		/* evaluate values */
 		float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
-		if (accel_scale < 9.78f || accel_scale > 9.83f) {
+		if (accel_scale < 9.75f || accel_scale > 9.85f) {
 			mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended.");
 		}
 
 		if (accel_scale > 30.0f /* m/s^2 */) {
 			mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
 			/* this is frickin' fatal */
-			ret = ERROR;
+			failed = true;
 			goto system_eval;
-		} else {
-			ret = OK;
 		}
 	} else {
 		mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ");
 		/* this is frickin' fatal */
-		ret = ERROR;
+		failed = true;
 		goto system_eval;
 	}
 
@@ -672,7 +670,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 
 		if (fd < 0) {
 			mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
-			ret = fd;
+			failed = true;
 			goto system_eval;
 		}
 
@@ -681,20 +679,19 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		ret = read(fd, &diff_pres, sizeof(diff_pres));
 
 		if (ret == sizeof(diff_pres)) {
-			if (fabsf(diff_pres.differential_pressure_filtered_pa > 5.0f)) {
+			if (fabsf(diff_pres.differential_pressure_filtered_pa > 6.0f)) {
 				mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING");
 				// XXX do not make this fatal yet
-				ret = OK;
 			}
 		} else {
 			mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ");
 			/* this is frickin' fatal */
-			ret = ERROR;
+			failed = true;
 			goto system_eval;
 		}
 	}
 
 system_eval:
 	close(fd);
-	return ret;
+	return (!failed);
 }
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 11072403ea..ddc5bf154c 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -67,4 +67,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
 
 bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished);
 
+int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
+
 #endif /* STATE_MACHINE_HELPER_H_ */

From a82d4fbb115e949a6a5c12d46308df1c20abfd99 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 14:55:46 +0200
Subject: [PATCH 14/21] Hotfix: fix typo

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

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 106f05f572..6138a4c37d 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -308,7 +308,7 @@ int commander_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "2")) {
+	if (!strcmp(argv[1], "disarm")) {
 		arm_disarm(false, mavlink_fd, "command line");
 		exit(0);
 	}

From 79c5d434bd5911d11e6968e0a339b40a6f82e033 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 15:10:11 +0200
Subject: [PATCH 15/21] Commander: More hotfixes to prearm check routine

---
 src/modules/commander/commander.cpp            | 5 ++++-
 src/modules/commander/state_machine_helper.cpp | 5 +++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 6138a4c37d..18761665a2 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -298,7 +298,9 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "check")) {
-		int checkres = prearm_check(&status, mavlink_fd);
+		int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
+		int checkres = prearm_check(&status, mavlink_fd_local);
+		close(mavlink_fd_local);
 		warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
 		exit(0);
 	}
@@ -329,6 +331,7 @@ void usage(const char *reason)
 
 void print_status()
 {
+	warnx("type: %s", (status.is_rotary_wing) ? "ROTARY" : "PLANE");
 	warnx("usb powered: %s", (on_usb_power) ? "yes" : "no");
 
 	/* read all relevant states */
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index d6b4d43adc..5cbc95920a 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -664,11 +664,12 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 	}
 
 	if (!status->is_rotary_wing) {
+
 		/* accel done, close it */
 		close(fd);
 		fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY);
 
-		if (fd < 0) {
+		if (fd <= 0) {
 			mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING");
 			failed = true;
 			goto system_eval;
@@ -693,5 +694,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 
 system_eval:
 	close(fd);
-	return (!failed);
+	return (failed);
 }

From a118e8dbdd72e23a47841577dfcd7a45007eaedc Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 15:17:21 +0200
Subject: [PATCH 16/21] Make commander error message more verbose

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

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 5cbc95920a..ce1bd9ada5 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -647,7 +647,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
 		if (accel_scale < 9.75f || accel_scale > 9.85f) {
-			mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended.");
+			mavlink_log_info(mavlink_fd, "#audio: Accel calib. recommended (%8.4f).", (double)accel_scale);
 		}
 
 		if (accel_scale > 30.0f /* m/s^2 */) {

From 11d9724563f005ed722d326e8bef125bfec29865 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 11 Jul 2014 16:03:27 +0200
Subject: [PATCH 17/21] Stop warning users just because they shake a bit, be
 more strict to catch sensor failures or calibration errors in time

---
 src/modules/commander/state_machine_helper.cpp | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index ce1bd9ada5..363f5e8eb4 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -644,14 +644,11 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 
 	if (ret == sizeof(acc)) {
 		/* evaluate values */
-		float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
+		float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
-		if (accel_scale < 9.75f || accel_scale > 9.85f) {
-			mavlink_log_info(mavlink_fd, "#audio: Accel calib. recommended (%8.4f).", (double)accel_scale);
-		}
-
-		if (accel_scale > 30.0f /* m/s^2 */) {
+		if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
 			mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE");
+			mavlink_log_info(mavlink_fd, "#audio: hold still while arming");
 			/* this is frickin' fatal */
 			failed = true;
 			goto system_eval;

From a3210f31fe431b31b971f9d25d41a5c18734120c Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Fri, 11 Jul 2014 21:30:59 +0200
Subject: [PATCH 18/21] Create a mixer for the Wing Wing.

---
 ROMFS/px4fmu_common/init.d/3033_wingwing |  2 +-
 ROMFS/px4fmu_common/mixers/FMU_wingwing  | 70 ++++++++++++++++++++++++
 2 files changed, 71 insertions(+), 1 deletion(-)
 create mode 100644 ROMFS/px4fmu_common/mixers/FMU_wingwing

diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index fff4b58df4..75163168e3 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -32,7 +32,7 @@ then
 	param set FW_THR_CRUISE 0.65
 fi
 
-set MIXER FMU_Q
+set MIXER FMU_wingwing
 # Provide ESC a constant 1000 us pulse
 set PWM_OUTPUTS 4
 set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_wingwing b/ROMFS/px4fmu_common/mixers/FMU_wingwing
new file mode 100644
index 0000000000..806bfec734
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_wingwing
@@ -0,0 +1,70 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Designed for Wing Wing Z-84
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

From e4264aad825540c159888b68fc2a0dec599b2e9b Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Fri, 11 Jul 2014 21:34:51 +0200
Subject: [PATCH 19/21] The wing wing is too small to have flaps, gimbals, etc.

---
 ROMFS/px4fmu_common/mixers/FMU_wingwing | 19 -------------------
 1 file changed, 19 deletions(-)

diff --git a/ROMFS/px4fmu_common/mixers/FMU_wingwing b/ROMFS/px4fmu_common/mixers/FMU_wingwing
index 806bfec734..08333ba5cf 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_wingwing
+++ b/ROMFS/px4fmu_common/mixers/FMU_wingwing
@@ -49,22 +49,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-Gimbal / flaps / payload mixer for last four channels
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000

From f8115e4e2e2cc0ad55949016c7872125a6727fac Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Fri, 11 Jul 2014 21:51:35 +0200
Subject: [PATCH 20/21] Renamed mixer file.

---
 ROMFS/px4fmu_common/init.d/3033_wingwing                  | 2 +-
 ROMFS/px4fmu_common/mixers/{FMU_wingwing => wingwing.mix} | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename ROMFS/px4fmu_common/mixers/{FMU_wingwing => wingwing.mix} (100%)

diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 75163168e3..3cbbd555e3 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -32,7 +32,7 @@ then
 	param set FW_THR_CRUISE 0.65
 fi
 
-set MIXER FMU_wingwing
+set MIXER wingwing
 # Provide ESC a constant 1000 us pulse
 set PWM_OUTPUTS 4
 set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_wingwing b/ROMFS/px4fmu_common/mixers/wingwing.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_wingwing
rename to ROMFS/px4fmu_common/mixers/wingwing.mix

From 4dc65d6f09bcf891ee228ef9fc6b576251fc8b65 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 12 Jul 2014 16:09:49 +0200
Subject: [PATCH 21/21] NuttX I2C fixes

---
 NuttX | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/NuttX b/NuttX
index 2a94cc8e5b..7e1b97bcf1 160000
--- a/NuttX
+++ b/NuttX
@@ -1 +1 @@
-Subproject commit 2a94cc8e5babb7d5661aedc09201239d39644332
+Subproject commit 7e1b97bcf10d8495169eec355988ca5890bfd5df