Merge remote-tracking branch 'px4/beta' into beta_mavlink

Conflicts:
	src/modules/mavlink/mavlink.c
	src/modules/mavlink/mavlink_receiver.h
	src/modules/mavlink/orb_listener.c

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -2,44 +2,13 @@
 #
 # HILStar / X-Plane
 #
-# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
+# Lorenz Meier <lm@inf.ethz.ch>
 #
 
+sh /etc/init.d/rc.fw_defaults
+
 echo "HIL Rascal 110 starting.."
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
 set HIL yes
 
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -2,28 +2,28 @@
 #
 # Team Blacksheep Discovery Quadcopter
 #
-# Maintainers: Simon Wilks <sjwilks@gmail.com>
+# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>
 #
 
+sh /etc/init.d/rc.mc_defaults
+
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 5.0
-	param set MC_ATT_I 0.0
-	param set MC_YAW_P 0.5
-	param set MC_YAW_I 0.15
-	param set MC_ATTRATE_P 0.17
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.006
-	param set MC_YAWRATE_P 0.2
+	# TODO review MC_YAWRATE_I
+	param set MC_ROLL_P 8.0
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.0017
+	param set MC_PITCH_P 8.0
+	param set MC_PITCHRATE_P 0.14
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.0025
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.28
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
 fi
 
-set VEHICLE_TYPE mc
 set MIXER FMU_quad_w
 
 set PWM_OUTPUTS 1234
-set PWM_RATE 400

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -2,48 +2,31 @@
 #
 # 3DR Iris Quadcopter
 #
-# Maintainers: Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton.babushkin@me.com>
 #
 
+sh /etc/init.d/rc.mc_defaults
+
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 9.0
-	param set MC_ATT_I 0.0
+	# TODO tune roll/pitch separately
+	param set MC_ROLL_P 9.0
+	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_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 0.5
-	param set MC_YAW_I 0.15
-	param set MC_ATTRATE_P 0.13
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
-	
-	param set MPC_TILT_MAX 1.0
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_VEL_P 0.1
 
 	param set BAT_V_SCALING 0.00989
 	param set BAT_C_SCALING 0.0124
 fi
 
-set VEHICLE_TYPE mc
 set MIXER FMU_quad_w
 
 set PWM_OUTPUTS 1234
-set PWM_RATE 400
-set PWM_DISARMED 900
-set PWM_MIN 1000
-set PWM_MAX 2000

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -2,41 +2,11 @@
 #
 # HIL Quadcopter X
 #
-# Maintainers: Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton.babushkin@me.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_YAW_P 2.0
-	param set MC_YAW_I 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	param set MPC_TILT_MAX 1.0
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_VEL_P 0.1
-fi
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_quad_x
 
 set HIL yes
-
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_x

ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil

@@ -1,45 +0,0 @@
-#!nsh
-#
-# HIL Rascal 110 (Flightgear)
-#
-# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
-#
-
-echo "HIL Rascal 110 starting.."
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-set HIL yes
-
-set VEHICLE_TYPE fw
-set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -2,9 +2,11 @@
 #
 # HIL Quadcopter +
 #
-# Maintainers: Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/1001_rc_quad_x.hil
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_quad_+
+
+set HIL yes

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -2,44 +2,13 @@
 #
 # HIL Rascal 110 (Flightgear)
 #
-# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomasgubler@gmail.com>
 #
 
+sh /etc/init.d/rc.fw_defaults
+
 echo "HIL Rascal 110 starting.."
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
 set HIL yes
 
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

@@ -0,0 +1,47 @@
+#!nsh
+#
+# HIL Malolo 1 (Flightgear)
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 25
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.8
+	param set FW_PR_I 0.05
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.1
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.02
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.1
+	param set FW_R_LIM 45
+	param set FW_R_RMAX 0
+	param set FW_T_CLMB_MAX 5
+	param set FW_T_HRATE_P 0.02
+	param set FW_T_PTCH_DAMP 0
+	param set FW_T_RLL2THR 15
+	param set FW_T_SINK_MAX 5
+	param set FW_T_SINK_MIN 2
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 3
+	param set FW_T_VERT_ACC 7
+	param set FW_YR_FF 0.0
+	param set FW_YR_I 0
+	param set FW_YR_IMAX 0.2
+	param set FW_YR_P 0.0
+fi
+
+set HIL yes
+
+# Set the AERT mixer for HIL (even if the malolo is a flying wing)
+set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -0,0 +1,15 @@
+#!nsh
+#
+# UNTESTED UNTESTED!
+#
+# Generic 10” Hexa coaxial geometry
+#
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER hexa_cox
+
+# We only can run one channel group with one rate, so set all 8 channels
+set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -0,0 +1,12 @@
+#!nsh
+#
+# Generic 10” Octo coaxial geometry
+#
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER octo_cox
+
+set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm

@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Octo coaxial geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_octo_cox
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/2100_mpx_easystar

@@ -2,38 +2,7 @@
 #
 # MPX EasyStar Plane
 #
-# Maintainers: ???
-#
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
  
-set VEHICLE_TYPE fw
 set MIXER FMU_RET

ROMFS/px4fmu_common/init.d/2101_hk_bixler

@@ -1,40 +1,5 @@
 #!nsh
 
-echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
+sh /etc/init.d/rc.fw_defaults
 
-#
-# Load default params for this platform
-#
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-	
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/2102_3dr_skywalker

@@ -1,40 +1,5 @@
 #!nsh
 
-echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
+sh /etc/init.d/rc.fw_defaults
 
-#
-# Load default params for this platform
-#
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-	
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -1,40 +1,5 @@
 #!nsh
 
-echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
+sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 9
-	param set FW_AIRSPD_MAX 14
-	param set FW_L1_PERIOD 10
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 20
-	param set FW_P_LIM_MAX 30
-	param set FW_P_LIM_MIN -20
-	param set FW_P_P 30
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 60
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 0.7
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 2.0
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
-
-set VEHICLE_TYPE fw
 set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -2,43 +2,7 @@
 #
 # Phantom FPV Flying Wing
 #
-# Maintainers: Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 11.4
-	param set FW_AIRSPD_TRIM 14
-	param set FW_AIRSPD_MAX 22
-	param set FW_L1_PERIOD 15
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 15
-	param set FW_R_P 80
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_LND_MAX 0
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0.5
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 2.0
-	param set FW_Y_ROLLFF 1.0
-	param set RC_SCALE_ROLL 0.6
-	param set RC_SCALE_PITCH 0.6
-	param set TRIM_PITCH 0.1
-fi
-
-set VEHICLE_TYPE fw
 set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -2,42 +2,38 @@
 #
 # Skywalker X5 Flying Wing
 #
-# Maintainers: Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
+# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
 #
 
+sh /etc/init.d/rc.fw_defaults
+
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 9
-	param set FW_AIRSPD_MAX 14
-	param set FW_L1_PERIOD 10
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 20
-	param set FW_P_LIM_MAX 30
-	param set FW_P_LIM_MIN -20
-	param set FW_P_P 30
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
 	param set FW_P_RMAX_NEG 0
 	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 60
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 0.7
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 2.0
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	param set FW_R_LIM 60
+	param set FW_R_RMAX 0
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
 fi
 
-set VEHICLE_TYPE fw
 set MIXER FMU_X5

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -2,42 +2,9 @@
 #
 # Wing Wing (aka Z-84) Flying Wing
 #
-# Maintainers: Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 9
-	param set FW_AIRSPD_MAX 14
-	param set FW_L1_PERIOD 10
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 20
-	param set FW_P_LIM_MAX 30
-	param set FW_P_LIM_MIN -20
-	param set FW_P_P 30
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 60
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 0.7
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 2.0
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -2,42 +2,9 @@
 #
 # FX-79 Buffalo Flying Wing
 #
-# Maintainers: Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_TRIM 12
-	param set FW_AIRSPD_MIN 15
-	param set FW_L1_PERIOD 12
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 80
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.75
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 1.1	
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_FX79

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -0,0 +1,12 @@
+#!nsh
+#
+# Generic 10” Quad X geometry
+#
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_quad_x
+
+set PWM_OUTPUTS 1234

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -1,57 +0,0 @@
-#!nsh
-
-echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
- 
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	param set MC_ATTRATE_D 0
-	param set MC_ATTRATE_I 0
-	param set MC_ATTRATE_P 0.13
-	param set MC_ATT_D 0
-	param set MC_ATT_I 0.3
-	param set MC_ATT_P 5
-	param set MC_YAWPOS_D 0.1
-	param set MC_YAWPOS_I 0.15
-	param set MC_YAWPOS_P 1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_P 0.15
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
-param set BAT_V_SCALING 0.008381
-
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
-
-#
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
- 
-#
-# Fire up the AR.Drone interface.
-#
-ardrone_interface start -d /dev/ttyS1
- 
-#
-# Start common for all multirotors apps
-#
-sh /etc/init.d/rc.multirotor
- 
-# Exit, because /dev/ttyS0 is needed for MAVLink
-exit

ROMFS/px4fmu_common/init.d/4009_ardrone_flow

@@ -1,83 +0,0 @@
-#!nsh
-
-echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	param set MC_ATTRATE_D 0
-	param set MC_ATTRATE_I 0
-	param set MC_ATTRATE_P 0.13
-	param set MC_ATT_D 0
-	param set MC_ATT_I 0.3
-	param set MC_ATT_P 5
-	param set MC_YAWPOS_D 0.1
-	param set MC_YAWPOS_I 0.15
-	param set MC_YAWPOS_P 1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_P 0.15
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
-param set BAT_V_SCALING 0.008381
-
-#
-# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
-#
-mavlink start -d /dev/ttyS0 -b 57600
-mavlink_onboard start -d /dev/ttyS3 -b 115200
-usleep 5000
-
-#
-# Configure PX4FMU for operation with PX4IOAR
-#
-fmu mode_gpio_serial
-
-#
-# Fire up the AR.Drone interface.
-#
-ardrone_interface start -d /dev/ttyS1
- 
-#
-# Start the sensors.
-#
-sh /etc/init.d/rc.sensors
-
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
-
-#
-# Start the position estimator
-#
-flow_position_estimator start
-
-#
-# Fire up the multi rotor attitude controller
-#
-mc_att_control_vector start
-
-#
-# Fire up the flow position controller
-#
-flow_position_control start
-
-#
-# Fire up the flow speed controller
-#
-flow_speed_control start
- 
-# Exit, because /dev/ttyS0 is needed for MAVLink
-exit

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -2,46 +2,26 @@
 #
 # DJI Flame Wheel F330 Quadcopter
 #
-# Maintainers: Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton.babushkin@me.com>
 #
 
+sh /etc/init.d/4001_quad_x
+
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
-	param set MC_YAW_I 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
 	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.05
+	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
-	
-	param set MPC_TILT_MAX 1.0
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_VEL_P 0.1
 fi
 
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
+set PWM_MIN 1175
 set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -2,34 +2,27 @@
 #
 # DJI Flame Wheel F450 Quadcopter
 #
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lm@inf.ethz.ch>
 #
 
+sh /etc/init.d/4001_quad_x
+
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_YAW_P 2.0
-	param set MC_YAW_I 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
+	# TODO REVIEW
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
 fi
 
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
+set PWM_MIN 1175
 set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/4012_hk_x550

@@ -1,31 +0,0 @@
-#!nsh
-#
-# HobbyKing X550 Quadcopter
-#
-# Maintainers: Todd Stellanova <tstellanova@gmail.com>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 5.5
-	param set MC_ATT_I 0
-	param set MC_YAW_P 0.6
-	param set MC_YAW_I 0
-	param set MC_ATTRATE_P 0.14
-	param set MC_ATTRATE_I 0
-	param set MC_ATTRATE_D 0.006
-	param set MC_YAWRATE_P 0.08
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_D 0
-
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -0,0 +1,12 @@
+#!nsh
+#
+# Generic 10” Quad + geometry
+#
+# Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_quad_+
+
+set PWM_OUTPUTS 1234

ROMFS/px4fmu_common/init.d/5001_quad_+_pwm

@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Quad + geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_+
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -0,0 +1,13 @@
+#!nsh
+#
+# Generic 10” Hexa X geometry
+#
+# Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_hexa_x
+
+# We only can run one channel group with one rate, so set all 8 channels
+set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm

@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Hexa X geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_hexa_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -0,0 +1,13 @@
+#!nsh
+#
+# Generic 10” Hexa + geometry
+#
+# Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_hexa_+
+
+# We only can run one channel group with one rate, so set all 8 channels
+set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm

@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Hexa + geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_hexa_+
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -0,0 +1,12 @@
+#!nsh
+#
+# Generic 10” Octo X geometry
+#
+# Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_octo_x
+
+set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/8001_octo_x_pwm

@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Octo X geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_octo_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -0,0 +1,12 @@
+#!nsh
+#
+# Generic 10” Octo + geometry
+#
+# Anton Babushkin <anton.babushkin@me.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_octo_+
+
+set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/9001_octo_+_pwm

@@ -1,37 +0,0 @@
-#!nsh
-#
-# Generic 10” Octo + geometry
-#
-# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
-#
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_YAWPOS_P 2.0
-	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	# TODO add default MPC parameters
-fi
-
-set VEHICLE_TYPE mc
-set MIXER FMU_octo_+
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -23,7 +23,7 @@
 
 if param compare SYS_AUTOSTART 1000
 then
-	#sh /etc/init.d/1000_rc_fw_easystar.hil		
+	sh /etc/init.d/1000_rc_fw_easystar.hil
 fi
 
 if param compare SYS_AUTOSTART 1001
@@ -31,11 +31,6 @@ then
 	sh /etc/init.d/1001_rc_quad_x.hil
 fi
 
-if param compare SYS_AUTOSTART 1002
-then
-	sh /etc/init.d/1002_rc_fw_state.hil
-fi
-
 if param compare SYS_AUTOSTART 1003
 then
 	sh /etc/init.d/1003_rc_quad_+.hil
@@ -46,6 +41,11 @@ then
 	sh /etc/init.d/1004_rc_fw_Rascal110.hil
 fi
 
+if param compare SYS_AUTOSTART 1005
+then
+	sh /etc/init.d/1005_rc_fw_Malolo1.hil
+fi
+
 #
 # Standard plane
 #
@@ -101,14 +101,9 @@ fi
 # Quad X
 #
 
-if param compare SYS_AUTOSTART 4008 8
+if param compare SYS_AUTOSTART 4001
 then
-	#sh /etc/init.d/4008_ardrone
-fi
-
-if param compare SYS_AUTOSTART 4009 9
-then
-	#sh /etc/init.d/4009_ardrone_flow
+	sh /etc/init.d/4001_quad_x
 fi
 
 if param compare SYS_AUTOSTART 4010 10
@@ -121,18 +116,13 @@ then
 	sh /etc/init.d/4011_dji_f450
 fi
 
-if param compare SYS_AUTOSTART 4012 12
-then
-	sh /etc/init.d/4012_hk_x550
-fi
-
 #
 # Quad +
 #
 
 if param compare SYS_AUTOSTART 5001
 then
-	sh /etc/init.d/5001_quad_+_pwm
+	sh /etc/init.d/5001_quad_+
 fi
 
 #
@@ -141,7 +131,7 @@ fi
 
 if param compare SYS_AUTOSTART 6001
 then
-	sh /etc/init.d/6001_hexa_x_pwm
+	sh /etc/init.d/6001_hexa_x
 fi
 
 #
@@ -150,7 +140,7 @@ fi
 
 if param compare SYS_AUTOSTART 7001
 then
-	sh /etc/init.d/7001_hexa_+_pwm
+	sh /etc/init.d/7001_hexa_+
 fi
 
 #
@@ -159,7 +149,7 @@ fi
 
 if param compare SYS_AUTOSTART 8001
 then
-	sh /etc/init.d/8001_octo_x_pwm
+	sh /etc/init.d/8001_octo_x
 fi
 
 #
@@ -168,7 +158,7 @@ fi
 
 if param compare SYS_AUTOSTART 9001
 then
-	sh /etc/init.d/9001_octo_+_pwm
+	sh /etc/init.d/9001_octo_+
 fi
 
 #
@@ -185,11 +175,20 @@ then
 	sh /etc/init.d/10016_3dr_iris
 fi
 
+#
+# Hexa Coaxial
+#
+
+if param compare SYS_AUTOSTART 11001
+then
+	sh /etc/init.d/11001_hexa_cox
+fi
+
 #
 # Octo Coaxial
 #
 
 if param compare SYS_AUTOSTART 12001
 then
-	sh /etc/init.d/12001_octo_cox_pwm
+	sh /etc/init.d/12001_octo_cox
 fi

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -3,17 +3,6 @@
 # Standard apps for fixed wing
 #
 
-#
-# Start the attitude and position estimator
-#
 att_pos_estimator_ekf start
-
-#
-# Start attitude controller
-#
 fw_att_control start
-
-#
-# Start the position controller
-#
 fw_pos_control_l1 start

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -0,0 +1,13 @@
+#!nsh
+
+set VEHICLE_TYPE fw
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+#
+# Default parameters for FW
+#
+	param set NAV_LAND_ALT 90
+	param set NAV_RTL_ALT 100
+	param set NAV_RTL_LAND_T -1
+fi

ROMFS/px4fmu_common/init.d/rc.io

@@ -4,7 +4,6 @@
 
 #
 # Allow PX4IO to recover from midair restarts.
-# this is very unlikely, but quite safe and robust.
 #
 px4io recovery
 

ROMFS/px4fmu_common/init.d/rc.logging

@@ -8,7 +8,7 @@ then
 	if hw_ver compare PX4FMU_V1
 	then
 		echo "Start sdlog2 at 50Hz"
-		sdlog2 start -r 50 -a -b 16 -t
+		sdlog2 start -r 50 -a -b 8 -t
 	else
 		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -a -b 16 -t

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -1,24 +1,11 @@
 #!nsh
 #
-# Standard apps for multirotors
+# Standard apps for multirotors:
+# att & pos estimator, att & pos control.
 #
 
-#
-# Start the attitude estimator
-#
 attitude_estimator_ekf start
- 
-#
-# Start position estimator
-#
 position_estimator_inav start
 
-#
-# Start attitude control
-#
 mc_att_control start
-
-#
-# Start position control
-#
 mc_pos_control start

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -0,0 +1,43 @@
+#!nsh
+
+set VEHICLE_TYPE mc
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_FF 0.5
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_FF 0.5
+	param set MPC_TILT_MAX 1.0
+	param set MPC_LAND_SPEED 1.0
+	param set MPC_LAND_TILT 0.3
+fi
+
+set PWM_RATE 400
+set PWM_DISARMED 900
+set PWM_MIN 1075
+set PWM_MAX 2000

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -3,10 +3,6 @@
 # Standard startup script for PX4FMU onboard sensor drivers.
 #
 
-#
-# Start sensor drivers here.
-#
-
 ms5611 start
 adc start
 

ROMFS/px4fmu_common/init.d/rcS

@@ -3,8 +3,7 @@
 # PX4FMU startup script.
 
 #
-# Default to auto-start mode.  An init script on the microSD card
-# can change this to prevent automatic startup of the flight script.
+# Default to auto-start mode.
 #
 set MODE autostart
 
@@ -465,17 +464,25 @@ then
 
 		if [ $MIXER == none ]
 		then
-			# Set default mixer for multicopter if not defined
-			set MIXER quad_x
+			echo "Default mixer for multicopter not defined"
 		fi
 
 		if [ $MAV_TYPE == none ]
 		then
-			# Use MAV_TYPE = 2 (quadcopter) if not defined
-			set MAV_TYPE 2
-			
 			# Use mixer to detect vehicle type
-			if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ]
+			if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == FMU_quad_w ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
+			then
+				set MAV_TYPE 13
+			fi
+			if [ $MIXER == hexa_cox ]
 			then
 				set MAV_TYPE 13
 			fi
@@ -488,8 +495,14 @@ then
 				set MAV_TYPE 14
 			fi
 		fi
-
-	    param set MAV_TYPE $MAV_TYPE
+		
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "Unknown MAV_TYPE"
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
 		
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
@@ -503,10 +516,8 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "[init] Vehicle type: GENERIC"
+		echo "[init] Vehicle type: No autostart ID found"
 
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
 	fi
 
 	# Start any custom addons

ROMFS/px4fmu_common/mixers/FMU_Q.mix

@@ -25,13 +25,13 @@ for the elevons.
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 0 0  -5000  -8000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
+S: 0 0  -8000  -8000      0 -10000  10000
+S: 0 1   6000   6000      0 -10000  10000
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 0 0  -8000  -5000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
+S: 0 0  -8000  -8000      0 -10000  10000
+S: 0 1  -6000  -6000      0 -10000  10000
 
 Output 2
 --------

ROMFS/px4fmu_common/mixers/FMU_X5.mix

@@ -23,13 +23,13 @@ for the elevons.
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 0 0  -3000  -5000      0 -10000  10000
-S: 0 1  -5000  -5000      0 -10000  10000
+S: 0 0  -8000  -8000      0 -10000  10000
+S: 0 1   6000   6000      0 -10000  10000
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 0 0  -5000  -3000      0 -10000  10000
-S: 0 1   5000   5000      0 -10000  10000
+S: 0 0  -8000  -8000      0 -10000  10000
+S: 0 1  -6000  -6000      0 -10000  10000
 
 Output 2
 --------
@@ -48,7 +48,7 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
-Gimbal / payload mixer for last four channels
+Gimbal / flaps / payload mixer for last four channels
 -----------------------------------------------------
 
 M: 1
@@ -66,4 +66,3 @@ S: 0 6  10000  10000      0 -10000  10000
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 7  10000  10000      0 -10000  10000
-

ROMFS/px4fmu_common/mixers/FMU_hex_+.mix

@@ -1,18 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a hexacopter in the + configuration. All controls
-are mixed 100%.
-
-R: 6+ 10000 10000 10000 0
-
-Gimbal / payload mixer for last two channels
------------------------------------------------------
-
-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

ROMFS/px4fmu_common/mixers/FMU_hex_x.mix

@@ -1,18 +0,0 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a hexacopter in the X configuration.  All controls
-are mixed 100%.
-
-R: 6x 10000 10000 10000 0
-
-Gimbal / payload mixer for last two channels
------------------------------------------------------
-
-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

ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix

@@ -0,0 +1,3 @@
+# Hexa +
+
+R: 6+ 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix

@@ -0,0 +1,3 @@
+# Hexa X
+
+R: 6x 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/FMU_octo_+.mix

@@ -1,7 +1,3 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a octocopter in the + configuration. All controls
-are mixed 100%.
+# Octo +
 
 R: 8+ 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix

@@ -1,7 +1,3 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a Coaxial Octocopter in the X configuration.  All controls 
-are mixed 100%.
+# Octo coaxial
 
 R: 8c 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/FMU_octo_x.mix

@@ -1,7 +1,3 @@
-Multirotor mixer for PX4FMU
-===========================
-
-This file defines a single mixer for a octocopter in the X configuration.  All controls
-are mixed 100%.
+# Octo X
 
 R: 8x 10000 10000 10000 0

ROMFS/px4fmu_common/mixers/README

@@ -1,154 +0,0 @@
-PX4 mixer definitions
-=====================
-
-Files in this directory implement example mixers that can be used as a basis
-for customisation, or for general testing purposes.
-
-Mixer basics
-------------
-
-Mixers combine control values from various sources (control tasks, user inputs,
-etc.) and produce output values suitable for controlling actuators; servos,
-motors, switches and so on.
-
-An actuator derives its value from the combination of one or more control
-values. Each of the control values is scaled according to the actuator's
-configuration and then combined to produce the actuator value, which may then be
-further scaled to suit the specific output type.
-
-Internally, all scaling is performed using floating point values. Inputs and
-outputs are clamped to the range -1.0 to 1.0.
-
-control    control   control
-   |          |         |
-   v          v         v
- scale      scale     scale
-   |          |         |
-   |          v         |
-   +-------> mix <------+
-              |
-            scale
-              |
-              v
-             out
-
-Scaling
--------
-
-Basic scalers provide linear scaling of the input to the output.
-
-Each scaler allows the input value to be scaled independently for inputs
-greater/less than zero. An offset can be applied to the output, and lower and
-upper boundary constraints can be applied. Negative scaling factors cause the
-output to be inverted (negative input produces positive output).
-
-Scaler pseudocode:
-
-if (input < 0)
-    output = (input * NEGATIVE_SCALE) + OFFSET
-else
-    output = (input * POSITIVE_SCALE) + OFFSET
-
-if (output < LOWER_LIMIT)
-    output = LOWER_LIMIT
-if (output > UPPER_LIMIT)
-    output = UPPER_LIMIT
-
-Syntax
-------
-
-Mixer definitions are text files; lines beginning with a single capital letter
-followed by a colon are significant. All other lines are ignored, meaning that
-explanatory text can be freely mixed with the definitions.
-
-Each file may define more than one mixer; the allocation of mixers to actuators
-is specific to the device reading the mixer definition, and the number of
-actuator outputs generated by a mixer is specific to the mixer.
-
-A mixer begins with a line of the form
-
-	<tag>: <mixer arguments>
-
-The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a 
-multirotor mixer, etc.
-
-Null Mixer
-..........
-
-A null mixer consumes no controls and generates a single actuator output whose
-value is always zero.  Typically a null mixer is used as a placeholder in a
-collection of mixers in order to achieve a specific pattern of actuator outputs.
-
-The null mixer definition has the form:
-
-  Z:
-
-Simple Mixer
-............
-
-A simple mixer combines zero or more control inputs into a single actuator
-output.  Inputs are scaled, and the mixing function sums the result before
-applying an output scaler.
-
-A simple mixer definition begins with:
-
-  M: <control count>
-  O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
-
-If <control count> is zero, the sum is effectively zero and the mixer will
-output a fixed value that is <offset> constrained by <lower limit> and <upper
-limit>.
-
-The second line defines the output scaler with scaler parameters as discussed
-above. Whilst the calculations are performed as floating-point operations, the
-values stored in the definition file are scaled by a factor of 10000; i.e. an
-offset of -0.5 is encoded as -5000.
-
-The definition continues with <control count> entries describing the control
-inputs and their scaling, in the form:
-
-  S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
-
-The <group> value identifies the control group from which the scaler will read,
-and the <index> value an offset within that group.  These values are specific to
-the device reading the mixer definition.
-
-When used to mix vehicle controls, mixer group zero is the vehicle attitude
-control group, and index values zero through three are normally roll, pitch,
-yaw and thrust respectively.
-
-The remaining fields on the line configure the control scaler with parameters as
-discussed above. Whilst the calculations are performed as floating-point
-operations, the values stored in the definition file are scaled by a factor of
-10000; i.e. an offset of -0.5 is encoded as -5000.
-
-Multirotor Mixer
-................
-
-The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
-into a set of actuator outputs intended to drive motor speed controllers.
-
-The mixer definition is a single line of the form:
-
-R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
-
-The supported geometries include:
-
-  4x - quadrotor in X configuration
-  4+ - quadrotor in + configuration
-  6x - hexcopter in X configuration
-  6+ - hexcopter in + configuration
-  8x - octocopter in X configuration
-  8+ - octocopter in + configuration
-  
-Each of the roll, pitch and yaw scale values determine scaling of the roll,
-pitch and yaw controls relative to the thrust control.  Whilst the calculations
-are performed as floating-point operations, the values stored in the definition
-file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
-
-Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
-thrust input ranges from 0.0 to 1.0.  Output for each actuator is in the 
-range -1.0 to 1.0.
-
-In the case where an actuator saturates, all actuator values are rescaled so that 
-the saturating actuator is limited to 1.0.

ROMFS/px4fmu_common/mixers/hexa_cox.mix

@@ -0,0 +1,3 @@
+# Hexa coaxial
+
+R: 6c 10000 10000 10000 0

Tools/px4params/.gitignore

@@ -1,2 +1,3 @@
 parameters.wiki
-parameters.xml
+parameters.xml
+cookies.txt

Tools/px4params/dokuwikiout.py

@@ -1,10 +1,24 @@
 import output
+from xml.sax.saxutils import escape
 
 class DokuWikiOutput(output.Output):
     def Generate(self, groups):
-        result = ""
+        pre_text = """<?xml version='1.0'?>
+            <methodCall>
+              <methodName>wiki.putPage</methodName>
+                  <params>
+              <param> 
+                <value>
+                  <string>:firmware:parameters</string>
+                </value>
+              </param> 
+                  <param> 
+                <value>
+                  <string>"""
+        result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values."
         for group in groups:
             result += "==== %s ====\n\n" % group.GetName()
+            result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n"
             result += "^ Name            ^ Description    ^ Min    ^ Max    ^ Default   ^ Comment    ^\n"
             for param in group.GetParams():
                 code = param.GetFieldValue("code")
@@ -13,25 +27,36 @@ class DokuWikiOutput(output.Output):
                 result += "| %s   | %s  " % (code, name)
                 min_val = param.GetFieldValue("min")
                 if min_val is not None:
-                    result += "| %s  " % min_val
+                    result += " | %s  " % min_val
                 else:
-                    result += "|"
+                    result += " | "
                 max_val = param.GetFieldValue("max")
                 if max_val is not None:
-                    result += "| %s  " % max_val
+                    result += " | %s  " % max_val
                 else:
-                    result += "|"
+                    result += " | "
                 def_val = param.GetFieldValue("default")
                 if def_val is not None:
                     result += "| %s  " % def_val
                 else:
-                    result += "|"
+                    result += " | "
                 long_desc = param.GetFieldValue("long_desc")
                 if long_desc is not None:
                     long_desc = long_desc.replace("\n", "")
                     result += "| %s  " % long_desc
                 else:
-                    result += "|"
-                result += "|\n"
+                    result += " | "
+                result += " |\n"
             result += "\n"
-        return result
+        post_text = """</string>
+        </value>
+      </param> 
+           <param> 
+        <value>
+            <name>sum</name>
+            <string>Updated parameters automagically from code.</string>
+        </value>
+      </param> 
+    </params> 
+    </methodCall>"""
+        return pre_text + escape(result) + post_text

Tools/px4params/xmlrpc.sh

@@ -0,0 +1,5 @@
+python px_process_params.py
+
+rm cookies.txt
+curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login
+curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wiki "https://pixhawk.org/lib/exe/xmlrpc.php"

Tools/px_uploader.py

@@ -50,6 +50,9 @@
 #       Currently only used for informational purposes.
 #
 
+# for python2.7 compatibility
+from __future__ import print_function
+
 import sys
 import argparse
 import binascii
@@ -154,6 +157,8 @@ class uploader(object):
         PROG_MULTI      = b'\x27'
         READ_MULTI      = b'\x28'     # rev2 only
         GET_CRC         = b'\x29'     # rev3+
+        GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
+        GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
         REBOOT          = b'\x30'
         
         INFO_BL_REV     = b'\x01'        # bootloader protocol revision
@@ -175,6 +180,8 @@ class uploader(object):
         def __init__(self, portname, baudrate):
                 # open the port, keep the default timeout short so we can poll quickly
                 self.port = serial.Serial(portname, baudrate, timeout=0.5)
+                self.otp = b''
+                self.sn = b''
 
         def close(self):
                 if self.port is not None:
@@ -237,6 +244,22 @@ class uploader(object):
                 self.__getSync()
                 return value
 
+        # send the GET_OTP command and wait for an info parameter
+        def __getOTP(self, param):
+                t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
+                self.__send(uploader.GET_OTP + t + uploader.EOC)
+                value = self.__recv(4)
+                self.__getSync()
+                return value
+
+        # send the GET_OTP command and wait for an info parameter
+        def __getSN(self, param):
+                t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
+                self.__send(uploader.GET_SN + t + uploader.EOC)
+                value = self.__recv(4)
+                self.__getSync()
+                return value
+
         # send the CHIP_ERASE command and wait for the bootloader to become ready
         def __erase(self):
                 self.__send(uploader.CHIP_ERASE
@@ -353,6 +376,31 @@ class uploader(object):
                 if self.fw_maxsize < fw.property('image_size'):
                         raise RuntimeError("Firmware image is too large for this board")
 
+                # OTP added in v4:
+                if self.bl_rev > 3:
+                    for byte in range(0,32*6,4):
+                        x = self.__getOTP(byte)
+                        self.otp  = self.otp + x
+                        print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
+                    # see src/modules/systemlib/otp.h in px4 code:
+                    self.otp_id = self.otp[0:4]
+                    self.otp_idtype = self.otp[4:5]
+                    self.otp_vid = self.otp[8:4:-1]
+                    self.otp_pid = self.otp[12:8:-1]
+                    self.otp_coa = self.otp[32:160]
+                    # show user:
+                    print("type: " + self.otp_id.decode('Latin-1'))
+                    print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
+                    print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
+                    print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
+                    print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
+                    print("sn: ", end='')
+                    for byte in range(0,12,4):
+                        x = self.__getSN(byte)
+                        x = x[::-1]  # reverse the bytes
+                        self.sn  = self.sn + x
+                        print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
+                    print('')
                 print("erase...")
                 self.__erase()
 

makefiles/config_px4fmu-v1_default.mk

@@ -21,7 +21,6 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu-v1
 MODULES		+= drivers/ardrone_interface
 MODULES		+= drivers/l3gd20
-#MODULES		+= drivers/bma180
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
@@ -44,7 +43,6 @@ MODULES		+= modules/sensors
 #
 MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/boardinfo
 MODULES		+= systemcmds/i2c
 MODULES		+= systemcmds/mixer
 MODULES		+= systemcmds/param
@@ -65,14 +63,12 @@ MODULES		+= systemcmds/hw_ver
 MODULES		+= modules/commander
 MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
-MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
 
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
 #MODULES		+= examples/flow_position_estimator

makefiles/config_px4fmu-v2_default.mk

@@ -38,6 +38,8 @@ MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
+MODULES		+= drivers/mkblctrl
+
 
 # Needs to be burned to the ground and re-written; for now,
 # just don't build it.

makefiles/config_px4fmu-v2_test.mk

@@ -18,6 +18,12 @@ MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= drivers/px4io
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests
@@ -31,6 +37,9 @@ MODULES		+= systemcmds/hw_ver
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
 
 #
 # Libraries

mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h

@@ -0,0 +1,287 @@
+// MESSAGE AHRS2 PACKING
+
+#define MAVLINK_MSG_ID_AHRS2 178
+
+typedef struct __mavlink_ahrs2_t
+{
+ float roll; ///< Roll angle (rad)
+ float pitch; ///< Pitch angle (rad)
+ float yaw; ///< Yaw angle (rad)
+ float altitude; ///< Altitude (MSL)
+ int32_t lat; ///< Latitude in degrees * 1E7
+ int32_t lng; ///< Longitude in degrees * 1E7
+} mavlink_ahrs2_t;
+
+#define MAVLINK_MSG_ID_AHRS2_LEN 24
+#define MAVLINK_MSG_ID_178_LEN 24
+
+#define MAVLINK_MSG_ID_AHRS2_CRC 47
+#define MAVLINK_MSG_ID_178_CRC 47
+
+
+
+#define MAVLINK_MESSAGE_INFO_AHRS2 { \
+	"AHRS2", \
+	6, \
+	{  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs2_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs2_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs2_t, yaw) }, \
+         { "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs2_t, altitude) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs2_t, lat) }, \
+         { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs2_t, lng) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a ahrs2 message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param altitude Altitude (MSL)
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_AHRS2_LEN];
+	_mav_put_float(buf, 0, roll);
+	_mav_put_float(buf, 4, pitch);
+	_mav_put_float(buf, 8, yaw);
+	_mav_put_float(buf, 12, altitude);
+	_mav_put_int32_t(buf, 16, lat);
+	_mav_put_int32_t(buf, 20, lng);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
+#else
+	mavlink_ahrs2_t packet;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+	packet.altitude = altitude;
+	packet.lat = lat;
+	packet.lng = lng;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AHRS2;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a ahrs2 message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param altitude Altitude (MSL)
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float roll,float pitch,float yaw,float altitude,int32_t lat,int32_t lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_AHRS2_LEN];
+	_mav_put_float(buf, 0, roll);
+	_mav_put_float(buf, 4, pitch);
+	_mav_put_float(buf, 8, yaw);
+	_mav_put_float(buf, 12, altitude);
+	_mav_put_int32_t(buf, 16, lat);
+	_mav_put_int32_t(buf, 20, lng);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
+#else
+	mavlink_ahrs2_t packet;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+	packet.altitude = altitude;
+	packet.lat = lat;
+	packet.lng = lng;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AHRS2;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a ahrs2 struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param ahrs2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
+{
+	return mavlink_msg_ahrs2_pack(system_id, component_id, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
+}
+
+/**
+ * @brief Encode a ahrs2 struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param ahrs2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
+{
+	return mavlink_msg_ahrs2_pack_chan(system_id, component_id, chan, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
+}
+
+/**
+ * @brief Send a ahrs2 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param altitude Altitude (MSL)
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ahrs2_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_AHRS2_LEN];
+	_mav_put_float(buf, 0, roll);
+	_mav_put_float(buf, 4, pitch);
+	_mav_put_float(buf, 8, yaw);
+	_mav_put_float(buf, 12, altitude);
+	_mav_put_int32_t(buf, 16, lat);
+	_mav_put_int32_t(buf, 20, lng);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+#else
+	mavlink_ahrs2_t packet;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+	packet.altitude = altitude;
+	packet.lat = lat;
+	packet.lng = lng;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)&packet, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)&packet, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+#endif
+}
+
+#endif
+
+// MESSAGE AHRS2 UNPACKING
+
+
+/**
+ * @brief Get field roll from ahrs2 message
+ *
+ * @return Roll angle (rad)
+ */
+static inline float mavlink_msg_ahrs2_get_roll(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field pitch from ahrs2 message
+ *
+ * @return Pitch angle (rad)
+ */
+static inline float mavlink_msg_ahrs2_get_pitch(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field yaw from ahrs2 message
+ *
+ * @return Yaw angle (rad)
+ */
+static inline float mavlink_msg_ahrs2_get_yaw(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field altitude from ahrs2 message
+ *
+ * @return Altitude (MSL)
+ */
+static inline float mavlink_msg_ahrs2_get_altitude(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field lat from ahrs2 message
+ *
+ * @return Latitude in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_ahrs2_get_lat(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  16);
+}
+
+/**
+ * @brief Get field lng from ahrs2 message
+ *
+ * @return Longitude in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_ahrs2_get_lng(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  20);
+}
+
+/**
+ * @brief Decode a ahrs2 message into a struct
+ *
+ * @param msg The message to decode
+ * @param ahrs2 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ahrs2_decode(const mavlink_message_t* msg, mavlink_ahrs2_t* ahrs2)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	ahrs2->roll = mavlink_msg_ahrs2_get_roll(msg);
+	ahrs2->pitch = mavlink_msg_ahrs2_get_pitch(msg);
+	ahrs2->yaw = mavlink_msg_ahrs2_get_yaw(msg);
+	ahrs2->altitude = mavlink_msg_ahrs2_get_altitude(msg);
+	ahrs2->lat = mavlink_msg_ahrs2_get_lat(msg);
+	ahrs2->lng = mavlink_msg_ahrs2_get_lng(msg);
+#else
+	memcpy(ahrs2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+}

mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h

@@ -1398,6 +1398,59 @@ static void mavlink_test_rally_fetch_point(uint8_t system_id, uint8_t component_
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_ahrs2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_ahrs2_t packet_in = {
+		17.0,
+	}45.0,
+	}73.0,
+	}101.0,
+	}963498296,
+	}963498504,
+	};
+	mavlink_ahrs2_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.roll = packet_in.roll;
+        	packet1.pitch = packet_in.pitch;
+        	packet1.yaw = packet_in.yaw;
+        	packet1.altitude = packet_in.altitude;
+        	packet1.lat = packet_in.lat;
+        	packet1.lng = packet_in.lng;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ahrs2_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_ahrs2_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ahrs2_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.altitude , packet1.lat , packet1.lng );
+	mavlink_msg_ahrs2_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ahrs2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.altitude , packet1.lat , packet1.lng );
+	mavlink_msg_ahrs2_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_ahrs2_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ahrs2_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.altitude , packet1.lat , packet1.lng );
+	mavlink_msg_ahrs2_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@@ -1426,6 +1479,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
 	mavlink_test_airspeed_autocal(system_id, component_id, last_msg);
 	mavlink_test_rally_point(system_id, component_id, last_msg);
 	mavlink_test_rally_fetch_point(system_id, component_id, last_msg);
+	mavlink_test_ahrs2(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus

mavlink/include/mavlink/v1.0/ardupilotmega/version.h

@@ -5,8 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Dec 16 08:56:32 2013"
+#define MAVLINK_BUILD_DATE "Tue Feb  4 15:27:33 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

mavlink/include/mavlink/v1.0/autoquad/version.h

@@ -5,8 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Dec 16 09:03:20 2013"
+#define MAVLINK_BUILD_DATE "Tue Feb  4 15:27:43 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h

@@ -1,23 +1,23 @@
 // MESSAGE DATA_TRANSMISSION_HANDSHAKE PACKING
 
-#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 193
+#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 130
 
 typedef struct __mavlink_data_transmission_handshake_t
 {
  uint32_t size; ///< total data size in bytes (set on ACK only)
  uint16_t width; ///< Width of a matrix or image
  uint16_t height; ///< Height of a matrix or image
+ uint16_t packets; ///< number of packets beeing sent (set on ACK only)
  uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- uint8_t packets; ///< number of packets beeing sent (set on ACK only)
  uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
  uint8_t jpg_quality; ///< JPEG quality out of [1,100]
 } mavlink_data_transmission_handshake_t;
 
-#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 12
-#define MAVLINK_MSG_ID_193_LEN 12
+#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 13
+#define MAVLINK_MSG_ID_130_LEN 13
 
-#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC 23
-#define MAVLINK_MSG_ID_193_CRC 23
+#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC 29
+#define MAVLINK_MSG_ID_130_CRC 29
 
 
 
@@ -27,10 +27,10 @@ typedef struct __mavlink_data_transmission_handshake_t
 	{  { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_data_transmission_handshake_t, size) }, \
          { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_data_transmission_handshake_t, width) }, \
          { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_data_transmission_handshake_t, height) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_data_transmission_handshake_t, type) }, \
-         { "packets", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_data_transmission_handshake_t, packets) }, \
-         { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_data_transmission_handshake_t, payload) }, \
-         { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \
+         { "packets", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_data_transmission_handshake_t, packets) }, \
+         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_data_transmission_handshake_t, type) }, \
+         { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_data_transmission_handshake_t, payload) }, \
+         { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \
          } \
 }
 
@@ -51,17 +51,17 @@ typedef struct __mavlink_data_transmission_handshake_t
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
+						       uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN];
 	_mav_put_uint32_t(buf, 0, size);
 	_mav_put_uint16_t(buf, 4, width);
 	_mav_put_uint16_t(buf, 6, height);
-	_mav_put_uint8_t(buf, 8, type);
-	_mav_put_uint8_t(buf, 9, packets);
-	_mav_put_uint8_t(buf, 10, payload);
-	_mav_put_uint8_t(buf, 11, jpg_quality);
+	_mav_put_uint16_t(buf, 8, packets);
+	_mav_put_uint8_t(buf, 10, type);
+	_mav_put_uint8_t(buf, 11, payload);
+	_mav_put_uint8_t(buf, 12, jpg_quality);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
 #else
@@ -69,8 +69,8 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t syst
 	packet.size = size;
 	packet.width = width;
 	packet.height = height;
-	packet.type = type;
 	packet.packets = packets;
+	packet.type = type;
 	packet.payload = payload;
 	packet.jpg_quality = jpg_quality;
 
@@ -102,17 +102,17 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t syst
  */
 static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           uint8_t type,uint32_t size,uint16_t width,uint16_t height,uint8_t packets,uint8_t payload,uint8_t jpg_quality)
+						           uint8_t type,uint32_t size,uint16_t width,uint16_t height,uint16_t packets,uint8_t payload,uint8_t jpg_quality)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN];
 	_mav_put_uint32_t(buf, 0, size);
 	_mav_put_uint16_t(buf, 4, width);
 	_mav_put_uint16_t(buf, 6, height);
-	_mav_put_uint8_t(buf, 8, type);
-	_mav_put_uint8_t(buf, 9, packets);
-	_mav_put_uint8_t(buf, 10, payload);
-	_mav_put_uint8_t(buf, 11, jpg_quality);
+	_mav_put_uint16_t(buf, 8, packets);
+	_mav_put_uint8_t(buf, 10, type);
+	_mav_put_uint8_t(buf, 11, payload);
+	_mav_put_uint8_t(buf, 12, jpg_quality);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
 #else
@@ -120,8 +120,8 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t
 	packet.size = size;
 	packet.width = width;
 	packet.height = height;
-	packet.type = type;
 	packet.packets = packets;
+	packet.type = type;
 	packet.payload = payload;
 	packet.jpg_quality = jpg_quality;
 
@@ -177,17 +177,17 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_encode_chan(uint8
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
+static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 	char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN];
 	_mav_put_uint32_t(buf, 0, size);
 	_mav_put_uint16_t(buf, 4, width);
 	_mav_put_uint16_t(buf, 6, height);
-	_mav_put_uint8_t(buf, 8, type);
-	_mav_put_uint8_t(buf, 9, packets);
-	_mav_put_uint8_t(buf, 10, payload);
-	_mav_put_uint8_t(buf, 11, jpg_quality);
+	_mav_put_uint16_t(buf, 8, packets);
+	_mav_put_uint8_t(buf, 10, type);
+	_mav_put_uint8_t(buf, 11, payload);
+	_mav_put_uint8_t(buf, 12, jpg_quality);
 
 #if MAVLINK_CRC_EXTRA
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC);
@@ -199,8 +199,8 @@ static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_
 	packet.size = size;
 	packet.width = width;
 	packet.height = height;
-	packet.type = type;
 	packet.packets = packets;
+	packet.type = type;
 	packet.payload = payload;
 	packet.jpg_quality = jpg_quality;
 
@@ -224,7 +224,7 @@ static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_
  */
 static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  8);
+	return _MAV_RETURN_uint8_t(msg,  10);
 }
 
 /**
@@ -262,9 +262,9 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_get_height(const
  *
  * @return number of packets beeing sent (set on ACK only)
  */
-static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg)
+static inline uint16_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  9);
+	return _MAV_RETURN_uint16_t(msg,  8);
 }
 
 /**
@@ -274,7 +274,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const
  */
 static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  10);
+	return _MAV_RETURN_uint8_t(msg,  11);
 }
 
 /**
@@ -284,7 +284,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const
  */
 static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  11);
+	return _MAV_RETURN_uint8_t(msg,  12);
 }
 
 /**
@@ -299,8 +299,8 @@ static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_
 	data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg);
 	data_transmission_handshake->width = mavlink_msg_data_transmission_handshake_get_width(msg);
 	data_transmission_handshake->height = mavlink_msg_data_transmission_handshake_get_height(msg);
-	data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg);
 	data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg);
+	data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg);
 	data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg);
 	data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg);
 #else

mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h

@@ -1,6 +1,6 @@
 // MESSAGE ENCAPSULATED_DATA PACKING
 
-#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 194
+#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131
 
 typedef struct __mavlink_encapsulated_data_t
 {
@@ -9,10 +9,10 @@ typedef struct __mavlink_encapsulated_data_t
 } mavlink_encapsulated_data_t;
 
 #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
-#define MAVLINK_MSG_ID_194_LEN 255
+#define MAVLINK_MSG_ID_131_LEN 255
 
 #define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
-#define MAVLINK_MSG_ID_194_CRC 223
+#define MAVLINK_MSG_ID_131_CRC 223
 
 #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
 

mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h

@@ -0,0 +1,419 @@
+// MESSAGE GPS2_RAW PACKING
+
+#define MAVLINK_MSG_ID_GPS2_RAW 124
+
+typedef struct __mavlink_gps2_raw_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ int32_t lat; ///< Latitude (WGS84), in degrees * 1E7
+ int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
+ int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
+ uint32_t dgps_age; ///< Age of DGPS info
+ uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
+ uint8_t dgps_numch; ///< Number of DGPS satellites
+} mavlink_gps2_raw_t;
+
+#define MAVLINK_MSG_ID_GPS2_RAW_LEN 35
+#define MAVLINK_MSG_ID_124_LEN 35
+
+#define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
+#define MAVLINK_MSG_ID_124_CRC 87
+
+
+
+#define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
+	"GPS2_RAW", \
+	12, \
+	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
+         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
+         { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
+         { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
+         { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
+         { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
+         { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
+         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
+         { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
+         { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a gps2_raw message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ * @param lat Latitude (WGS84), in degrees * 1E7
+ * @param lon Longitude (WGS84), in degrees * 1E7
+ * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @param dgps_numch Number of DGPS satellites
+ * @param dgps_age Age of DGPS info
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_int32_t(buf, 8, lat);
+	_mav_put_int32_t(buf, 12, lon);
+	_mav_put_int32_t(buf, 16, alt);
+	_mav_put_uint32_t(buf, 20, dgps_age);
+	_mav_put_uint16_t(buf, 24, eph);
+	_mav_put_uint16_t(buf, 26, epv);
+	_mav_put_uint16_t(buf, 28, vel);
+	_mav_put_uint16_t(buf, 30, cog);
+	_mav_put_uint8_t(buf, 32, fix_type);
+	_mav_put_uint8_t(buf, 33, satellites_visible);
+	_mav_put_uint8_t(buf, 34, dgps_numch);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#else
+	mavlink_gps2_raw_t packet;
+	packet.time_usec = time_usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.dgps_age = dgps_age;
+	packet.eph = eph;
+	packet.epv = epv;
+	packet.vel = vel;
+	packet.cog = cog;
+	packet.fix_type = fix_type;
+	packet.satellites_visible = satellites_visible;
+	packet.dgps_numch = dgps_numch;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a gps2_raw message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ * @param lat Latitude (WGS84), in degrees * 1E7
+ * @param lon Longitude (WGS84), in degrees * 1E7
+ * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @param dgps_numch Number of DGPS satellites
+ * @param dgps_age Age of DGPS info
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible,uint8_t dgps_numch,uint32_t dgps_age)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_int32_t(buf, 8, lat);
+	_mav_put_int32_t(buf, 12, lon);
+	_mav_put_int32_t(buf, 16, alt);
+	_mav_put_uint32_t(buf, 20, dgps_age);
+	_mav_put_uint16_t(buf, 24, eph);
+	_mav_put_uint16_t(buf, 26, epv);
+	_mav_put_uint16_t(buf, 28, vel);
+	_mav_put_uint16_t(buf, 30, cog);
+	_mav_put_uint8_t(buf, 32, fix_type);
+	_mav_put_uint8_t(buf, 33, satellites_visible);
+	_mav_put_uint8_t(buf, 34, dgps_numch);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#else
+	mavlink_gps2_raw_t packet;
+	packet.time_usec = time_usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.dgps_age = dgps_age;
+	packet.eph = eph;
+	packet.epv = epv;
+	packet.vel = vel;
+	packet.cog = cog;
+	packet.fix_type = fix_type;
+	packet.satellites_visible = satellites_visible;
+	packet.dgps_numch = dgps_numch;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a gps2_raw struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param gps2_raw C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps2_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
+{
+	return mavlink_msg_gps2_raw_pack(system_id, component_id, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
+}
+
+/**
+ * @brief Encode a gps2_raw struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param gps2_raw C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps2_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
+{
+	return mavlink_msg_gps2_raw_pack_chan(system_id, component_id, chan, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
+}
+
+/**
+ * @brief Send a gps2_raw message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ * @param lat Latitude (WGS84), in degrees * 1E7
+ * @param lon Longitude (WGS84), in degrees * 1E7
+ * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @param dgps_numch Number of DGPS satellites
+ * @param dgps_age Age of DGPS info
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps2_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_int32_t(buf, 8, lat);
+	_mav_put_int32_t(buf, 12, lon);
+	_mav_put_int32_t(buf, 16, alt);
+	_mav_put_uint32_t(buf, 20, dgps_age);
+	_mav_put_uint16_t(buf, 24, eph);
+	_mav_put_uint16_t(buf, 26, epv);
+	_mav_put_uint16_t(buf, 28, vel);
+	_mav_put_uint16_t(buf, 30, cog);
+	_mav_put_uint8_t(buf, 32, fix_type);
+	_mav_put_uint8_t(buf, 33, satellites_visible);
+	_mav_put_uint8_t(buf, 34, dgps_numch);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+#else
+	mavlink_gps2_raw_t packet;
+	packet.time_usec = time_usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.dgps_age = dgps_age;
+	packet.eph = eph;
+	packet.epv = epv;
+	packet.vel = vel;
+	packet.cog = cog;
+	packet.fix_type = fix_type;
+	packet.satellites_visible = satellites_visible;
+	packet.dgps_numch = dgps_numch;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+#endif
+}
+
+#endif
+
+// MESSAGE GPS2_RAW UNPACKING
+
+
+/**
+ * @brief Get field time_usec from gps2_raw message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field fix_type from gps2_raw message
+ *
+ * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ */
+static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  32);
+}
+
+/**
+ * @brief Get field lat from gps2_raw message
+ *
+ * @return Latitude (WGS84), in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  8);
+}
+
+/**
+ * @brief Get field lon from gps2_raw message
+ *
+ * @return Longitude (WGS84), in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  12);
+}
+
+/**
+ * @brief Get field alt from gps2_raw message
+ *
+ * @return Altitude (WGS84), in meters * 1000 (positive for up)
+ */
+static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  16);
+}
+
+/**
+ * @brief Get field eph from gps2_raw message
+ *
+ * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  24);
+}
+
+/**
+ * @brief Get field epv from gps2_raw message
+ *
+ * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  26);
+}
+
+/**
+ * @brief Get field vel from gps2_raw message
+ *
+ * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  28);
+}
+
+/**
+ * @brief Get field cog from gps2_raw message
+ *
+ * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  30);
+}
+
+/**
+ * @brief Get field satellites_visible from gps2_raw message
+ *
+ * @return Number of satellites visible. If unknown, set to 255
+ */
+static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  33);
+}
+
+/**
+ * @brief Get field dgps_numch from gps2_raw message
+ *
+ * @return Number of DGPS satellites
+ */
+static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  34);
+}
+
+/**
+ * @brief Get field dgps_age from gps2_raw message
+ *
+ * @return Age of DGPS info
+ */
+static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  20);
+}
+
+/**
+ * @brief Decode a gps2_raw message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps2_raw C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg);
+	gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg);
+	gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg);
+	gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg);
+	gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg);
+	gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg);
+	gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg);
+	gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg);
+	gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg);
+	gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
+	gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg);
+	gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg);
+#else
+	memcpy(gps2_raw, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+}

mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h

@@ -0,0 +1,237 @@
+// MESSAGE GPS_INJECT_DATA PACKING
+
+#define MAVLINK_MSG_ID_GPS_INJECT_DATA 123
+
+typedef struct __mavlink_gps_inject_data_t
+{
+ uint8_t target_system; ///< System ID
+ uint8_t target_component; ///< Component ID
+ uint8_t len; ///< data length
+ uint8_t data[110]; ///< raw data (110 is enough for 12 satellites of RTCMv2)
+} mavlink_gps_inject_data_t;
+
+#define MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN 113
+#define MAVLINK_MSG_ID_123_LEN 113
+
+#define MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC 250
+#define MAVLINK_MSG_ID_123_CRC 250
+
+#define MAVLINK_MSG_GPS_INJECT_DATA_FIELD_DATA_LEN 110
+
+#define MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA { \
+	"GPS_INJECT_DATA", \
+	4, \
+	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_inject_data_t, target_system) }, \
+         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_inject_data_t, target_component) }, \
+         { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_gps_inject_data_t, len) }, \
+         { "data", NULL, MAVLINK_TYPE_UINT8_T, 110, 3, offsetof(mavlink_gps_inject_data_t, data) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a gps_inject_data message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param len data length
+ * @param data raw data (110 is enough for 12 satellites of RTCMv2)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_inject_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint8_t target_system, uint8_t target_component, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, len);
+	_mav_put_uint8_t_array(buf, 3, data, 110);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#else
+	mavlink_gps_inject_data_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*110);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS_INJECT_DATA;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a gps_inject_data message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param len data length
+ * @param data raw data (110 is enough for 12 satellites of RTCMv2)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_inject_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint8_t target_system,uint8_t target_component,uint8_t len,const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, len);
+	_mav_put_uint8_t_array(buf, 3, data, 110);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#else
+	mavlink_gps_inject_data_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*110);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS_INJECT_DATA;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a gps_inject_data struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param gps_inject_data C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps_inject_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_inject_data_t* gps_inject_data)
+{
+	return mavlink_msg_gps_inject_data_pack(system_id, component_id, msg, gps_inject_data->target_system, gps_inject_data->target_component, gps_inject_data->len, gps_inject_data->data);
+}
+
+/**
+ * @brief Encode a gps_inject_data struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param gps_inject_data C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps_inject_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_inject_data_t* gps_inject_data)
+{
+	return mavlink_msg_gps_inject_data_pack_chan(system_id, component_id, chan, msg, gps_inject_data->target_system, gps_inject_data->target_component, gps_inject_data->len, gps_inject_data->data);
+}
+
+/**
+ * @brief Send a gps_inject_data message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param len data length
+ * @param data raw data (110 is enough for 12 satellites of RTCMv2)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps_inject_data_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN];
+	_mav_put_uint8_t(buf, 0, target_system);
+	_mav_put_uint8_t(buf, 1, target_component);
+	_mav_put_uint8_t(buf, 2, len);
+	_mav_put_uint8_t_array(buf, 3, data, 110);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#endif
+#else
+	mavlink_gps_inject_data_t packet;
+	packet.target_system = target_system;
+	packet.target_component = target_component;
+	packet.len = len;
+	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*110);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, (const char *)&packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, (const char *)&packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#endif
+#endif
+}
+
+#endif
+
+// MESSAGE GPS_INJECT_DATA UNPACKING
+
+
+/**
+ * @brief Get field target_system from gps_inject_data message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_gps_inject_data_get_target_system(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  0);
+}
+
+/**
+ * @brief Get field target_component from gps_inject_data message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_gps_inject_data_get_target_component(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  1);
+}
+
+/**
+ * @brief Get field len from gps_inject_data message
+ *
+ * @return data length
+ */
+static inline uint8_t mavlink_msg_gps_inject_data_get_len(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  2);
+}
+
+/**
+ * @brief Get field data from gps_inject_data message
+ *
+ * @return raw data (110 is enough for 12 satellites of RTCMv2)
+ */
+static inline uint16_t mavlink_msg_gps_inject_data_get_data(const mavlink_message_t* msg, uint8_t *data)
+{
+	return _MAV_RETURN_uint8_t_array(msg, data, 110,  3);
+}
+
+/**
+ * @brief Decode a gps_inject_data message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps_inject_data C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps_inject_data_decode(const mavlink_message_t* msg, mavlink_gps_inject_data_t* gps_inject_data)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	gps_inject_data->target_system = mavlink_msg_gps_inject_data_get_target_system(msg);
+	gps_inject_data->target_component = mavlink_msg_gps_inject_data_get_target_component(msg);
+	gps_inject_data->len = mavlink_msg_gps_inject_data_get_len(msg);
+	mavlink_msg_gps_inject_data_get_data(msg, gps_inject_data->data);
+#else
+	memcpy(gps_inject_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
+#endif
+}

mavlink/include/mavlink/v1.0/common/testsuite.h

@@ -4839,6 +4839,220 @@ static void mavlink_test_log_request_end(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_gps_inject_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_gps_inject_data_t packet_in = {
+		5,
+	}72,
+	}139,
+	}{ 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59 },
+	};
+	mavlink_gps_inject_data_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.target_system = packet_in.target_system;
+        	packet1.target_component = packet_in.target_component;
+        	packet1.len = packet_in.len;
+        
+        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*110);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps_inject_data_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_gps_inject_data_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps_inject_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
+	mavlink_msg_gps_inject_data_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps_inject_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
+	mavlink_msg_gps_inject_data_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_gps_inject_data_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps_inject_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
+	mavlink_msg_gps_inject_data_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_gps2_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_gps2_raw_t packet_in = {
+		93372036854775807ULL,
+	}963497880,
+	}963498088,
+	}963498296,
+	}963498504,
+	}18483,
+	}18587,
+	}18691,
+	}18795,
+	}101,
+	}168,
+	}235,
+	};
+	mavlink_gps2_raw_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.time_usec = packet_in.time_usec;
+        	packet1.lat = packet_in.lat;
+        	packet1.lon = packet_in.lon;
+        	packet1.alt = packet_in.alt;
+        	packet1.dgps_age = packet_in.dgps_age;
+        	packet1.eph = packet_in.eph;
+        	packet1.epv = packet_in.epv;
+        	packet1.vel = packet_in.vel;
+        	packet1.cog = packet_in.cog;
+        	packet1.fix_type = packet_in.fix_type;
+        	packet1.satellites_visible = packet_in.satellites_visible;
+        	packet1.dgps_numch = packet_in.dgps_numch;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps2_raw_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_gps2_raw_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps2_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
+	mavlink_msg_gps2_raw_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps2_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
+	mavlink_msg_gps2_raw_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_gps2_raw_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_gps2_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
+	mavlink_msg_gps2_raw_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_data_transmission_handshake_t packet_in = {
+		963497464,
+	}17443,
+	}17547,
+	}17651,
+	}163,
+	}230,
+	}41,
+	};
+	mavlink_data_transmission_handshake_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.size = packet_in.size;
+        	packet1.width = packet_in.width;
+        	packet1.height = packet_in.height;
+        	packet1.packets = packet_in.packets;
+        	packet1.type = packet_in.type;
+        	packet1.payload = packet_in.payload;
+        	packet1.jpg_quality = packet_in.jpg_quality;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data_transmission_handshake_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data_transmission_handshake_pack(system_id, component_id, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
+	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
+	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_data_transmission_handshake_send(MAVLINK_COMM_1 , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
+	mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_encapsulated_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_encapsulated_data_t packet_in = {
+		17235,
+	}{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 },
+	};
+	mavlink_encapsulated_data_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.seqnr = packet_in.seqnr;
+        
+        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*253);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_encapsulated_data_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_encapsulated_data_pack(system_id, component_id, &msg , packet1.seqnr , packet1.data );
+	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seqnr , packet1.data );
+	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_encapsulated_data_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_encapsulated_data_send(MAVLINK_COMM_1 , packet1.seqnr , packet1.data );
+	mavlink_msg_encapsulated_data_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -5393,6 +5607,10 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_log_data(system_id, component_id, last_msg);
 	mavlink_test_log_erase(system_id, component_id, last_msg);
 	mavlink_test_log_request_end(system_id, component_id, last_msg);
+	mavlink_test_gps_inject_data(system_id, component_id, last_msg);
+	mavlink_test_gps2_raw(system_id, component_id, last_msg);
+	mavlink_test_data_transmission_handshake(system_id, component_id, last_msg);
+	mavlink_test_encapsulated_data(system_id, component_id, last_msg);
 	mavlink_test_battery_status(system_id, component_id, last_msg);
 	mavlink_test_setpoint_8dof(system_id, component_id, last_msg);
 	mavlink_test_setpoint_6dof(system_id, component_id, last_msg);

mavlink/include/mavlink/v1.0/common/version.h

@@ -5,8 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Dec 16 08:59:18 2013"
+#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:29 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

mavlink/include/mavlink/v1.0/matrixpilot/version.h

@@ -5,8 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Dec 16 08:57:49 2013"
+#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:04 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

mavlink/include/mavlink/v1.0/mavlink_types.h

@@ -48,7 +48,7 @@ typedef struct __mavlink_system {
     uint8_t type;    ///< Unused, can be used by user to store the system's type
     uint8_t state;   ///< Unused, can be used by user to store the system's state
     uint8_t mode;    ///< Unused, can be used by user to store the system's mode
-    uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
+    uint32_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
 } mavlink_system_t;
 
 typedef struct __mavlink_message {

mavlink/include/mavlink/v1.0/pixhawk/testsuite.h

@@ -853,106 +853,6 @@ static void mavlink_test_point_of_interest_connection(uint8_t system_id, uint8_t
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
-static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_message_t msg;
-        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t i;
-	mavlink_data_transmission_handshake_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}29,
-	}96,
-	}163,
-	}230,
-	};
-	mavlink_data_transmission_handshake_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.size = packet_in.size;
-        	packet1.width = packet_in.width;
-        	packet1.height = packet_in.height;
-        	packet1.type = packet_in.type;
-        	packet1.packets = packet_in.packets;
-        	packet1.payload = packet_in.payload;
-        	packet1.jpg_quality = packet_in.jpg_quality;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_pack(system_id, component_id, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
-	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
-	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_send(MAVLINK_COMM_1 , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
-	mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_encapsulated_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_message_t msg;
-        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t i;
-	mavlink_encapsulated_data_t packet_in = {
-		17235,
-	}{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 },
-	};
-	mavlink_encapsulated_data_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.seqnr = packet_in.seqnr;
-        
-        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*253);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_pack(system_id, component_id, &msg , packet1.seqnr , packet1.data );
-	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seqnr , packet1.data );
-	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_encapsulated_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_send(MAVLINK_COMM_1 , packet1.seqnr , packet1.data );
-	mavlink_msg_encapsulated_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
 static void mavlink_test_brief_feature(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -1086,8 +986,6 @@ static void mavlink_test_pixhawk(uint8_t system_id, uint8_t component_id, mavlin
 	mavlink_test_pattern_detected(system_id, component_id, last_msg);
 	mavlink_test_point_of_interest(system_id, component_id, last_msg);
 	mavlink_test_point_of_interest_connection(system_id, component_id, last_msg);
-	mavlink_test_data_transmission_handshake(system_id, component_id, last_msg);
-	mavlink_test_encapsulated_data(system_id, component_id, last_msg);
 	mavlink_test_brief_feature(system_id, component_id, last_msg);
 	mavlink_test_attitude_control(system_id, component_id, last_msg);
 }

mavlink/include/mavlink/v1.0/pixhawk/version.h

@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Mon Dec 16 08:58:02 2013"
+#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:16 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

mavlink/include/mavlink/v1.0/sensesoar/testsuite.h

@@ -31,8 +31,8 @@ static void mavlink_test_obs_position(uint8_t system_id, uint8_t component_id, m
         uint16_t i;
 	mavlink_obs_position_t packet_in = {
 		963497464,
-	963497672,
-	963497880,
+	}963497672,
+	}963497880,
 	};
 	mavlink_obs_position_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -207,8 +207,8 @@ static void mavlink_test_obs_air_velocity(uint8_t system_id, uint8_t component_i
         uint16_t i;
 	mavlink_obs_air_velocity_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
+	}45.0,
+	}73.0,
 	};
 	mavlink_obs_air_velocity_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -254,7 +254,7 @@ static void mavlink_test_obs_bias(uint8_t system_id, uint8_t component_id, mavli
         uint16_t i;
 	mavlink_obs_bias_t packet_in = {
 		{ 17.0, 18.0, 19.0 },
-	{ 101.0, 102.0, 103.0 },
+	}{ 101.0, 102.0, 103.0 },
 	};
 	mavlink_obs_bias_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -428,7 +428,7 @@ static void mavlink_test_llc_out(uint8_t system_id, uint8_t component_id, mavlin
         uint16_t i;
 	mavlink_llc_out_t packet_in = {
 		{ 17235, 17236, 17237, 17238 },
-	{ 17651, 17652 },
+	}{ 17651, 17652 },
 	};
 	mavlink_llc_out_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -473,8 +473,8 @@ static void mavlink_test_pm_elec(uint8_t system_id, uint8_t component_id, mavlin
         uint16_t i;
 	mavlink_pm_elec_t packet_in = {
 		17.0,
-	45.0,
-	{ 73.0, 74.0, 75.0 },
+	}45.0,
+	}{ 73.0, 74.0, 75.0 },
 	};
 	mavlink_pm_elec_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -520,9 +520,9 @@ static void mavlink_test_sys_stat(uint8_t system_id, uint8_t component_id, mavli
         uint16_t i;
 	mavlink_sys_stat_t packet_in = {
 		5,
-	72,
-	139,
-	206,
+	}72,
+	}139,
+	}206,
 	};
 	mavlink_sys_stat_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -569,7 +569,7 @@ static void mavlink_test_cmd_airspeed_chng(uint8_t system_id, uint8_t component_
         uint16_t i;
 	mavlink_cmd_airspeed_chng_t packet_in = {
 		17.0,
-	17,
+	}17,
 	};
 	mavlink_cmd_airspeed_chng_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -614,7 +614,7 @@ static void mavlink_test_cmd_airspeed_ack(uint8_t system_id, uint8_t component_i
         uint16_t i;
 	mavlink_cmd_airspeed_ack_t packet_in = {
 		17.0,
-	17,
+	}17,
 	};
 	mavlink_cmd_airspeed_ack_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));

mavlink/include/mavlink/v1.0/sensesoar/version.h

@@ -5,8 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Tue Sep 10 23:50:02 2013"
+#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:27 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H

nuttx-configs/px4fmu-v1/include/board.h

@@ -246,14 +246,14 @@
  *
  * There are sensors on SPI1, and SPI3 is connected to the microSD slot.
  */
-#define GPIO_SPI1_MISO	GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
-#define GPIO_SPI3_MISO	GPIO_SPI3_MISO_2
-#define GPIO_SPI3_MOSI	GPIO_SPI3_MOSI_1
-#define GPIO_SPI3_SCK	GPIO_SPI3_SCK_2
-#define GPIO_SPI3_NSS	GPIO_SPI3_NSS_2
+#define GPIO_SPI3_MISO	(GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI3_MOSI	(GPIO_SPI3_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI3_SCK	(GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI3_NSS	(GPIO_SPI3_NSS_2|GPIO_SPEED_50MHz)
 
 /* SPI DMA configuration for SPI3 (microSD) */
 #define DMACHAN_SPI3_RX DMAMAP_SPI3_RX_1

nuttx-configs/px4fmu-v2/include/board.h

@@ -209,8 +209,8 @@
 
 #define GPIO_USART3_RX	GPIO_USART3_RX_3
 #define GPIO_USART3_TX	GPIO_USART3_TX_3
-#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
-#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+#define GPIO_USART3_RTS	GPIO_USART3_RTS_2
+#define GPIO_USART3_CTS	GPIO_USART3_CTS_2
 
 #define GPIO_UART4_RX	GPIO_UART4_RX_1
 #define GPIO_UART4_TX	GPIO_UART4_TX_1
@@ -260,13 +260,13 @@
  *
  * There are sensors on SPI1, and SPI2 is connected to the FRAM.
  */
-#define GPIO_SPI1_MISO	GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
-#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_1
-#define GPIO_SPI2_SCK	GPIO_SPI2_SCK_2
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
 
 /************************************************************************************
  * Public Data

src/drivers/airspeed/airspeed.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 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
@@ -86,6 +86,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_pub(-1),
+	_class_instance(-1),
 	_conversion_interval(conversion_interval),
 	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
@@ -102,6 +103,9 @@ Airspeed::~Airspeed()
 	/* make sure we are truly inactive */
 	stop();
 
+	if (_class_instance != -1)
+		unregister_class_devname(AIRSPEED_DEVICE_PATH, _class_instance);
+
 	/* free any existing reports */
 	if (_reports != nullptr)
 		delete _reports;
@@ -126,13 +130,23 @@ Airspeed::init()
 	if (_reports == nullptr)
 		goto out;
 
-	/* get a publish handle on the airspeed topic */
-	differential_pressure_s zero_report;
-	memset(&zero_report, 0, sizeof(zero_report));
-	_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &zero_report);
+	/* register alternate interfaces if we have to */
+	_class_instance = register_class_devname(AIRSPEED_DEVICE_PATH);
 
-	if (_airspeed_pub < 0)
-		warnx("failed to create airspeed sensor object. Did you start uOrb?");
+	/* publication init */
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+
+		/* advertise sensor topic, measure manually to initialize valid report */
+		struct differential_pressure_s arp;
+		measure();
+		_reports->get(&arp);
+
+		/* measurement will have generated a report, publish */
+		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
+
+		if (_airspeed_pub < 0)
+			warnx("failed to create airspeed sensor object. uORB started?");
+	}
 
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */

src/drivers/airspeed/airspeed.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 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
@@ -127,6 +127,8 @@ protected:
 
 	orb_advert_t		_airspeed_pub;
 
+	int			_class_instance;
+
 	unsigned		_conversion_interval;
 
 	perf_counter_t		_sample_perf;

src/drivers/bma180/bma180.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -153,6 +153,7 @@ private:
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
+	int			_class_instance;
 
 	unsigned		_current_lowpass;
 	unsigned		_current_range;
@@ -238,6 +239,7 @@ BMA180::BMA180(int bus, spi_dev_e device) :
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
 	_accel_topic(-1),
+	_class_instance(-1),
 	_current_lowpass(0),
 	_current_range(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "bma180_read"))
@@ -282,11 +284,6 @@ BMA180::init()
 	if (_reports == nullptr)
 		goto out;
 
-	/* advertise sensor topic */
-	struct accel_report zero_report;
-	memset(&zero_report, 0, sizeof(zero_report));
-	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
-
 	/* perform soft reset (p48) */
 	write_reg(ADDR_RESET, SOFT_RESET);
 
@@ -322,6 +319,19 @@ BMA180::init()
 		ret = ERROR;
 	}
 
+	_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
+
+	/* advertise sensor topic, measure manually to initialize valid report */
+	measure();
+
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		struct accel_report arp;
+		_reports->get(&arp);
+
+		/* measurement will have generated a report, publish */
+		_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
+	}
+
 out:
 	return ret;
 }
@@ -723,7 +733,8 @@ BMA180::measure()
 	poll_notify(POLLIN);
 
 	/* publish for subscribers */
-	orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
+	if (_accel_topic > 0 && !(_pub_blocked))
+		orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
 
 	/* stop the perf counter */
 	perf_end(_sample_perf);

src/drivers/device/cdev.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -38,6 +38,7 @@
  */
 
 #include "device.h"
+#include "drivers/drv_device.h"
 
 #include <sys/ioctl.h>
 #include <arch/irq.h>
@@ -93,6 +94,7 @@ CDev::CDev(const char *name,
 	Device(name, irq),
 	// public
 	// protected
+	_pub_blocked(false),
 	// private
 	_devname(devname),
 	_registered(false),
@@ -256,6 +258,14 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case DIOC_GETPRIV:
 		*(void **)(uintptr_t)arg = (void *)this;
 		return OK;
+		break;
+	case DEVIOCSPUBBLOCK:
+		_pub_blocked = (arg != 0);
+		return OK;
+		break;
+	case DEVIOCGPUBBLOCK:
+		return _pub_blocked;
+		break;
 	}
 
 	return -ENOTTY;

src/drivers/device/device.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/device/device.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -415,6 +415,8 @@ protected:
 	 */
 	virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
 
+	bool		_pub_blocked;		/**< true if publishing should be blocked */
+
 private:
 	static const unsigned _max_pollwaiters = 8;
 

src/drivers/drv_device.h

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   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 drv_device.h
+ *
+ * Generic device / sensor interface.
+ */
+
+#ifndef _DRV_DEVICE_H
+#define _DRV_DEVICE_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+/*
+ * ioctl() definitions
+ */
+
+#define _DEVICEIOCBASE		(0x100)
+#define _DEVICEIOC(_n)		(_IOC(_DEVICEIOCBASE, _n))
+
+/** ask device to stop publishing */
+#define DEVIOCSPUBBLOCK	_DEVICEIOC(0)
+
+/** check publication block status */
+#define DEVIOCGPUBBLOCK	_DEVICEIOC(1)
+
+#endif /* _DRV_DEVICE_H */

src/drivers/drv_pwm_output.h

@@ -193,6 +193,20 @@ ORB_DECLARE(output_pwm);
  * split between servos and GPIO */
 #define PWM_SERVO_SET_COUNT	_IOC(_PWM_SERVO_BASE, 20)
 
+/** set the lockdown override flag to enable outputs in HIL */
+#define PWM_SERVO_SET_DISABLE_LOCKDOWN		_IOC(_PWM_SERVO_BASE, 21)
+
+/** get the lockdown override flag to enable outputs in HIL */
+#define PWM_SERVO_GET_DISABLE_LOCKDOWN		_IOC(_PWM_SERVO_BASE, 22)
+
+/*
+ *
+ *
+ * WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE!
+ *
+ *
+ */
+
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
 

src/drivers/drv_rc_input.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -62,6 +62,11 @@
  */
 #define RC_INPUT_MAX_CHANNELS	18
 
+/**
+ * Maximum RSSI value
+ */
+#define RC_INPUT_RSSI_MAX	255
+
 /**
  * Input signal type, value is a control position from zero to 100
  * percent.
@@ -83,8 +88,11 @@ enum RC_INPUT_SOURCE {
  * on the board involved.
  */
 struct rc_input_values {
-	/** decoding time */
-	uint64_t		timestamp;
+	/** publication time */
+	uint64_t		timestamp_publication;
+
+	/** last valid reception time */
+	uint64_t		timestamp_last_signal;
 
 	/** number of channels actually being seen */
 	uint32_t		channel_count;
@@ -92,6 +100,40 @@ struct rc_input_values {
 	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
 	int32_t			rssi;
 
+	/**
+	 * explicit failsafe flag: true on TX failure or TX out of range , false otherwise.
+	 * Only the true state is reliable, as there are some (PPM) receivers on the market going
+	 * into failsafe without telling us explicitly.
+	 * */
+	bool			rc_failsafe;
+
+	/**
+	 * RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise.
+	 * True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems.
+	 * Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
+	 * */
+	bool			rc_lost;
+
+	/**
+	 * Number of lost RC frames.
+	 * Note: intended purpose: observe the radio link quality if RSSI is not available
+	 * This value must not be used to trigger any failsafe-alike funtionality.
+	 * */
+	uint16_t		rc_lost_frame_count;
+
+	/**
+	 * Number of total RC frames.
+	 * Note: intended purpose: observe the radio link quality if RSSI is not available
+	 * This value must not be used to trigger any failsafe-alike funtionality.
+	 * */
+	uint16_t		rc_total_frame_count;
+
+	/**
+	 * Length of a single PPM frame.
+	 * Zero for non-PPM systems
+	 */
+	uint16_t		rc_ppm_frame_length;
+
 	/** Input source */
 	enum RC_INPUT_SOURCE 	input_source;
 
@@ -107,8 +149,12 @@ ORB_DECLARE(input_rc);
 #define _RC_INPUT_BASE		0x2b00
 
 /** Fetch R/C input values into (rc_input_values *)arg */
-
 #define RC_INPUT_GET			_IOC(_RC_INPUT_BASE, 0)
 
+/** Enable RSSI input via ADC */
+#define RC_INPUT_ENABLE_RSSI_ANALOG	_IOC(_RC_INPUT_BASE, 1)
+
+/** Enable RSSI input via PWM signal */
+#define RC_INPUT_ENABLE_RSSI_PWM	_IOC(_RC_INPUT_BASE, 2)
 
 #endif /* _DRV_RC_INPUT_H */

src/drivers/drv_sbus.h

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   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 drv_sbus.h
+ *
+ * Futaba S.BUS / S.BUS 2 compatible interface.
+ */
+
+#ifndef _DRV_SBUS_H
+#define _DRV_SBUS_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_orb_dev.h"
+
+/**
+ * Path for the default S.BUS device
+ */
+#define SBUS_DEVICE_PATH	"/dev/sbus"
+
+#define _SBUS_BASE		0x2c00
+
+/** Enable S.BUS version 1 / 2 output (0 to disable) */
+#define SBUS_SET_PROTO_VERSION		_IOC(_SBUS_BASE, 0)
+
+#endif /* _DRV_SBUS_H */

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 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
@@ -184,8 +184,10 @@ ETSAirspeed::collect()
 	report.voltage = 0;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
-	/* announce the airspeed if needed, just publish else */
-	orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
+	if (_airspeed_pub > 0 && !(_pub_blocked)) {
+		/* publish it */
+		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
+	}
 
 	new_report(report);
 

src/drivers/frsky_telemetry/frsky_data.c

@@ -225,7 +225,7 @@ void frsky_send_frame2(int uart)
 	float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
 	char lat_ns = 0, lon_ew = 0;
 	int sec = 0;
-	if (global_pos.valid) {
+	if (global_pos.global_valid) {
 		time_t time_gps = global_pos.time_gps_usec / 1000000;
 		struct tm *tm_gps = gmtime(&time_gps);
 

src/drivers/gps/gps.cpp

@@ -289,11 +289,13 @@ GPS::task_main()
 
 			//no time and satellite information simulated
 
-			if (_report_pub > 0) {
-				orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+			if (!(_pub_blocked)) {
+				if (_report_pub > 0) {
+					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
 
-			} else {
-				_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+				} else {
+					_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+				}
 			}
 
 			usleep(2e5);
@@ -330,11 +332,14 @@ GPS::task_main()
 				while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
 	//				lock();
 					/* opportunistic publishing - else invalid data would end up on the bus */
-					if (_report_pub > 0) {
-						orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
 
-					} else {
-						_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+					if (!(_pub_blocked)) {
+						if (_report_pub > 0) {
+							orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+
+						} else {
+							_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+						}
 					}
 
 					last_rate_count++;

src/drivers/gps/gps_helper.cpp

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -41,6 +39,9 @@
 
 /**
  * @file gps_helper.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 float