From 8783bed114e8ece85d62f15d0d2a06c28aa0bcfe Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 28 Feb 2014 00:49:12 +0400
Subject: [PATCH 01/10] sdlog2: getopt invalid usage fixed

---
 src/modules/sdlog2/sdlog2.c | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 68e6a7469f..f952c3f323 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -652,6 +652,10 @@ int sdlog2_thread_main(int argc, char *argv[])
 	argv += 2;
 	int ch;
 
+	/* don't exit from getopt loop to leave getopt global variables in consistent state,
+	 * set error flag instead */
+	bool err_flag = false;
+
 	while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
 		switch (ch) {
 		case 'r': {
@@ -699,13 +703,20 @@ int sdlog2_thread_main(int argc, char *argv[])
 			} else {
 				warnx("unknown option character `\\x%x'", optopt);
 			}
+			err_flag = true;
+			break;
 
 		default:
-			sdlog2_usage("unrecognized flag");
-			errx(1, "exiting");
+			warnx("unrecognized flag");
+			err_flag = true;
+			break;
 		}
 	}
 
+	if (err_flag) {
+		sdlog2_usage(NULL);
+	}
+
 	gps_time = 0;
 
 	/* create log root dir */

From e505f4fae5596b2b53c120a7cb2a03d2d974c83a Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 7 Mar 2014 11:17:02 +0400
Subject: [PATCH 02/10] sdlog2: use orb_check() instead of poll() to minimize
 polling overhead, bugs and compiler warnings fixed

---
 src/modules/sdlog2/sdlog2.c | 920 +++++++++++++++---------------------
 1 file changed, 374 insertions(+), 546 deletions(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 1365d9e705..fa25d74f85 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -159,6 +159,8 @@ static void *logwriter_thread(void *arg);
  */
 __EXPORT int sdlog2_main(int argc, char *argv[]);
 
+static bool copy_if_updated(orb_id_t topic, int handle, void *buffer);
+
 /**
  * Mainloop of sd log deamon.
  */
@@ -402,7 +404,7 @@ static void *logwriter_thread(void *arg)
 	int log_fd = open_log_file();
 
 	if (log_fd < 0)
-		return;
+		return NULL;
 
 	struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
 
@@ -483,7 +485,7 @@ static void *logwriter_thread(void *arg)
 	fsync(log_fd);
 	close(log_fd);
 
-	return;
+	return NULL;
 }
 
 void sdlog2_start_log()
@@ -628,6 +630,19 @@ int write_parameters(int fd)
 	return written;
 }
 
+bool copy_if_updated(orb_id_t topic, int handle, void *buffer)
+{
+	bool updated;
+
+	orb_check(handle, &updated);
+
+	if (updated) {
+		orb_copy(topic, handle, buffer);
+	}
+
+	return updated;
+}
+
 int sdlog2_thread_main(int argc, char *argv[])
 {
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@@ -636,9 +651,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 		warnx("failed to open MAVLink log stream, start mavlink app first");
 	}
 
-	/* log buffer size */
+	useconds_t sleep_delay = 10000;		// default log rate: 100 Hz
 	int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
-
 	logging_enabled = false;
 	log_on_start = false;
 	log_when_armed = false;
@@ -656,12 +670,10 @@ int sdlog2_thread_main(int argc, char *argv[])
 		case 'r': {
 				unsigned long r = strtoul(optarg, NULL, 10);
 
-				if (r == 0) {
-					sleep_delay = 0;
-
-				} else {
-					sleep_delay = 1000000 / r;
+				if (r <= 0) {
+					r = 1;
 				}
+				sleep_delay = 1000000 / r;
 			}
 			break;
 
@@ -711,7 +723,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
 
 	if (mkdir_ret != 0 && errno != EEXIST) {
-		err("failed creating log root dir: %s", log_root);
+		err(1, "failed creating log root dir: %s", log_root);
 	}
 
 	/* copy conversion scripts */
@@ -733,8 +745,10 @@ int sdlog2_thread_main(int argc, char *argv[])
 	}
 
 	struct vehicle_status_s buf_status;
+	struct vehicle_gps_position_s buf_gps_pos;
 
 	memset(&buf_status, 0, sizeof(buf_status));
+	memset(&buf_gps_pos, 0, sizeof(buf_gps_pos));
 
 	/* warning! using union here to save memory, elements should be used separately! */
 	union {
@@ -749,7 +763,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct vehicle_local_position_setpoint_s local_pos_sp;
 		struct vehicle_global_position_s global_pos;
 		struct position_setpoint_triplet_s triplet;
-		struct vehicle_gps_position_s gps_pos;
 		struct vehicle_vicon_position_s vicon_pos;
 		struct optical_flow_s flow;
 		struct rc_channels_s rc;
@@ -763,30 +776,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	memset(&buf, 0, sizeof(buf));
 
-	struct {
-		int cmd_sub;
-		int status_sub;
-		int sensor_sub;
-		int att_sub;
-		int att_sp_sub;
-		int rates_sp_sub;
-		int act_outputs_sub;
-		int act_controls_sub;
-		int local_pos_sub;
-		int local_pos_sp_sub;
-		int global_pos_sub;
-		int triplet_sub;
-		int gps_pos_sub;
-		int vicon_pos_sub;
-		int flow_sub;
-		int rc_sub;
-		int airspeed_sub;
-		int esc_sub;
-		int global_vel_sp_sub;
-		int battery_sub;
-		int telemetry_sub;
-	} subs;
-
 	/* log message buffer: header + body */
 #pragma pack(push, 1)
 	struct {
@@ -821,154 +810,51 @@ int sdlog2_thread_main(int argc, char *argv[])
 #pragma pack(pop)
 	memset(&log_msg.body, 0, sizeof(log_msg.body));
 
-	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
-	/* number of messages */
-	const ssize_t fdsc = 25;
-	/* Sanity check variable and index */
-	ssize_t fdsc_count = 0;
-	/* file descriptors to wait for */
-	struct pollfd fds[fdsc];
+	struct {
+		int cmd_sub;
+		int status_sub;
+		int sensor_sub;
+		int att_sub;
+		int att_sp_sub;
+		int rates_sp_sub;
+		int act_outputs_sub;
+		int act_controls_sub;
+		int local_pos_sub;
+		int local_pos_sp_sub;
+		int global_pos_sub;
+		int triplet_sub;
+		int gps_pos_sub;
+		int vicon_pos_sub;
+		int flow_sub;
+		int rc_sub;
+		int airspeed_sub;
+		int esc_sub;
+		int global_vel_sp_sub;
+		int battery_sub;
+		int telemetry_sub;
+	} subs;
 
-	/* --- VEHICLE COMMAND --- */
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	fds[fdsc_count].fd = subs.cmd_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- VEHICLE STATUS --- */
 	subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
-	fds[fdsc_count].fd = subs.status_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GPS POSITION --- */
 	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	fds[fdsc_count].fd = subs.gps_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- SENSORS COMBINED --- */
 	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	fds[fdsc_count].fd = subs.sensor_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE --- */
 	subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	fds[fdsc_count].fd = subs.att_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE SETPOINT --- */
 	subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	fds[fdsc_count].fd = subs.att_sp_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- RATES SETPOINT --- */
 	subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
-	fds[fdsc_count].fd = subs.rates_sp_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR OUTPUTS --- */
 	subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
-	fds[fdsc_count].fd = subs.act_outputs_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL --- */
 	subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-	fds[fdsc_count].fd = subs.act_controls_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- LOCAL POSITION --- */
 	subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	fds[fdsc_count].fd = subs.local_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- LOCAL POSITION SETPOINT --- */
 	subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
-	fds[fdsc_count].fd = subs.local_pos_sp_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL POSITION --- */
 	subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	fds[fdsc_count].fd = subs.global_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL POSITION SETPOINT--- */
 	subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
-	fds[fdsc_count].fd = subs.triplet_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- VICON POSITION --- */
 	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	fds[fdsc_count].fd = subs.vicon_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- OPTICAL FLOW --- */
 	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
-	fds[fdsc_count].fd = subs.flow_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- RC CHANNELS --- */
 	subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
-	fds[fdsc_count].fd = subs.rc_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- AIRSPEED --- */
 	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
-	fds[fdsc_count].fd = subs.airspeed_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ESCs --- */
 	subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
-	fds[fdsc_count].fd = subs.esc_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL VELOCITY SETPOINT --- */
 	subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
-	fds[fdsc_count].fd = subs.global_vel_sp_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- BATTERY --- */
 	subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
-	fds[fdsc_count].fd = subs.battery_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- TELEMETRY STATUS --- */
 	subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
-	fds[fdsc_count].fd = subs.telemetry_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* WARNING: If you get the error message below,
-	 * then the number of registered messages (fdsc)
-	 * differs from the number of messages in the above list.
-	 */
-	if (fdsc_count > fdsc) {
-		warn("WARNING: Not enough space for poll fds allocated. Check %s:%d", __FILE__, __LINE__);
-		fdsc_count = fdsc;
-	}
-
-	/*
-	 * set up poll to block for new data,
-	 * wait for a maximum of 1000 ms
-	 */
-	const int poll_timeout = 1000;
 
 	thread_running = true;
 
@@ -990,8 +876,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 	if (log_on_start) {
 		/* check GPS topic to get GPS time */
 		if (log_name_timestamp) {
-			if (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) {
-				gps_time = buf.gps_pos.time_gps_usec;
+			if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
+				gps_time = buf_gps_pos.time_gps_usec;
 			}
 		}
 
@@ -999,390 +885,334 @@ int sdlog2_thread_main(int argc, char *argv[])
 	}
 
 	while (!main_thread_should_exit) {
-		/* decide use usleep() or blocking poll() */
-		bool use_sleep = sleep_delay > 0 && logging_enabled;
-
-		/* poll all topics if logging enabled or only management (first 3) if not */
-		int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout);
-
-		/* handle the poll result */
-		if (poll_ret < 0) {
-			warnx("ERROR: poll error, stop logging");
-			main_thread_should_exit = true;
-
-		} else if (poll_ret > 0) {
-
-			/* check all data subscriptions only if logging enabled,
-			 * logging_enabled can be changed while checking vehicle_command and vehicle_status */
-			bool check_data = logging_enabled;
-			int ifds = 0;
-			int handled_topics = 0;
-
-			/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
-
-				handle_command(&buf.cmd);
-				handled_topics++;
-			}
-
-			/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
-
-				if (log_when_armed) {
-					handle_status(&buf_status);
-				}
-
-				handled_topics++;
-			}
-
-			/* --- GPS POSITION - LOG MANAGEMENT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-
-				if (log_name_timestamp) {
-					gps_time = buf.gps_pos.time_gps_usec;
-				}
-
-				handled_topics++;
-			}
-
-			if (!logging_enabled || !check_data || handled_topics >= poll_ret) {
-				continue;
-			}
-
-			ifds = 1;	// begin from VEHICLE STATUS again
-
-			pthread_mutex_lock(&logbuffer_mutex);
-
-			/* write time stamp message */
-			log_msg.msg_type = LOG_TIME_MSG;
-			log_msg.body.log_TIME.t = hrt_absolute_time();
-			LOGBUFFER_WRITE_AND_COUNT(TIME);
-
-			/* --- VEHICLE STATUS --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* don't orb_copy, it's already done few lines above */
-				log_msg.msg_type = LOG_STAT_MSG;
-				log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
-				log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
-				log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
-				log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
-				log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
-				LOGBUFFER_WRITE_AND_COUNT(STAT);
-			}
-
-			/* --- GPS POSITION --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* don't orb_copy, it's already done few lines above */
-				log_msg.msg_type = LOG_GPS_MSG;
-				log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec;
-				log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type;
-				log_msg.body.log_GPS.eph = buf.gps_pos.eph_m;
-				log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
-				log_msg.body.log_GPS.lat = buf.gps_pos.lat;
-				log_msg.body.log_GPS.lon = buf.gps_pos.lon;
-				log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
-				log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
-				log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
-				log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
-				log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad;
-				LOGBUFFER_WRITE_AND_COUNT(GPS);
-			}
-
-			/* --- SENSOR COMBINED --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
-				bool write_IMU = false;
-				bool write_SENS = false;
-
-				if (buf.sensor.gyro_counter != gyro_counter) {
-					gyro_counter = buf.sensor.gyro_counter;
-					write_IMU = true;
-				}
-
-				if (buf.sensor.accelerometer_counter != accelerometer_counter) {
-					accelerometer_counter = buf.sensor.accelerometer_counter;
-					write_IMU = true;
-				}
-
-				if (buf.sensor.magnetometer_counter != magnetometer_counter) {
-					magnetometer_counter = buf.sensor.magnetometer_counter;
-					write_IMU = true;
-				}
-
-				if (buf.sensor.baro_counter != baro_counter) {
-					baro_counter = buf.sensor.baro_counter;
-					write_SENS = true;
-				}
-
-				if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
-					differential_pressure_counter = buf.sensor.differential_pressure_counter;
-					write_SENS = true;
-				}
-
-				if (write_IMU) {
-					log_msg.msg_type = LOG_IMU_MSG;
-					log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0];
-					log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1];
-					log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2];
-					log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0];
-					log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1];
-					log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2];
-					log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
-					log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
-					log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
-					LOGBUFFER_WRITE_AND_COUNT(IMU);
-				}
-
-				if (write_SENS) {
-					log_msg.msg_type = LOG_SENS_MSG;
-					log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar;
-					log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
-					log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
-					log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
-					LOGBUFFER_WRITE_AND_COUNT(SENS);
-				}
-			}
-
-			/* --- ATTITUDE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-				log_msg.msg_type = LOG_ATT_MSG;
-				log_msg.body.log_ATT.roll = buf.att.roll;
-				log_msg.body.log_ATT.pitch = buf.att.pitch;
-				log_msg.body.log_ATT.yaw = buf.att.yaw;
-				log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
-				log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
-				log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
-				log_msg.body.log_ATT.gx = buf.att.g_comp[0];
-				log_msg.body.log_ATT.gy = buf.att.g_comp[1];
-				log_msg.body.log_ATT.gz = buf.att.g_comp[2];
-				LOGBUFFER_WRITE_AND_COUNT(ATT);
-			}
-
-			/* --- ATTITUDE SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp);
-				log_msg.msg_type = LOG_ATSP_MSG;
-				log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
-				log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
-				log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
-				log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
-				LOGBUFFER_WRITE_AND_COUNT(ATSP);
-			}
-
-			/* --- RATES SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
-				log_msg.msg_type = LOG_ARSP_MSG;
-				log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
-				log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
-				log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
-				LOGBUFFER_WRITE_AND_COUNT(ARSP);
-			}
-
-			/* --- ACTUATOR OUTPUTS --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
-				log_msg.msg_type = LOG_OUT0_MSG;
-				memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
-				LOGBUFFER_WRITE_AND_COUNT(OUT0);
-			}
-
-			/* --- ACTUATOR CONTROL --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls);
-				log_msg.msg_type = LOG_ATTC_MSG;
-				log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
-				log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
-				log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
-				log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
-				LOGBUFFER_WRITE_AND_COUNT(ATTC);
-			}
-
-			/* --- LOCAL POSITION --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
-				log_msg.msg_type = LOG_LPOS_MSG;
-				log_msg.body.log_LPOS.x = buf.local_pos.x;
-				log_msg.body.log_LPOS.y = buf.local_pos.y;
-				log_msg.body.log_LPOS.z = buf.local_pos.z;
-				log_msg.body.log_LPOS.vx = buf.local_pos.vx;
-				log_msg.body.log_LPOS.vy = buf.local_pos.vy;
-				log_msg.body.log_LPOS.vz = buf.local_pos.vz;
-				log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
-				log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
-				log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
-				log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
-				log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
-				log_msg.body.log_LPOS.landed = buf.local_pos.landed;
-				LOGBUFFER_WRITE_AND_COUNT(LPOS);
-
-				if (buf.local_pos.dist_bottom_valid) {
-					dist_bottom_present = true;
-				}
-				if (dist_bottom_present) {
-					log_msg.msg_type = LOG_DIST_MSG;
-					log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
-					log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
-					log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
-					LOGBUFFER_WRITE_AND_COUNT(DIST);
-				}
-			}
-
-			/* --- LOCAL POSITION SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp);
-				log_msg.msg_type = LOG_LPSP_MSG;
-				log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
-				log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
-				log_msg.body.log_LPSP.z = buf.local_pos_sp.z;
-				log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw;
-				LOGBUFFER_WRITE_AND_COUNT(LPSP);
-			}
-
-			/* --- GLOBAL POSITION --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
-				log_msg.msg_type = LOG_GPOS_MSG;
-				log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
-				log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
-				log_msg.body.log_GPOS.alt = buf.global_pos.alt;
-				log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
-				log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
-				log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
-				log_msg.body.log_GPOS.baro_alt = buf.global_pos.baro_alt;
-				log_msg.body.log_GPOS.flags = (buf.global_pos.baro_valid ? 1 : 0) | (buf.global_pos.global_valid ? 2 : 0);
-				LOGBUFFER_WRITE_AND_COUNT(GPOS);
-			}
-
-			/* --- GLOBAL POSITION SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet);
-				log_msg.msg_type = LOG_GPSP_MSG;
-				log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
-				log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
-				log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
-				log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
-				log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
-				log_msg.body.log_GPSP.type = buf.triplet.current.type;
-				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
-				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
-				LOGBUFFER_WRITE_AND_COUNT(GPSP);
-			}
-
-			/* --- VICON POSITION --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
-				// TODO not implemented yet
-			}
-
-			/* --- FLOW --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
-				log_msg.msg_type = LOG_FLOW_MSG;
-				log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
-				log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
-				log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
-				log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
-				log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
-				log_msg.body.log_FLOW.quality = buf.flow.quality;
-				log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
-				LOGBUFFER_WRITE_AND_COUNT(FLOW);
-			}
-
-			/* --- RC CHANNELS --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc);
-				log_msg.msg_type = LOG_RC_MSG;
-				/* Copy only the first 8 channels of 14 */
-				memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
-				log_msg.body.log_RC.channel_count = buf.rc.chan_count;
-				LOGBUFFER_WRITE_AND_COUNT(RC);
-			}
-
-			/* --- AIRSPEED --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
-				log_msg.msg_type = LOG_AIRS_MSG;
-				log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
-				log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
-				LOGBUFFER_WRITE_AND_COUNT(AIRS);
-			}
-
-			/* --- ESCs --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc);
-
-				for (uint8_t i = 0; i < buf.esc.esc_count; i++) {
-					log_msg.msg_type = LOG_ESC_MSG;
-					log_msg.body.log_ESC.counter = buf.esc.counter;
-					log_msg.body.log_ESC.esc_count = buf.esc.esc_count;
-					log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype;
-					log_msg.body.log_ESC.esc_num = i;
-					log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address;
-					log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version;
-					log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage;
-					log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current;
-					log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm;
-					log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature;
-					log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint;
-					log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw;
-					LOGBUFFER_WRITE_AND_COUNT(ESC);
-				}
-			}
-
-			/* --- GLOBAL VELOCITY SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp);
-				log_msg.msg_type = LOG_GVSP_MSG;
-				log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
-				log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
-				log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz;
-				LOGBUFFER_WRITE_AND_COUNT(GVSP);
-			}
-
-			/* --- BATTERY --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery);
-				log_msg.msg_type = LOG_BATT_MSG;
-				log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
-				log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
-				log_msg.body.log_BATT.current = buf.battery.current_a;
-				log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
-				LOGBUFFER_WRITE_AND_COUNT(BATT);
-			}
-
-			/* --- TELEMETRY --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry);
-				log_msg.msg_type = LOG_TELE_MSG;
-				log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
-				log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
-				log_msg.body.log_TELE.noise = buf.telemetry.noise;
-				log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
-				log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
-				log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
-				log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
-				LOGBUFFER_WRITE_AND_COUNT(TELE);
-			}
-
-			/* signal the other thread new data, but not yet unlock */
-			if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
-				/* only request write if several packets can be written at once */
-				pthread_cond_signal(&logbuffer_cond);
-			}
-
-			/* unlock, now the writer thread may run */
-			pthread_mutex_unlock(&logbuffer_mutex);
+		/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
+		if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) {
+			handle_command(&buf.cmd);
 		}
 
-		if (use_sleep) {
-			usleep(sleep_delay);
+		/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
+		bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
+		if (status_updated) {
+			if (log_when_armed) {
+				handle_status(&buf_status);
+			}
 		}
+
+		/* --- GPS POSITION - LOG MANAGEMENT --- */
+		bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
+		if (gps_pos_updated && log_name_timestamp) {
+			gps_time = buf_gps_pos.time_gps_usec;
+		}
+
+		if (!logging_enabled) {
+			continue;
+		}
+
+		pthread_mutex_lock(&logbuffer_mutex);
+
+		/* write time stamp message */
+		log_msg.msg_type = LOG_TIME_MSG;
+		log_msg.body.log_TIME.t = hrt_absolute_time();
+		LOGBUFFER_WRITE_AND_COUNT(TIME);
+
+		/* --- VEHICLE STATUS --- */
+		if (status_updated) {
+			log_msg.msg_type = LOG_STAT_MSG;
+			log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
+			log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
+			log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
+			log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
+			log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
+			LOGBUFFER_WRITE_AND_COUNT(STAT);
+		}
+
+		/* --- GPS POSITION --- */
+		if (gps_pos_updated) {
+			log_msg.msg_type = LOG_GPS_MSG;
+			log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
+			log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
+			log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
+			log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
+			log_msg.body.log_GPS.lat = buf_gps_pos.lat;
+			log_msg.body.log_GPS.lon = buf_gps_pos.lon;
+			log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
+			log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s;
+			log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
+			log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
+			log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
+			LOGBUFFER_WRITE_AND_COUNT(GPS);
+		}
+
+		/* --- SENSOR COMBINED --- */
+		if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
+			bool write_IMU = false;
+			bool write_SENS = false;
+
+			if (buf.sensor.gyro_counter != gyro_counter) {
+				gyro_counter = buf.sensor.gyro_counter;
+				write_IMU = true;
+			}
+
+			if (buf.sensor.accelerometer_counter != accelerometer_counter) {
+				accelerometer_counter = buf.sensor.accelerometer_counter;
+				write_IMU = true;
+			}
+
+			if (buf.sensor.magnetometer_counter != magnetometer_counter) {
+				magnetometer_counter = buf.sensor.magnetometer_counter;
+				write_IMU = true;
+			}
+
+			if (buf.sensor.baro_counter != baro_counter) {
+				baro_counter = buf.sensor.baro_counter;
+				write_SENS = true;
+			}
+
+			if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
+				differential_pressure_counter = buf.sensor.differential_pressure_counter;
+				write_SENS = true;
+			}
+
+			if (write_IMU) {
+				log_msg.msg_type = LOG_IMU_MSG;
+				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0];
+				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1];
+				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2];
+				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0];
+				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1];
+				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2];
+				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
+				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
+				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
+				LOGBUFFER_WRITE_AND_COUNT(IMU);
+			}
+
+			if (write_SENS) {
+				log_msg.msg_type = LOG_SENS_MSG;
+				log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar;
+				log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
+				log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
+				log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
+				LOGBUFFER_WRITE_AND_COUNT(SENS);
+			}
+		}
+
+		/* --- ATTITUDE --- */
+		if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) {
+			log_msg.msg_type = LOG_ATT_MSG;
+			log_msg.body.log_ATT.roll = buf.att.roll;
+			log_msg.body.log_ATT.pitch = buf.att.pitch;
+			log_msg.body.log_ATT.yaw = buf.att.yaw;
+			log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
+			log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
+			log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
+			log_msg.body.log_ATT.gx = buf.att.g_comp[0];
+			log_msg.body.log_ATT.gy = buf.att.g_comp[1];
+			log_msg.body.log_ATT.gz = buf.att.g_comp[2];
+			LOGBUFFER_WRITE_AND_COUNT(ATT);
+		}
+
+		/* --- ATTITUDE SETPOINT --- */
+		if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp)) {
+			log_msg.msg_type = LOG_ATSP_MSG;
+			log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
+			log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
+			log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
+			log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
+			LOGBUFFER_WRITE_AND_COUNT(ATSP);
+		}
+
+		/* --- RATES SETPOINT --- */
+		if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp)) {
+			log_msg.msg_type = LOG_ARSP_MSG;
+			log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
+			log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
+			log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
+			LOGBUFFER_WRITE_AND_COUNT(ARSP);
+		}
+
+		/* --- ACTUATOR OUTPUTS --- */
+		if (copy_if_updated(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs)) {
+			log_msg.msg_type = LOG_OUT0_MSG;
+			memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
+			LOGBUFFER_WRITE_AND_COUNT(OUT0);
+		}
+
+		/* --- ACTUATOR CONTROL --- */
+		if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls)) {
+			log_msg.msg_type = LOG_ATTC_MSG;
+			log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
+			log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
+			log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
+			log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
+			LOGBUFFER_WRITE_AND_COUNT(ATTC);
+		}
+
+		/* --- LOCAL POSITION --- */
+		if (copy_if_updated(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos)) {
+			log_msg.msg_type = LOG_LPOS_MSG;
+			log_msg.body.log_LPOS.x = buf.local_pos.x;
+			log_msg.body.log_LPOS.y = buf.local_pos.y;
+			log_msg.body.log_LPOS.z = buf.local_pos.z;
+			log_msg.body.log_LPOS.vx = buf.local_pos.vx;
+			log_msg.body.log_LPOS.vy = buf.local_pos.vy;
+			log_msg.body.log_LPOS.vz = buf.local_pos.vz;
+			log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
+			log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
+			log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
+			log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
+			log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
+			log_msg.body.log_LPOS.landed = buf.local_pos.landed;
+			LOGBUFFER_WRITE_AND_COUNT(LPOS);
+
+			if (buf.local_pos.dist_bottom_valid) {
+				dist_bottom_present = true;
+			}
+			if (dist_bottom_present) {
+				log_msg.msg_type = LOG_DIST_MSG;
+				log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
+				log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
+				log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
+				LOGBUFFER_WRITE_AND_COUNT(DIST);
+			}
+		}
+
+		/* --- LOCAL POSITION SETPOINT --- */
+		if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) {
+			log_msg.msg_type = LOG_LPSP_MSG;
+			log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
+			log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
+			log_msg.body.log_LPSP.z = buf.local_pos_sp.z;
+			log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw;
+			LOGBUFFER_WRITE_AND_COUNT(LPSP);
+		}
+
+		/* --- GLOBAL POSITION --- */
+		if (copy_if_updated(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos)) {
+			log_msg.msg_type = LOG_GPOS_MSG;
+			log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
+			log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
+			log_msg.body.log_GPOS.alt = buf.global_pos.alt;
+			log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
+			log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
+			log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
+			log_msg.body.log_GPOS.baro_alt = buf.global_pos.baro_alt;
+			log_msg.body.log_GPOS.flags = (buf.global_pos.baro_valid ? 1 : 0) | (buf.global_pos.global_valid ? 2 : 0);
+			LOGBUFFER_WRITE_AND_COUNT(GPOS);
+		}
+
+		/* --- GLOBAL POSITION SETPOINT --- */
+		if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
+			log_msg.msg_type = LOG_GPSP_MSG;
+			log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
+			log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
+			log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
+			log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
+			log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
+			log_msg.body.log_GPSP.type = buf.triplet.current.type;
+			log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
+			log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
+			log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
+			LOGBUFFER_WRITE_AND_COUNT(GPSP);
+		}
+
+		/* --- VICON POSITION --- */
+		if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
+			// TODO not implemented yet
+		}
+
+		/* --- FLOW --- */
+		if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
+			log_msg.msg_type = LOG_FLOW_MSG;
+			log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
+			log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
+			log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
+			log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
+			log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
+			log_msg.body.log_FLOW.quality = buf.flow.quality;
+			log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
+			LOGBUFFER_WRITE_AND_COUNT(FLOW);
+		}
+
+		/* --- RC CHANNELS --- */
+		if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
+			log_msg.msg_type = LOG_RC_MSG;
+			/* Copy only the first 8 channels of 14 */
+			memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
+			log_msg.body.log_RC.channel_count = buf.rc.chan_count;
+			LOGBUFFER_WRITE_AND_COUNT(RC);
+		}
+
+		/* --- AIRSPEED --- */
+		if (copy_if_updated(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed)) {
+			log_msg.msg_type = LOG_AIRS_MSG;
+			log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
+			log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
+			LOGBUFFER_WRITE_AND_COUNT(AIRS);
+		}
+
+		/* --- ESCs --- */
+		if (copy_if_updated(ORB_ID(esc_status), subs.esc_sub, &buf.esc)) {
+			for (uint8_t i = 0; i < buf.esc.esc_count; i++) {
+				log_msg.msg_type = LOG_ESC_MSG;
+				log_msg.body.log_ESC.counter = buf.esc.counter;
+				log_msg.body.log_ESC.esc_count = buf.esc.esc_count;
+				log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype;
+				log_msg.body.log_ESC.esc_num = i;
+				log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address;
+				log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version;
+				log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage;
+				log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current;
+				log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm;
+				log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature;
+				log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint;
+				log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw;
+				LOGBUFFER_WRITE_AND_COUNT(ESC);
+			}
+		}
+
+		/* --- GLOBAL VELOCITY SETPOINT --- */
+		if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp)) {
+			log_msg.msg_type = LOG_GVSP_MSG;
+			log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
+			log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
+			log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz;
+			LOGBUFFER_WRITE_AND_COUNT(GVSP);
+		}
+
+		/* --- BATTERY --- */
+		if (copy_if_updated(ORB_ID(battery_status), subs.battery_sub, &buf.battery)) {
+			log_msg.msg_type = LOG_BATT_MSG;
+			log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
+			log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
+			log_msg.body.log_BATT.current = buf.battery.current_a;
+			log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
+			LOGBUFFER_WRITE_AND_COUNT(BATT);
+		}
+
+		/* --- TELEMETRY --- */
+		if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
+			log_msg.msg_type = LOG_TELE_MSG;
+			log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
+			log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
+			log_msg.body.log_TELE.noise = buf.telemetry.noise;
+			log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
+			log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
+			log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
+			log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
+			LOGBUFFER_WRITE_AND_COUNT(TELE);
+		}
+
+		/* signal the other thread new data, but not yet unlock */
+		if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
+			/* only request write if several packets can be written at once */
+			pthread_cond_signal(&logbuffer_cond);
+		}
+
+		/* unlock, now the writer thread may run */
+		pthread_mutex_unlock(&logbuffer_mutex);
+
+		usleep(sleep_delay);
 	}
 
 	if (logging_enabled)
@@ -1461,8 +1291,6 @@ int file_copy(const char *file_old, const char *file_new)
 
 void handle_command(struct vehicle_command_s *cmd)
 {
-	/* result of the command */
-	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 	int param;
 
 	/* request to set different system mode */

From 80595c177a65e9ba91a35ffdee49d518df657508 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 7 Mar 2014 11:18:31 +0400
Subject: [PATCH 03/10] sdlog2: code style fixed

---
 src/modules/sdlog2/logbuffer.c       |  3 ++-
 src/modules/sdlog2/sdlog2.c          | 24 ++++++++++++++++++++----
 src/modules/sdlog2/sdlog2_messages.h | 14 +++++++-------
 3 files changed, 29 insertions(+), 12 deletions(-)

diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c
index 6a29d7e5c9..2da67d8a92 100644
--- a/src/modules/sdlog2/logbuffer.c
+++ b/src/modules/sdlog2/logbuffer.c
@@ -74,8 +74,9 @@ bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
 	// bytes available to write
 	int available = lb->read_ptr - lb->write_ptr - 1;
 
-	if (available < 0)
+	if (available < 0) {
 		available += lb->size;
+	}
 
 	if (size > available) {
 		// buffer overflow
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index fa25d74f85..5acd2b615a 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -222,8 +222,9 @@ static int open_log_file(void);
 static void
 sdlog2_usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
 	     "\t-r\tLog rate in Hz, 0 means unlimited rate\n"
@@ -243,8 +244,9 @@ sdlog2_usage(const char *reason)
  */
 int sdlog2_main(int argc, char *argv[])
 {
-	if (argc < 2)
+	if (argc < 2) {
 		sdlog2_usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
@@ -403,22 +405,29 @@ static void *logwriter_thread(void *arg)
 
 	int log_fd = open_log_file();
 
-	if (log_fd < 0)
+	if (log_fd < 0) {
 		return NULL;
+	}
 
 	struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
 
 	/* write log messages formats, version and parameters */
 	log_bytes_written += write_formats(log_fd);
+
 	log_bytes_written += write_version(log_fd);
+
 	log_bytes_written += write_parameters(log_fd);
+
 	fsync(log_fd);
 
 	int poll_count = 0;
 
 	void *read_ptr;
+
 	int n = 0;
+
 	bool should_wait = false;
+
 	bool is_part = false;
 
 	while (true) {
@@ -673,6 +682,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				if (r <= 0) {
 					r = 1;
 				}
+
 				sleep_delay = 1000000 / r;
 			}
 			break;
@@ -745,9 +755,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 	}
 
 	struct vehicle_status_s buf_status;
+
 	struct vehicle_gps_position_s buf_gps_pos;
 
 	memset(&buf_status, 0, sizeof(buf_status));
+
 	memset(&buf_gps_pos, 0, sizeof(buf_gps_pos));
 
 	/* warning! using union here to save memory, elements should be used separately! */
@@ -892,6 +904,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
 		bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
+
 		if (status_updated) {
 			if (log_when_armed) {
 				handle_status(&buf_status);
@@ -900,6 +913,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- GPS POSITION - LOG MANAGEMENT --- */
 		bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
+
 		if (gps_pos_updated && log_name_timestamp) {
 			gps_time = buf_gps_pos.time_gps_usec;
 		}
@@ -1068,6 +1082,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			if (buf.local_pos.dist_bottom_valid) {
 				dist_bottom_present = true;
 			}
+
 			if (dist_bottom_present) {
 				log_msg.msg_type = LOG_DIST_MSG;
 				log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
@@ -1215,8 +1230,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 		usleep(sleep_delay);
 	}
 
-	if (logging_enabled)
+	if (logging_enabled) {
 		sdlog2_stop_log();
+	}
 
 	pthread_mutex_destroy(&logbuffer_mutex);
 	pthread_cond_destroy(&logbuffer_cond);
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 16bfc355d6..e27518aa0a 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -267,13 +267,13 @@ struct log_DIST_s {
 /* --- TELE - TELEMETRY STATUS --- */
 #define LOG_TELE_MSG 22
 struct log_TELE_s {
-    uint8_t rssi;
-    uint8_t remote_rssi;
-    uint8_t noise;
-    uint8_t remote_noise;
-    uint16_t rxerrors;
-    uint16_t fixed;
-    uint8_t txbuf;
+	uint8_t rssi;
+	uint8_t remote_rssi;
+	uint8_t noise;
+	uint8_t remote_noise;
+	uint16_t rxerrors;
+	uint16_t fixed;
+	uint8_t txbuf;
 };
 
 /********** SYSTEM MESSAGES, ID > 0x80 **********/

From 2ee8214244efbe09981e71ea194573daa1c2f5bc Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 7 Mar 2014 11:27:24 +0400
Subject: [PATCH 04/10] sdlog2: move some global variables to local scope, set
 default log rate to 50 Hz

---
 src/modules/sdlog2/sdlog2.c | 15 ++++++---------
 1 file changed, 6 insertions(+), 9 deletions(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 5acd2b615a..d784ecc4f4 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -134,12 +134,6 @@ static uint64_t gps_time = 0;
 
 /* current state of logging */
 static bool logging_enabled = false;
-/* enable logging on start (-e option) */
-static bool log_on_start = false;
-/* enable logging when armed (-a option) */
-static bool log_when_armed = false;
-/* delay = 1 / rate (rate defined by -r option) */
-static useconds_t sleep_delay = 0;
 /* use date/time for naming directories and files (-t option) */
 static bool log_name_timestamp = false;
 
@@ -660,11 +654,14 @@ int sdlog2_thread_main(int argc, char *argv[])
 		warnx("failed to open MAVLink log stream, start mavlink app first");
 	}
 
-	useconds_t sleep_delay = 10000;		// default log rate: 100 Hz
+	/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
+	useconds_t sleep_delay = 20000;
 	int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
 	logging_enabled = false;
-	log_on_start = false;
-	log_when_armed = false;
+	/* enable logging on start (-e option) */
+	bool log_on_start = false;
+	/* enable logging when armed (-a option) */
+	bool log_when_armed = false;
 	log_name_timestamp = false;
 
 	flag_system_armed = false;

From c11e1ee0ab8579826ed73b1f596e0535156bbce4 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 7 Mar 2014 23:14:39 +0400
Subject: [PATCH 05/10] sdlog2: lseek() workaround removed

---
 src/modules/sdlog2/sdlog2.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index d784ecc4f4..200d70e93f 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -454,7 +454,6 @@ static void *logwriter_thread(void *arg)
 				n = available;
 			}
 
-			lseek(log_fd, 0, SEEK_CUR);
 			n = write(log_fd, read_ptr, n);
 
 			should_wait = (n == available) && !is_part;

From 2ee8cf1cf08095693b168238a311b1caf8df1701 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 7 Mar 2014 23:28:38 +0400
Subject: [PATCH 06/10] sdlog2: bug fixed, sleep when idle too

---
 src/modules/sdlog2/sdlog2.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 200d70e93f..58890322be 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -893,6 +893,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 	}
 
 	while (!main_thread_should_exit) {
+		usleep(sleep_delay);
+
 		/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
 		if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) {
 			handle_command(&buf.cmd);
@@ -1222,8 +1224,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* unlock, now the writer thread may run */
 		pthread_mutex_unlock(&logbuffer_mutex);
-
-		usleep(sleep_delay);
 	}
 
 	if (logging_enabled) {

From a478dac621301a993fb8ed13b86abd61d93bfec0 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 7 Mar 2014 23:29:05 +0400
Subject: [PATCH 07/10] sdlog2: max write chunk increased to 1024

---
 src/modules/sdlog2/sdlog2.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 58890322be..d213383763 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -110,7 +110,7 @@ static bool logwriter_should_exit = false;	/**< Logwriter thread exit flag */
 static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log dirs */
 static const int MAX_NO_LOGFILE = 999;		/**< Maximum number of log files */
 static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
-static const int MAX_WRITE_CHUNK = 512;
+static const int MAX_WRITE_CHUNK = 1024;
 static const int MIN_BYTES_TO_WRITE = 512;
 
 static const char *log_root = "/fs/microsd/log";

From aca6806b82b8ee201260a9e383879b6d821dba1a Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Fri, 7 Mar 2014 23:36:07 +0400
Subject: [PATCH 08/10] Revert "sdlog2: max write chunk increased to 1024"

This reverts commit a478dac621301a993fb8ed13b86abd61d93bfec0.
---
 src/modules/sdlog2/sdlog2.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index d213383763..58890322be 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -110,7 +110,7 @@ static bool logwriter_should_exit = false;	/**< Logwriter thread exit flag */
 static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log dirs */
 static const int MAX_NO_LOGFILE = 999;		/**< Maximum number of log files */
 static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
-static const int MAX_WRITE_CHUNK = 1024;
+static const int MAX_WRITE_CHUNK = 512;
 static const int MIN_BYTES_TO_WRITE = 512;
 
 static const char *log_root = "/fs/microsd/log";

From cb8bd1a3ad21fec45af7a1f1d53fe7b891c59c2b Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Sat, 8 Mar 2014 21:05:13 +0400
Subject: [PATCH 09/10] dumpfile command and fetch_log.py tool implemented to
 fetch logs via nsh console on USB

---
 Tools/fetch_log.py                    | 133 ++++++++++++++++++++++++++
 makefiles/config_px4fmu-v1_default.mk |   1 +
 makefiles/config_px4fmu-v2_default.mk |   1 +
 src/systemcmds/dumpfile/dumpfile.c    | 116 ++++++++++++++++++++++
 src/systemcmds/dumpfile/module.mk     |  41 ++++++++
 5 files changed, 292 insertions(+)
 create mode 100644 Tools/fetch_log.py
 create mode 100644 src/systemcmds/dumpfile/dumpfile.c
 create mode 100644 src/systemcmds/dumpfile/module.mk

diff --git a/Tools/fetch_log.py b/Tools/fetch_log.py
new file mode 100644
index 0000000000..edcc6557c2
--- /dev/null
+++ b/Tools/fetch_log.py
@@ -0,0 +1,133 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Log fetcher
+#
+# Print list of logs:
+#     python fetch_log.py
+#
+# Fetch log:
+#     python fetch_log.py sess001/log001.bin
+#
+
+import serial, time, sys, os
+
+def wait_for_string(ser, s, timeout=1.0, debug=False):
+    t0 = time.time()
+    buf = []
+    res = []
+    n = 0
+    while (True):
+        c = ser.read()
+        if debug:
+            sys.stderr.write(c)
+        buf.append(c)
+        if len(buf) > len(s):
+            res.append(buf.pop(0))
+            n += 1
+            if n % 10000 == 0:
+                sys.stderr.write(str(n) + "\n")
+        if "".join(buf) == s:
+            break
+        if timeout > 0.0 and time.time() - t0 > timeout:
+            raise Exception("Timeout while waiting for: " + s)
+    return "".join(res)
+
+def exec_cmd(ser, cmd, timeout):
+    ser.write(cmd + "\n")
+    ser.flush()
+    wait_for_string(ser, cmd + "\r\n", timeout)
+    return wait_for_string(ser, "nsh> \x1b[K", timeout)
+
+def ls_dir(ser, dir, timeout=1.0):
+    res = []
+    for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
+        res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
+    return res
+
+def list_logs(ser):
+    logs_dir = "/fs/microsd/log"
+    res = []
+    for d in ls_dir(ser, logs_dir):
+        if d[2]:
+            sess_dir = d[0][:-1]
+            for f in ls_dir(ser, logs_dir + "/" + sess_dir):
+                log_file = f[0]
+                log_size = f[1]
+                res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
+    return "\n".join(res)
+
+def fetch_log(ser, fn, timeout):
+    cmd = "dumpfile " + fn
+    ser.write(cmd + "\n")
+    ser.flush()
+    wait_for_string(ser, cmd + "\r\n", timeout, True)
+    res = wait_for_string(ser, "\n", timeout, True)
+    data = []
+    if res.startswith("OK"):
+        size = int(res.split()[1])
+        n = 0
+        print "Reading data:"
+        while (n < size):
+            buf = ser.read(min(size - n, 8192))
+            data.append(buf)
+            n += len(buf)
+            sys.stdout.write(".")
+            sys.stdout.flush()
+        print
+    else:
+        raise Exception("Error reading log")
+    wait_for_string(ser, "nsh> \x1b[K", timeout)
+    return "".join(data)
+
+def main():
+    dev = "/dev/tty.usbmodem1"
+    ser = serial.Serial(dev, "115200", timeout=0.2)
+    if len(sys.argv) < 2:
+        print list_logs(ser)
+    else:
+        log_file = sys.argv[1]
+        data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
+        try:
+            os.mkdir(log_file.split("/")[0])
+        except:
+            pass
+        fout = open(log_file, "wb")
+        fout.write(data)
+        fout.close()
+    ser.close()
+
+if __name__ == "__main__":
+    main()
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index aff614cbb3..651c2ac381 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -56,6 +56,7 @@ MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/hw_ver
+MODULES		+= systemcmds/dumpfile
 
 #
 # General system control
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 2ad2f63a95..889abc4d9a 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -63,6 +63,7 @@ MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/hw_ver
+MODULES		+= systemcmds/dumpfile
 
 #
 # General system control
diff --git a/src/systemcmds/dumpfile/dumpfile.c b/src/systemcmds/dumpfile/dumpfile.c
new file mode 100644
index 0000000000..c188143429
--- /dev/null
+++ b/src/systemcmds/dumpfile/dumpfile.c
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   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 dumpfile.c
+ *
+ * Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <termios.h>
+
+#include <systemlib/err.h>
+
+__EXPORT int dumpfile_main(int argc, char *argv[]);
+
+int
+dumpfile_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		errx(1, "usage: dumpfile <filename>");
+	}
+
+	/* open input file */
+	FILE *f;
+	f = fopen(argv[1], "r");
+
+	if (f == NULL) {
+		printf("ERROR\n");
+		exit(1);
+	}
+
+	/* get file size */
+	fseek(f, 0L, SEEK_END);
+	int size = ftell(f);
+	fseek(f, 0L, SEEK_SET);
+
+	printf("OK %d\n", size);
+
+	/* configure stdout */
+	int out = fileno(stdout);
+
+	struct termios tc;
+	struct termios tc_old;
+	tcgetattr(out, &tc);
+
+	/* save old terminal attributes to restore it later on exit */
+	memcpy(&tc_old, &tc, sizeof(tc));
+
+	/* don't add CR on each LF*/
+	tc.c_oflag &= ~ONLCR;
+
+	if (tcsetattr(out, TCSANOW, &tc) < 0) {
+		warnx("ERROR setting stdout attributes");
+		exit(1);
+	}
+
+	char buf[512];
+	int nread;
+
+	/* dump file */
+	while ((nread = fread(buf, 1, sizeof(buf), f)) > 0) {
+		if (write(out, buf, nread) <= 0) {
+			warnx("error dumping file");
+			break;
+		}
+	}
+
+	fsync(out);
+	fclose(f);
+
+	/* restore old terminal attributes */
+	if (tcsetattr(out, TCSANOW, &tc_old) < 0) {
+		warnx("ERROR restoring stdout attributes");
+		exit(1);
+	}
+
+	return OK;
+}
diff --git a/src/systemcmds/dumpfile/module.mk b/src/systemcmds/dumpfile/module.mk
new file mode 100644
index 0000000000..36461f4772
--- /dev/null
+++ b/src/systemcmds/dumpfile/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Dump file utility
+#
+
+MODULE_COMMAND	 = dumpfile
+SRCS		 = dumpfile.c
+
+MAXOPTIMIZATION	 = -Os

From 30a57421f8027cb9400bea71cb3b9c2b4f5094ec Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 10 Mar 2014 18:48:07 +0100
Subject: [PATCH 10/10] Dropped default gains

---
 ROMFS/px4fmu_common/init.d/10016_3dr_iris | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index d691a6f2e6..f11aa704eb 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 9.0
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.0
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 9.0
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.0
 	param set MC_PITCHRATE_D 0.004