Merge remote-tracking branch 'upstream/master' into dev_ros

Conflicts:
	src/lib/mathlib/math/Matrix.hpp
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_status.h
	src/platforms/px4_includes.h

src/modules/commander/commander.cpp

@@ -1267,7 +1267,7 @@ int commander_thread_main(int argc, char *argv[])
 		if (updated) {
 			/* vtol status changed */
 			orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
-
+			status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
 			/* Make sure that this is only adjusted if vehicle realy is of type vtol*/
 			if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) {
 				status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
@@ -2246,8 +2246,8 @@ set_control_mode()
 	case NAVIGATION_STATE_MANUAL:
 		control_mode.flag_control_manual_enabled = true;
 		control_mode.flag_control_auto_enabled = false;
-		control_mode.flag_control_rates_enabled = status.is_rotary_wing;
-		control_mode.flag_control_attitude_enabled = status.is_rotary_wing;
+		control_mode.flag_control_rates_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab);
+		control_mode.flag_control_attitude_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab);
 		control_mode.flag_control_altitude_enabled = false;
 		control_mode.flag_control_climb_rate_enabled = false;
 		control_mode.flag_control_position_enabled = false;

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -1471,7 +1471,7 @@ FixedwingEstimator::task_main()
 							map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
 							_global_pos.lat = est_lat;
 							_global_pos.lon = est_lon;
-							_global_pos.time_gps_usec = _gps.time_gps_usec;
+							_global_pos.time_utc_usec = _gps.time_utc_usec;
 							_global_pos.eph = _gps.eph;
 							_global_pos.epv = _gps.epv;
 						}

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -336,8 +336,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_actuators_0_pub(-1),
 	_actuators_2_pub(-1),
 
-	_rates_sp_id(ORB_ID(vehicle_rates_setpoint)),
-	_actuators_id(ORB_ID(actuator_controls_0)),
+	_rates_sp_id(0),
+	_actuators_id(0),
 
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
@@ -589,12 +589,14 @@ FixedwingAttitudeControl::vehicle_status_poll()
 	if (vehicle_status_updated) {
 		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
 		/* set correct uORB ID, depending on if vehicle is VTOL or not */
-		if (_vehicle_status.is_vtol) {
-			_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
-			_actuators_id = ORB_ID(actuator_controls_virtual_fw);
-		} else {
-			_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
-			_actuators_id = ORB_ID(actuator_controls_0);
+		if (!_rates_sp_id) {
+			if (_vehicle_status.is_vtol) {
+				_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
+				_actuators_id = ORB_ID(actuator_controls_virtual_fw);
+			} else {
+				_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
+				_actuators_id = ORB_ID(actuator_controls_0);
+			}
 		}
 	}
 }
@@ -720,22 +722,24 @@ FixedwingAttitudeControl::task_main()
 				R.set(_att.R);
 				R_adapted.set(_att.R);
 
-				//move z to x
+				/* move z to x */
 				R_adapted(0, 0) = R(0, 2);
 				R_adapted(1, 0) = R(1, 2);
 				R_adapted(2, 0) = R(2, 2);
-				//move x to z
+
+				/* move x to z */
 				R_adapted(0, 2) = R(0, 0);
 				R_adapted(1, 2) = R(1, 0);
 				R_adapted(2, 2) = R(2, 0);
 
-				//change direction of pitch (convert to right handed system)
+				/* change direction of pitch (convert to right handed system) */
 				R_adapted(0, 0) = -R_adapted(0, 0);
 				R_adapted(1, 0) = -R_adapted(1, 0);
 				R_adapted(2, 0) = -R_adapted(2, 0);
 				math::Vector<3> euler_angles;		//adapted euler angles for fixed wing operation
 				euler_angles = R_adapted.to_euler();
-				//fill in new attitude data
+
+				/* fill in new attitude data */
 				_att.roll    = euler_angles(0);
 				_att.pitch   = euler_angles(1);
 				_att.yaw     = euler_angles(2);
@@ -749,7 +753,7 @@ FixedwingAttitudeControl::task_main()
 				PX4_R(_att.R, 2, 1) = R_adapted(2, 1);
 				PX4_R(_att.R, 2, 2) = R_adapted(2, 2);
 
-				// lastly, roll- and yawspeed have to be swaped
+				/* lastly, roll- and yawspeed have to be swaped */
 				float helper = _att.rollspeed;
 				_att.rollspeed = -_att.yawspeed;
 				_att.yawspeed = helper;
@@ -820,6 +824,7 @@ FixedwingAttitudeControl::task_main()
 
 				float roll_sp = _parameters.rollsp_offset_rad;
 				float pitch_sp = _parameters.pitchsp_offset_rad;
+				float yaw_manual = 0.0f;
 				float throttle_sp = 0.0f;
 
 				/* Read attitude setpoint from uorb if
@@ -880,6 +885,8 @@ FixedwingAttitudeControl::task_main()
 						+ _parameters.rollsp_offset_rad;
 					pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
 						+ _parameters.pitchsp_offset_rad;
+					/* allow manual control of rudder deflection */
+					yaw_manual = _manual.r;
 					throttle_sp = _manual.z;
 					_actuators.control[4] = _manual.flaps;
 
@@ -979,6 +986,9 @@ FixedwingAttitudeControl::task_main()
 							_pitch_ctrl.get_desired_rate(),
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
+
+					/* add in manual rudder control */
+					_actuators.control[2] += yaw_manual;
 					if (!isfinite(yaw_u)) {
 						_yaw_ctrl.reset_integrator();
 						perf_count(_nonfinite_output_perf);
@@ -1018,7 +1028,7 @@ FixedwingAttitudeControl::task_main()
 				if (_rate_sp_pub > 0) {
 					/* publish the attitude rates setpoint */
 					orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
-				} else {
+				} else if (_rates_sp_id) {
 					/* advertise the attitude rates setpoint */
 					_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
 				}
@@ -1043,7 +1053,7 @@ FixedwingAttitudeControl::task_main()
 			/* publish the actuator controls */
 			if (_actuators_0_pub > 0) {
 				orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
-			} else {
+			} else if (_actuators_id) {
 				_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
 			}
 

src/modules/fw_att_control/module.mk

@@ -41,3 +41,5 @@ SRCS		= fw_att_control_main.cpp \
 		  fw_att_control_params.c
 
 MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION = -Os

src/modules/mavlink/mavlink_main.cpp

@@ -1419,6 +1419,8 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("DISTANCE_SENSOR", 10.0f);
 		configure_stream("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream("VFR_HUD", 10.0f);
+		configure_stream("SYSTEM_TIME", 1.0f);
+		configure_stream("TIMESYNC", 10.0f);
 		break;
 
 	default:

src/modules/mavlink/mavlink_messages.cpp

@@ -342,6 +342,8 @@ private:
 	MavlinkStreamStatustext(MavlinkStreamStatustext &);
 	MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &);
 	FILE *fp = nullptr;
+	unsigned write_err_count = 0;
+	static const unsigned write_err_threshold = 5;
 
 protected:
 	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
@@ -370,10 +372,21 @@ protected:
 				/* write log messages in first instance to disk */
 				if (_mavlink->get_instance_id() == 0) {
 					if (fp) {
-						fputs(msg.text, fp);
-						fputs("\n", fp);
-						fsync(fileno(fp));
-					} else {
+						if (EOF == fputs(msg.text, fp)) {
+							write_err_count++;
+						} else {
+							write_err_count = 0;
+						}
+
+						if (write_err_count >= write_err_threshold) {
+							(void)fclose(fp);
+							fp = nullptr;
+						} else {
+							(void)fputs("\n", fp);
+							(void)fsync(fileno(fp));
+						}
+
+					} else if (write_err_count < write_err_threshold) {
 						/* string to hold the path to the log */
 						char log_file_name[32] = "";
 						char log_file_path[64] = "";
@@ -389,6 +402,10 @@ protected:
 						strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt);
 						snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name);
 						fp = fopen(log_file_path, "ab");
+
+						/* write first message */
+						fputs(msg.text, fp);
+						fputs("\n", fp);
 					}
 				}
 			}
@@ -923,6 +940,92 @@ protected:
 	}
 };
 
+class MavlinkStreamSystemTime : public MavlinkStream
+{
+public:
+	const char *get_name() const {
+		return MavlinkStreamSystemTime::get_name_static();
+	}
+
+	static const char *get_name_static() {
+		return "SYSTEM_TIME";
+	}
+
+	uint8_t get_id() {
+		return MAVLINK_MSG_ID_SYSTEM_TIME;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink) {
+		return new MavlinkStreamSystemTime(mavlink);
+	}
+
+	unsigned get_size() {
+		return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	/* do not allow top copying this class */
+	MavlinkStreamSystemTime(MavlinkStreamSystemTime &);
+	MavlinkStreamSystemTime &operator = (const MavlinkStreamSystemTime &);
+
+protected:
+	explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	void send(const hrt_abstime t) {
+		mavlink_system_time_t msg;
+		timespec tv;
+
+		clock_gettime(CLOCK_REALTIME, &tv);
+
+		msg.time_boot_ms = hrt_absolute_time() / 1000;
+		msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
+
+		_mavlink->send_message(MAVLINK_MSG_ID_SYSTEM_TIME, &msg);
+	}
+};
+
+class MavlinkStreamTimesync : public MavlinkStream
+{
+public:
+	const char *get_name() const {
+		return MavlinkStreamTimesync::get_name_static();
+	}
+
+	static const char *get_name_static() {
+		return "TIMESYNC";
+	}
+
+	uint8_t get_id() {
+		return MAVLINK_MSG_ID_TIMESYNC;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink) {
+		return new MavlinkStreamTimesync(mavlink);
+	}
+
+	unsigned get_size() {
+		return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	/* do not allow top copying this class */
+	MavlinkStreamTimesync(MavlinkStreamTimesync &);
+	MavlinkStreamTimesync &operator = (const MavlinkStreamTimesync &);
+
+protected:
+	explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	void send(const hrt_abstime t) {
+		mavlink_timesync_t msg;
+
+		msg.tc1 = 0;
+		msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds
+
+		_mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &msg);
+	}
+};
 
 class MavlinkStreamGlobalPositionInt : public MavlinkStream
 {
@@ -2197,6 +2300,8 @@ StreamListItem *streams_list[] = {
 	new StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static),
 	new StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static),
 	new StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static),
+	new StreamListItem(&MavlinkStreamSystemTime::new_instance, &MavlinkStreamSystemTime::get_name_static),
+	new StreamListItem(&MavlinkStreamTimesync::new_instance, &MavlinkStreamTimesync::get_name_static),
 	new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static),
 	new StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static),
 	new StreamListItem(&MavlinkStreamViconPositionEstimate::new_instance, &MavlinkStreamViconPositionEstimate::get_name_static),

src/modules/mavlink/mavlink_parameters.cpp

@@ -44,7 +44,9 @@
 #include "mavlink_main.h"
 
 MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
-	_send_all_index(-1)
+	_send_all_index(-1),
+	_rc_param_map_pub(-1),
+	_rc_param_map()
 {
 }
 
@@ -135,6 +137,43 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 			break;
 		}
 
+	case MAVLINK_MSG_ID_PARAM_MAP_RC: {
+			/* map a rc channel to a parameter */
+			mavlink_param_map_rc_t map_rc;
+			mavlink_msg_param_map_rc_decode(msg, &map_rc);
+
+			if (map_rc.target_system == mavlink_system.sysid &&
+			    (map_rc.target_component == mavlink_system.compid ||
+			     map_rc.target_component == MAV_COMP_ID_ALL)) {
+
+				/* Copy values from msg to uorb using the parameter_rc_channel_index as index */
+				size_t i = map_rc.parameter_rc_channel_index;
+				_rc_param_map.param_index[i] = map_rc.param_index;
+				strncpy(&(_rc_param_map.param_id[i][0]), map_rc.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+				/* enforce null termination */
+				_rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0';
+				_rc_param_map.scale[i] = map_rc.scale;
+				_rc_param_map.value0[i] = map_rc.param_value0;
+				_rc_param_map.value_min[i] = map_rc.param_value_min;
+				_rc_param_map.value_max[i] = map_rc.param_value_max;
+				if (map_rc.param_index == -2) { // -2 means unset map
+					_rc_param_map.valid[i] = false;
+				} else {
+					_rc_param_map.valid[i] = true;
+				}
+				_rc_param_map.timestamp = hrt_absolute_time();
+
+				if (_rc_param_map_pub < 0) {
+					_rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map);
+
+				} else {
+					orb_publish(ORB_ID(rc_parameter_map), _rc_param_map_pub, &_rc_param_map);
+				}
+
+			}
+			break;
+		}
+
 	default:
 		break;
 	}

src/modules/mavlink/mavlink_parameters.h

@@ -44,6 +44,8 @@
 
 #include "mavlink_bridge_header.h"
 #include "mavlink_stream.h"
+#include <uORB/uORB.h>
+#include <uORB/topics/rc_parameter_map.h>
 
 class MavlinkParametersManager : public MavlinkStream
 {
@@ -112,4 +114,7 @@ protected:
 	void send(const hrt_abstime t);
 
 	void send_param(param_t param);
+
+	orb_advert_t _rc_param_map_pub;
+	struct rc_parameter_map_s _rc_param_map;
 };

src/modules/mavlink/mavlink_receiver.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -68,6 +68,8 @@
 
 #include <mathlib/mathlib.h>
 
+#include <conversion/rotation.h>
+
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
@@ -121,7 +123,9 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_old_timestamp(0),
 	_hil_local_proj_inited(0),
 	_hil_local_alt0(0.0f),
-	_hil_local_proj_ref{}
+	_hil_local_proj_ref{},
+	_time_offset_avg_alpha(0.6),
+	_time_offset(0)
 {
 
 	// make sure the FTP server is started
@@ -188,6 +192,14 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		MavlinkFTP::get_server()->handle_message(_mavlink, msg);
 		break;
 
+	case MAVLINK_MSG_ID_SYSTEM_TIME:
+		handle_message_system_time(msg);
+		break;
+
+	case MAVLINK_MSG_ID_TIMESYNC:
+		handle_message_timesync(msg);
+		break;
+
 	default:
 		break;
 	}
@@ -251,7 +263,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 		//check for MAVLINK terminate command
 		if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
 			/* This is the link shutdown command, terminate mavlink */
-			warnx("terminated by remote command");
+			warnx("terminated by remote");
 			fflush(stdout);
 			usleep(50000);
 
@@ -261,7 +273,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 		} else {
 
 			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
-				warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
+				warnx("ignoring CMD with same SYS/COMP (%d/%d) ID",
 				      mavlink_system.sysid, mavlink_system.compid);
 				return;
 			}
@@ -307,7 +319,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 		//check for MAVLINK terminate command
 		if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
 			/* This is the link shutdown command, terminate mavlink */
-			warnx("terminated by remote command");
+			warnx("terminated by remote");
 			fflush(stdout);
 			usleep(50000);
 
@@ -317,7 +329,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 		} else {
 
 			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
-				warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
+				warnx("ignoring CMD with same SYS/COMP (%d/%d) ID",
 				      mavlink_system.sysid, mavlink_system.compid);
 				return;
 			}
@@ -358,6 +370,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	mavlink_optical_flow_rad_t flow;
 	mavlink_msg_optical_flow_rad_decode(msg, &flow);
 
+	enum Rotation flow_rot;
+	param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
+
 	struct optical_flow_s f;
 	memset(&f, 0, sizeof(f));
 
@@ -374,6 +389,10 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	f.sensor_id = flow.sensor_id;
 	f.gyro_temperature = flow.temperature;
 
+	/* rotate measurements according to parameter */
+	float zeroval = 0.0f;
+	rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
+
 	if (_flow_pub < 0) {
 		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
 
@@ -689,7 +708,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
 	// Use the component ID to identify the vision sensor
 	vision_position.id = msg->compid;
 
-	vision_position.timestamp_boot = hrt_absolute_time();
+	vision_position.timestamp_boot = to_hrt(pos.usec); // Synced time
 	vision_position.timestamp_computer = pos.usec;
 	vision_position.x = pos.x;
 	vision_position.y = pos.y;
@@ -861,7 +880,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	manual.r = man.r / 1000.0f;
 	manual.z = man.z / 1000.0f;
 
-	warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
+	// warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
 
 	if (_manual_pub < 0) {
 		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
@@ -918,6 +937,66 @@ MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
 	}
 }
 
+void
+MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
+{
+	mavlink_system_time_t time;
+	mavlink_msg_system_time_decode(msg, &time);
+
+	timespec tv;
+	clock_gettime(CLOCK_REALTIME, &tv);
+
+	// date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009
+	bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS;
+	bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL;
+
+	if (!onb_unix_valid && ofb_unix_valid) {
+		tv.tv_sec = time.time_unix_usec / 1000000ULL;
+		tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
+		if(clock_settime(CLOCK_REALTIME, &tv)) {
+			warn("failed setting clock");
+		}
+		else {
+		warnx("[timesync] UTC time synced.");
+		}
+	}
+
+}
+
+void
+MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
+{
+	mavlink_timesync_t tsync;
+	mavlink_msg_timesync_decode(msg, &tsync);
+
+	uint64_t now_ns = hrt_absolute_time() * 1000LL ;
+
+	if (tsync.tc1 == 0) {
+
+		mavlink_timesync_t rsync; // return timestamped sync message
+
+		rsync.tc1 = now_ns;
+		rsync.ts1 = tsync.ts1;
+
+		_mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &rsync);
+
+		return;
+
+	} else if (tsync.tc1 > 0) {
+
+		int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; 
+		int64_t dt = _time_offset - offset_ns;
+
+		if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew 
+			_time_offset = offset_ns;
+			warnx("[timesync] Hard setting offset.");
+		} else {
+			smooth_time_offset(offset_ns);
+		}
+	}
+
+}
+
 void
 MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 {
@@ -1110,7 +1189,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 
 	/* print HIL sensors rate */
 	if ((timestamp - _old_timestamp) > 10000000) {
-		printf("receiving HIL sensors at %d hz\n", _hil_frames / 10);
+		// printf("receiving HIL sensors at %d hz\n", _hil_frames / 10);
 		_old_timestamp = timestamp;
 		_hil_frames = 0;
 	}
@@ -1128,7 +1207,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	memset(&hil_gps, 0, sizeof(hil_gps));
 
 	hil_gps.timestamp_time = timestamp;
-	hil_gps.time_gps_usec = gps.time_usec;
+	hil_gps.time_utc_usec = gps.time_usec;
 
 	hil_gps.timestamp_position = timestamp;
 	hil_gps.lat = gps.lat;
@@ -1385,6 +1464,23 @@ void MavlinkReceiver::print_status()
 
 }
 
+uint64_t MavlinkReceiver::to_hrt(uint64_t usec)
+{
+	return usec - (_time_offset / 1000) ;
+}
+
+
+void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns)
+{
+	/* alpha = 0.6 fixed for now. The closer alpha is to 1.0,
+         * the faster the moving average updates in response to
+	 * new offset samples.
+	 */
+
+ 	_time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset;
+}
+
+
 void *MavlinkReceiver::start_helper(void *context)
 {
 	MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);

src/modules/mavlink/mavlink_receiver.h

@@ -75,6 +75,8 @@
 
 #include "mavlink_ftp.h"
 
+#define PX4_EPOCH_SECS 1234567890ULL
+
 class Mavlink;
 
 class MavlinkReceiver
@@ -124,12 +126,23 @@ private:
 	void handle_message_manual_control(mavlink_message_t *msg);
 	void handle_message_heartbeat(mavlink_message_t *msg);
 	void handle_message_request_data_stream(mavlink_message_t *msg);
+	void handle_message_system_time(mavlink_message_t *msg);
+	void handle_message_timesync(mavlink_message_t *msg);
 	void handle_message_hil_sensor(mavlink_message_t *msg);
 	void handle_message_hil_gps(mavlink_message_t *msg);
 	void handle_message_hil_state_quaternion(mavlink_message_t *msg);
 
 	void *receive_thread(void *arg);
 
+	/**
+	* Convert remote nsec timestamp to local hrt time (usec)
+	*/
+	uint64_t to_hrt(uint64_t nsec);
+	/**
+	* Exponential moving average filter to smooth time offset
+	*/
+	void smooth_time_offset(uint64_t offset_ns);	
+
 	mavlink_status_t status;
 	struct vehicle_local_position_s hil_local_pos;
 	struct vehicle_control_mode_s _control_mode;
@@ -164,6 +177,8 @@ private:
 	bool _hil_local_proj_inited;
 	float _hil_local_alt0;
 	struct map_projection_reference_s _hil_local_proj_ref;
+	double _time_offset_avg_alpha;
+	uint64_t _time_offset;
 
 	/* do not allow copying this class */
 	MavlinkReceiver(const MavlinkReceiver&);

src/modules/mavlink/mavlink_tests/module.mk

@@ -47,4 +47,6 @@ MODULE_STACKSIZE = 5000
 
 MAXOPTIMIZATION	 = -Os
 
-EXTRACXXFLAGS	= -Weffc++ -DMAVLINK_FTP_UNIT_TEST
+EXTRACXXFLAGS	= -Weffc++ -DMAVLINK_FTP_UNIT_TEST -Wno-attributes -Wno-packed
+
+EXTRACFLAGS	= -Wno-packed

src/modules/navigator/navigator_params.c

@@ -50,7 +50,8 @@
  * Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).
  *
  * @unit meters
- * @min 0.0
+ * @min 20
+ * @max 200
  * @group Mission
  */
 PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
@@ -61,10 +62,11 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
  * Default acceptance radius, overridden by acceptance radius of waypoint if set.
  *
  * @unit meters
- * @min 1.0
+ * @min 0.05
+ * @max 200
  * @group Mission
  */
-PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f);
+PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
 
 /**
  * Set OBC mode for data link loss

src/modules/navigator/rtl_params.c

@@ -53,7 +53,8 @@
  * Default value of loiter radius after RTL (fixedwing only).
  *
  * @unit meters
- * @min 0.0
+ * @min 20
+ * @max 200
  * @group RTL
  */
 PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
@@ -65,10 +66,10 @@ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
  *
  * @unit meters
  * @min 0
- * @max 1
+ * @max 150
  * @group RTL
  */
-PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100);
+PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
 
 
 /**
@@ -78,7 +79,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100);
  * Land (i.e. slowly descend) from this altitude if autolanding allowed.
  *
  * @unit meters
- * @min 0
+ * @min 2
  * @max 100
  * @group RTL
  */
@@ -92,7 +93,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
  *
  * @unit seconds
  * @min -1
- * @max
+ * @max 300
  * @group RTL
  */
 PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -1167,7 +1167,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (local_pos.xy_global && local_pos.z_global) {
 				/* publish global position */
 				global_pos.timestamp = t;
-				global_pos.time_gps_usec = gps.time_gps_usec;
+				global_pos.time_utc_usec = gps.time_utc_usec;
 
 				double est_lat, est_lon;
 				map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);

src/modules/sdlog2/module.mk

@@ -46,5 +46,5 @@ MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
 
-EXTRACFLAGS = -Wframe-larger-than=1200
+EXTRACFLAGS = -Wframe-larger-than=1300
 

src/modules/sdlog2/sdlog2.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -39,12 +39,14 @@
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #include <nuttx/config.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <sys/prctl.h>
+#include <sys/statfs.h>
 #include <fcntl.h>
 #include <errno.h>
 #include <unistd.h>
@@ -57,6 +59,7 @@
 #include <unistd.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
+#include <time.h>
 
 #include <drivers/drv_range_finder.h>
 
@@ -103,6 +106,8 @@
 #include "sdlog2_format.h"
 #include "sdlog2_messages.h"
 
+#define PX4_EPOCH_SECS 1234567890ULL
+
 /**
  * Logging rate.
  *
@@ -158,7 +163,9 @@ static const int MIN_BYTES_TO_WRITE = 512;
 
 static bool _extended_logging = false;
 
-static const char *log_root = "/fs/microsd/log";
+#define MOUNTPOINT "/fs/microsd"
+static const char *mountpoint = MOUNTPOINT;
+static const char *log_root = MOUNTPOINT "/log";
 static int mavlink_fd = -1;
 struct logbuffer_s lb;
 
@@ -171,6 +178,7 @@ static char log_dir[32];
 /* statistics counters */
 static uint64_t start_time = 0;
 static unsigned long log_bytes_written = 0;
+static unsigned long last_checked_bytes_written = 0;
 static unsigned long log_msgs_written = 0;
 static unsigned long log_msgs_skipped = 0;
 
@@ -185,6 +193,9 @@ static bool log_name_timestamp = false;
 /* helper flag to track system state changes */
 static bool flag_system_armed = false;
 
+/* flag if warning about MicroSD card being almost full has already been sent */
+static bool space_warning_sent = false;
+
 static pthread_t logwriter_pthread = 0;
 static pthread_attr_t logwriter_attr;
 
@@ -244,6 +255,11 @@ static bool file_exist(const char *filename);
 
 static int file_copy(const char *file_old, const char *file_new);
 
+/**
+ * Check if there is still free space available
+ */
+static int check_free_space(void);
+
 static void handle_command(struct vehicle_command_s *cmd);
 
 static void handle_status(struct vehicle_status_s *cmd);
@@ -338,13 +354,16 @@ int create_log_dir()
 	uint16_t dir_number = 1; // start with dir sess001
 	int mkdir_ret;
 
-	if (log_name_timestamp && gps_time != 0) {
-		/* use GPS date for log dir naming: e.g. /fs/microsd/2014-01-19 */
-		time_t gps_time_sec = gps_time / 1000000;
-		struct tm t;
-		gmtime_r(&gps_time_sec, &t);
+	struct timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
+	time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+	struct tm tt;
+	struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
+
+	if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
 		int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root);
-		strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &t);
+		strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt);
 		mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
 
 		if (mkdir_ret == OK) {
@@ -384,8 +403,7 @@ int create_log_dir()
 	}
 
 	/* print logging path, important to find log file later */
-	warnx("log dir: %s", log_dir);
-	mavlink_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir);
+	mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir);
 	return 0;
 }
 
@@ -395,12 +413,16 @@ int open_log_file()
 	char log_file_name[32] = "";
 	char log_file_path[64] = "";
 
-	if (log_name_timestamp && gps_time != 0) {
-		/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
-		time_t gps_time_sec = gps_time / 1000000;
-		struct tm t;
-		gmtime_r(&gps_time_sec, &t);
-		strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.bin", &t);
+	struct timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
+	time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+	struct tm tt;
+	struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
+
+	/* start logging if we have a valid time and the time is not in the past */
+	if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
+		strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.px4log", &tt);
 		snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name);
 
 	} else {
@@ -408,8 +430,8 @@ int open_log_file()
 
 		/* look for the next file that does not exist */
 		while (file_number <= MAX_NO_LOGFILE) {
-			/* format log file path: e.g. /fs/microsd/sess001/log001.bin */
-			snprintf(log_file_name, sizeof(log_file_name), "log%03u.bin", file_number);
+			/* format log file path: e.g. /fs/microsd/sess001/log001.px4log */
+			snprintf(log_file_name, sizeof(log_file_name), "log%03u.px4log", file_number);
 			snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name);
 
 			if (!file_exist(log_file_path)) {
@@ -421,7 +443,7 @@ int open_log_file()
 
 		if (file_number > MAX_NO_LOGFILE) {
 			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-			mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
+			mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
 			return -1;
 		}
 	}
@@ -429,12 +451,10 @@ int open_log_file()
 	int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
 
 	if (fd < 0) {
-		warn("failed opening log: %s", log_file_name);
-		mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+		mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
 
 	} else {
-		warnx("log file: %s", log_file_name);
-		mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
+		mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
 	}
 
 	return fd;
@@ -446,12 +466,15 @@ int open_perf_file(const char* str)
 	char log_file_name[32] = "";
 	char log_file_path[64] = "";
 
-	if (log_name_timestamp && gps_time != 0) {
-		/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
-		time_t gps_time_sec = gps_time / 1000000;
-		struct tm t;
-		gmtime_r(&gps_time_sec, &t);
-		strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &t);
+	struct timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.txt */
+	time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+	struct tm tt;
+	struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
+
+	if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
+		strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt);
 		snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
 
 	} else {
@@ -459,7 +482,7 @@ int open_perf_file(const char* str)
 
 		/* look for the next file that does not exist */
 		while (file_number <= MAX_NO_LOGFILE) {
-			/* format log file path: e.g. /fs/microsd/sess001/log001.bin */
+			/* format log file path: e.g. /fs/microsd/sess001/log001.txt */
 			snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number);
 			snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
 
@@ -472,7 +495,7 @@ int open_perf_file(const char* str)
 
 		if (file_number > MAX_NO_LOGFILE) {
 			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-			mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
+			mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
 			return -1;
 		}
 	}
@@ -480,12 +503,8 @@ int open_perf_file(const char* str)
 	int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
 
 	if (fd < 0) {
-		warn("failed opening log: %s", log_file_name);
-		mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+		mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name);
 
-	} else {
-		warnx("log file: %s", log_file_name);
-		mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
 	}
 
 	return fd;
@@ -547,6 +566,7 @@ static void *logwriter_thread(void *arg)
 		pthread_mutex_unlock(&logbuffer_mutex);
 
 		if (available > 0) {
+
 			/* do heavy IO here */
 			if (available > MAX_WRITE_CHUNK) {
 				n = MAX_WRITE_CHUNK;
@@ -584,6 +604,16 @@ static void *logwriter_thread(void *arg)
 		if (++poll_count == 10) {
 			fsync(log_fd);
 			poll_count = 0;
+
+		}
+
+		if (log_bytes_written - last_checked_bytes_written > 20*1024*1024) {
+			/* check if space is available, if not stop everything */
+			if (check_free_space() != OK) {
+				logwriter_should_exit = true;
+				main_thread_should_exit = true;
+			}
+			last_checked_bytes_written = log_bytes_written;
 		}
 	}
 
@@ -598,15 +628,15 @@ static void *logwriter_thread(void *arg)
 
 void sdlog2_start_log()
 {
-	warnx("start logging");
-	mavlink_log_info(mavlink_fd, "[sdlog2] start logging");
+	mavlink_and_console_log_info(mavlink_fd, "[sdlog2] start logging");
 
 	/* create log dir if needed */
 	if (create_log_dir() != 0) {
-		mavlink_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
-		errx(1, "error creating log dir");
+		mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
+		exit(1);
 	}
 
+
 	/* initialize statistics counter */
 	log_bytes_written = 0;
 	start_time = hrt_absolute_time();
@@ -644,8 +674,7 @@ void sdlog2_start_log()
 
 void sdlog2_stop_log()
 {
-	warnx("stop logging");
-	mavlink_log_info(mavlink_fd, "[sdlog2] stop logging");
+	mavlink_and_console_log_info(mavlink_fd, "[sdlog2] stop logging");
 
 	logging_enabled = false;
 
@@ -771,7 +800,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
 	if (mavlink_fd < 0) {
-		warnx("failed to open MAVLink log stream, start mavlink app first");
+		warnx("ERR: log stream, start mavlink app first");
 	}
 
 	/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
@@ -899,11 +928,17 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	}
 
+
+	if (check_free_space() != OK) {
+		errx(1, "ERR: MicroSD almost full");
+	}
+
+
 	/* create log root dir */
 	int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
 
 	if (mkdir_ret != 0 && errno != EEXIST) {
-		err(1, "failed creating log root dir: %s", log_root);
+		err(1, "ERR: failed creating log dir: %s", log_root);
 	}
 
 	/* copy conversion scripts */
@@ -1112,6 +1147,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	hrt_abstime magnetometer_timestamp = 0;
 	hrt_abstime barometer_timestamp = 0;
 	hrt_abstime differential_pressure_timestamp = 0;
+	hrt_abstime barometer1_timestamp = 0;
 	hrt_abstime gyro1_timestamp = 0;
 	hrt_abstime accelerometer1_timestamp = 0;
 	hrt_abstime magnetometer1_timestamp = 0;
@@ -1127,7 +1163,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		/* check GPS topic to get GPS time */
 		if (log_name_timestamp) {
 			if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
-				gps_time = buf_gps_pos.time_gps_usec;
+				gps_time = buf_gps_pos.time_utc_usec;
 			}
 		}
 
@@ -1155,7 +1191,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
 
 		if (gps_pos_updated && log_name_timestamp) {
-			gps_time = buf_gps_pos.time_gps_usec;
+			gps_time = buf_gps_pos.time_utc_usec;
 		}
 
 		if (!logging_enabled) {
@@ -1185,7 +1221,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		if (gps_pos_updated) {
 
 			log_msg.msg_type = LOG_GPS_MSG;
-			log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
+			log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec;
 			log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
 			log_msg.body.log_GPS.eph = buf_gps_pos.eph;
 			log_msg.body.log_GPS.epv = buf_gps_pos.epv;
@@ -1257,6 +1293,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			bool write_IMU1 = false;
 			bool write_IMU2 = false;
 			bool write_SENS = false;
+			bool write_SENS1 = false;
 
 			if (buf.sensor.timestamp != gyro_timestamp) {
 				gyro_timestamp = buf.sensor.timestamp;
@@ -1307,6 +1344,22 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(SENS);
 			}
 
+			if (buf.sensor.baro1_timestamp != barometer1_timestamp) {
+				barometer1_timestamp = buf.sensor.baro1_timestamp;
+				write_SENS1 = true;
+			}
+
+			if (write_SENS1) {
+				log_msg.msg_type = LOG_AIR1_MSG;
+				log_msg.body.log_SENS.baro_pres = buf.sensor.baro1_pres_mbar;
+				log_msg.body.log_SENS.baro_alt = buf.sensor.baro1_alt_meter;
+				log_msg.body.log_SENS.baro_temp = buf.sensor.baro1_temp_celcius;
+				log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure1_pa;
+				log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure1_filtered_pa;
+				// XXX moving to AIR0-AIR2 instead of SENS
+				LOGBUFFER_WRITE_AND_COUNT(SENS);
+			}
+
 			if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) {
 				accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp;
 				write_IMU1 = true;
@@ -1737,8 +1790,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	free(lb.data);
 
-	warnx("exiting");
-
 	thread_running = false;
 
 	return 0;
@@ -1771,7 +1822,7 @@ int file_copy(const char *file_old, const char *file_new)
 	int ret = 0;
 
 	if (source == NULL) {
-		warnx("failed opening input file to copy");
+		warnx("ERR: open in");
 		return 1;
 	}
 
@@ -1779,7 +1830,7 @@ int file_copy(const char *file_old, const char *file_new)
 
 	if (target == NULL) {
 		fclose(source);
-		warnx("failed to open output file to copy");
+		warnx("ERR: open out");
 		return 1;
 	}
 
@@ -1804,6 +1855,34 @@ int file_copy(const char *file_old, const char *file_new)
 	return OK;
 }
 
+int check_free_space()
+{
+	/* use statfs to determine the number of blocks left */
+	FAR struct statfs statfs_buf;
+	if (statfs(mountpoint, &statfs_buf) != OK) {
+		errx(ERROR, "ERR: statfs");
+	}
+
+	/* use a threshold of 50 MiB */
+	if (statfs_buf.f_bavail < (int)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
+		mavlink_and_console_log_critical(mavlink_fd,
+			"[sdlog2] no space on MicroSD: %u MiB",
+			(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
+		/* we do not need a flag to remember that we sent this warning because we will exit anyway */
+		return ERROR;
+
+	/* use a threshold of 100 MiB to send a warning */
+	} else if (!space_warning_sent && statfs_buf.f_bavail < (int)(100 * 1024 * 1024 / statfs_buf.f_bsize)) {
+		mavlink_and_console_log_critical(mavlink_fd,
+			"[sdlog2] space on MicroSD low: %u MiB",
+			(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
+		/* we don't want to flood the user with warnings */
+		space_warning_sent = true;
+	}
+
+	return OK;
+}
+
 void handle_command(struct vehicle_command_s *cmd)
 {
 	int param;

src/modules/sdlog2/sdlog2_messages.h

@@ -424,6 +424,9 @@ struct log_ENCD_s {
 	float vel1;
 };
 
+/* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */
+#define LOG_AIR1_MSG 40
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -457,7 +460,8 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT_S(IMU, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT_S(IMU1, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT_S(IMU2, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
-	LOG_FORMAT(SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
+	LOG_FORMAT_S(SENS, SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
+	LOG_FORMAT_S(AIR1, SENS, "fffff",	"BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"),
 	LOG_FORMAT(LPOS, "ffffffffLLfBBBff",	"X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
 	LOG_FORMAT(LPSP, "ffff",		"X,Y,Z,Yaw"),
 	LOG_FORMAT(GPS, "QBffLLfffffBHHH",	"GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),

src/modules/sensors/sensor_params.c

@@ -261,6 +261,25 @@ PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
  */
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 
+/**
+ * PX4Flow board rotation
+ *
+ * This parameter defines the rotation of the PX4FLOW board relative to the platform. 
+ * Zero rotation is defined as Y on flow board pointing towards front of vehicle
+ * Possible values are:
+ *    0 = No rotation
+ *    1 = Yaw 45°
+ *    2 = Yaw 90°
+ *    3 = Yaw 135°
+ *    4 = Yaw 180°
+ *    5 = Yaw 225°
+ *    6 = Yaw 270°
+ *    7 = Yaw 315°
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0);
+
 /**
  * Board rotation Y (Pitch) offset
  *
@@ -747,6 +766,41 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);	/**< default function: camera roll */
  */
 PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
 
+/**
+ * Channel which changes a parameter
+ *
+ * Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.
+ * Set to 0 to deactivate *
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_PARAM1, 0);
+
+/**
+ * Channel which changes a parameter
+ *
+ * Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.
+ * Set to 0 to deactivate *
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_PARAM2, 0);
+
+/**
+ * Channel which changes a parameter
+ *
+ * Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.
+ * Set to 0 to deactivate *
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_PARAM3, 0);
 
 /**
  * Failsafe channel PWM threshold.

src/modules/sensors/sensors.cpp

@@ -37,7 +37,7 @@
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include <nuttx/config.h>
@@ -63,6 +63,7 @@
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_adc.h>
 #include <drivers/drv_airspeed.h>
+#include <drivers/drv_px4flow.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -82,6 +83,7 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/rc_parameter_map.h>
 
 #define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20   /* 40 ms downtime at 500 Hz update rate   */
 #define ACC_HEALTH_COUNTER_LIMIT_ERROR  20   /* 40 ms downtime at 500 Hz update rate   */
@@ -190,6 +192,14 @@ private:
 	uint8_t	get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
 	uint8_t	get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
 
+	/**
+	 * Update paramters from RC channels if the functionality is activated and the
+	 * input has changed since the last update
+	 *
+	 * @param
+	 */
+	void set_params_from_rc();
+
 	/**
 	 * Gather and publish RC input data.
 	 */
@@ -216,10 +226,12 @@ private:
 	int		_mag2_sub;			/**< raw mag2 data subscription */
 	int 		_rc_sub;			/**< raw rc channels data subscription */
 	int		_baro_sub;			/**< raw baro data subscription */
+	int		_baro1_sub;			/**< raw baro data subscription */
 	int		_airspeed_sub;			/**< airspeed subscription */
 	int		_diff_pres_sub;			/**< raw differential pressure subscription */
 	int		_vcontrol_mode_sub;			/**< vehicle control mode subscription */
 	int 		_params_sub;			/**< notification of parameter updates */
+	int		_rc_parameter_map_sub;			/**< rc parameter map subscription */
 	int 		_manual_control_sub;			/**< notification of manual control updates */
 
 	orb_advert_t	_sensor_pub;			/**< combined sensor data topic */
@@ -237,6 +249,7 @@ private:
 	struct baro_report _barometer;			/**< barometer data */
 	struct differential_pressure_s _diff_pres;
 	struct airspeed_s _airspeed;
+	struct rc_parameter_map_s _rc_parameter_map;
 
 	math::Matrix<3, 3>	_board_rotation;		/**< rotation matrix for the orientation that the board is mounted */
 	math::Matrix<3, 3>	_external_mag_rotation;		/**< rotation matrix for the orientation that an external mag is mounted */
@@ -263,6 +276,7 @@ private:
 		float diff_pres_analog_scale;
 
 		int board_rotation;
+		int flow_rotation;
 		int external_mag_rotation;
 
 		float board_offset[3];
@@ -288,6 +302,8 @@ private:
 		int rc_map_aux4;
 		int rc_map_aux5;
 
+		int rc_map_param[RC_PARAM_MAP_NCHAN];
+
 		int32_t rc_fails_thr;
 		float rc_assist_th;
 		float rc_auto_th;
@@ -348,6 +364,12 @@ private:
 		param_t rc_map_aux4;
 		param_t rc_map_aux5;
 
+		param_t rc_map_param[RC_PARAM_MAP_NCHAN];
+		param_t rc_param[RC_PARAM_MAP_NCHAN];	/**< param handles for the paramters which are bound
+							  to a RC channel, equivalent float values in the
+							  _parameters struct are not existing
+							  because these parameters are never read. */
+
 		param_t rc_fails_thr;
 		param_t rc_assist_th;
 		param_t rc_auto_th;
@@ -361,6 +383,7 @@ private:
 		param_t battery_current_scaling;
 
 		param_t board_rotation;
+		param_t flow_rotation;
 		param_t external_mag_rotation;
 
 		param_t board_offset[3];
@@ -378,27 +401,27 @@ private:
 	/**
 	 * Do accel-related initialisation.
 	 */
-	void		accel_init();
+	int		accel_init();
 
 	/**
 	 * Do gyro-related initialisation.
 	 */
-	void		gyro_init();
+	int		gyro_init();
 
 	/**
 	 * Do mag-related initialisation.
 	 */
-	void		mag_init();
+	int		mag_init();
 
 	/**
 	 * Do baro-related initialisation.
 	 */
-	void		baro_init();
+	int		baro_init();
 
 	/**
 	 * Do adc-related initialisation.
 	 */
-	void		adc_init();
+	int		adc_init();
 
 	/**
 	 * Poll the accelerometer for updated data.
@@ -450,6 +473,11 @@ private:
 	 */
 	void 		parameter_update_poll(bool forced = false);
 
+	/**
+	 * Check for changes in rc_parameter_map
+	 */
+	void 		rc_parameter_map_poll(bool forced = false);
+
 	/**
 	 * Poll the ADC and update readings to suit.
 	 *
@@ -479,7 +507,7 @@ Sensors::Sensors() :
 	_fd_adc(-1),
 	_last_adc(0),
 
-	_task_should_exit(false),
+	_task_should_exit(true),
 	_sensors_task(-1),
 	_hil_enabled(false),
 	_publishing(true),
@@ -496,8 +524,10 @@ Sensors::Sensors() :
 	_mag2_sub(-1),
 	_rc_sub(-1),
 	_baro_sub(-1),
+	_baro1_sub(-1),
 	_vcontrol_mode_sub(-1),
 	_params_sub(-1),
+	_rc_parameter_map_sub(-1),
 	_manual_control_sub(-1),
 
 /* publications */
@@ -518,6 +548,7 @@ Sensors::Sensors() :
 {
 	memset(&_rc, 0, sizeof(_rc));
 	memset(&_diff_pres, 0, sizeof(_diff_pres));
+	memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
 
 	/* basic r/c parameters */
 	for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@@ -570,6 +601,13 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
 	_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
 
+	/* RC to parameter mapping for changing parameters with RC */
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		char name[PARAM_ID_LEN];
+		snprintf(name, PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1
+		_parameter_handles.rc_map_param[i] = param_find(name);
+	}
+
 	/* RC thresholds */
 	_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
 	_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
@@ -614,6 +652,7 @@ Sensors::Sensors() :
 
 	/* rotations */
 	_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
+	_parameter_handles.flow_rotation = param_find("SENS_FLOW_ROT");
 	_parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT");
 
 	/* rotation offsets */
@@ -747,6 +786,9 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
 	param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
 	param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i]));
+	}
 	param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
 	param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
 	_parameters.rc_assist_inv = (_parameters.rc_assist_th < 0);
@@ -791,6 +833,10 @@ Sensors::parameters_update()
 	_rc.function[RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
 	_rc.function[RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
 
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		_rc.function[PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
+	}
+
 	/* gyro offsets */
 	param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
 	param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1]));
@@ -831,8 +877,22 @@ Sensors::parameters_update()
 	}
 
 	param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
+	param_get(_parameter_handles.flow_rotation, &(_parameters.flow_rotation));
 	param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation));
 
+	/* set px4flow rotation */
+	int	flowfd;
+	flowfd = open(PX4FLOW_DEVICE_PATH, 0);
+	if (flowfd >= 0) {
+ 		int flowret = ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation);
+ 		if (flowret) {
+ 			warnx("flow rotation could not be set");
+			close(flowfd);
+			return ERROR;
+ 		}
+		close(flowfd);
+ 	}	
+	
 	get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
 	get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
 
@@ -850,26 +910,26 @@ Sensors::parameters_update()
 
 	/* update barometer qnh setting */
 	param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh));
-	int	fd;
-	fd = open(BARO_DEVICE_PATH, 0);
-	if (fd < 0) {
-		warn("%s", BARO_DEVICE_PATH);
-		errx(1, "FATAL: no barometer found");
+	int	barofd;
+	barofd = open(BARO_DEVICE_PATH, 0);
+	if (barofd < 0) {
+		warnx("ERROR: no barometer foundon %s", BARO_DEVICE_PATH);
+		return ERROR;
 
 	} else {
-		int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
-		if (ret) {
+		int baroret = ioctl(barofd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));
+		if (baroret) {
 			warnx("qnh could not be set");
-			close(fd);
+			close(barofd);
 			return ERROR;
 		}
-		close(fd);
+		close(barofd);
 	}
 
 	return OK;
 }
 
-void
+int
 Sensors::accel_init()
 {
 	int	fd;
@@ -877,8 +937,8 @@ Sensors::accel_init()
 	fd = open(ACCEL_DEVICE_PATH, 0);
 
 	if (fd < 0) {
-		warn("%s", ACCEL_DEVICE_PATH);
-		errx(1, "FATAL: no accelerometer found");
+		warnx("FATAL: no accelerometer found: %s", ACCEL_DEVICE_PATH);
+		return ERROR;
 
 	} else {
 
@@ -907,9 +967,11 @@ Sensors::accel_init()
 
 		close(fd);
 	}
+
+	return OK;
 }
 
-void
+int
 Sensors::gyro_init()
 {
 	int	fd;
@@ -917,8 +979,8 @@ Sensors::gyro_init()
 	fd = open(GYRO_DEVICE_PATH, 0);
 
 	if (fd < 0) {
-		warn("%s", GYRO_DEVICE_PATH);
-		errx(1, "FATAL: no gyro found");
+		warnx("FATAL: no gyro found: %s", GYRO_DEVICE_PATH);
+		return ERROR;
 
 	} else {
 
@@ -948,9 +1010,11 @@ Sensors::gyro_init()
 
 		close(fd);
 	}
+
+	return OK;
 }
 
-void
+int
 Sensors::mag_init()
 {
 	int	fd;
@@ -959,8 +1023,8 @@ Sensors::mag_init()
 	fd = open(MAG_DEVICE_PATH, 0);
 
 	if (fd < 0) {
-		warn("%s", MAG_DEVICE_PATH);
-		errx(1, "FATAL: no magnetometer found");
+		warnx("FATAL: no magnetometer found: %s", MAG_DEVICE_PATH);
+		return ERROR;
 	}
 
 	/* try different mag sampling rates */
@@ -981,7 +1045,8 @@ Sensors::mag_init()
 			ioctl(fd, SENSORIOCSPOLLRATE, 100);
 
 		} else {
-			errx(1, "FATAL: mag sampling rate could not be set");
+			warnx("FATAL: mag sampling rate could not be set");
+			return ERROR;
 		}
 	}
 
@@ -990,7 +1055,8 @@ Sensors::mag_init()
 	ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
 
 	if (ret < 0) {
-		errx(1, "FATAL: unknown if magnetometer is external or onboard");
+		warnx("FATAL: unknown if magnetometer is external or onboard");
+		return ERROR;
 
 	} else if (ret == 1) {
 		_mag_is_external = true;
@@ -1000,9 +1066,11 @@ Sensors::mag_init()
 	}
 
 	close(fd);
+
+	return OK;
 }
 
-void
+int
 Sensors::baro_init()
 {
 	int	fd;
@@ -1010,26 +1078,30 @@ Sensors::baro_init()
 	fd = open(BARO_DEVICE_PATH, 0);
 
 	if (fd < 0) {
-		warn("%s", BARO_DEVICE_PATH);
-		errx(1, "FATAL: No barometer found");
+		warnx("FATAL: No barometer found: %s", BARO_DEVICE_PATH);
+		return ERROR;
 	}
 
 	/* set the driver to poll at 150Hz */
 	ioctl(fd, SENSORIOCSPOLLRATE, 150);
 
 	close(fd);
+
+	return OK;
 }
 
-void
+int
 Sensors::adc_init()
 {
 
 	_fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
 
 	if (_fd_adc < 0) {
-		warn(ADC_DEVICE_PATH);
-		warnx("FATAL: no ADC found");
+		warnx("FATAL: no ADC found: %s", ADC_DEVICE_PATH);
+		return ERROR;
 	}
+
+	return OK;
 }
 
 void
@@ -1200,6 +1272,34 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 
 		raw.magnetometer_timestamp = mag_report.timestamp;
 	}
+
+	orb_check(_mag1_sub, &mag_updated);
+
+	if (mag_updated) {
+		struct mag_report	mag_report;
+
+		orb_copy(ORB_ID(sensor_mag1), _mag1_sub, &mag_report);
+
+		raw.magnetometer1_raw[0] = mag_report.x_raw;
+		raw.magnetometer1_raw[1] = mag_report.y_raw;
+		raw.magnetometer1_raw[2] = mag_report.z_raw;
+
+		raw.magnetometer1_timestamp = mag_report.timestamp;
+	}
+
+	orb_check(_mag2_sub, &mag_updated);
+
+	if (mag_updated) {
+		struct mag_report	mag_report;
+
+		orb_copy(ORB_ID(sensor_mag2), _mag2_sub, &mag_report);
+
+		raw.magnetometer2_raw[0] = mag_report.x_raw;
+		raw.magnetometer2_raw[1] = mag_report.y_raw;
+		raw.magnetometer2_raw[2] = mag_report.z_raw;
+
+		raw.magnetometer2_timestamp = mag_report.timestamp;
+	}
 }
 
 void
@@ -1218,6 +1318,21 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
 
 		raw.baro_timestamp = _barometer.timestamp;
 	}
+
+	orb_check(_baro1_sub, &baro_updated);
+
+	if (baro_updated) {
+
+		struct baro_report	baro_report;
+
+		orb_copy(ORB_ID(sensor_baro1), _baro1_sub, &baro_report);
+
+		raw.baro1_pres_mbar = baro_report.pressure; // Pressure in mbar
+		raw.baro1_alt_meter = baro_report.altitude; // Altitude in meters
+		raw.baro1_temp_celcius = baro_report.temperature; // Temperature in degrees celcius
+
+		raw.baro1_timestamp = baro_report.timestamp;
+	}
 }
 
 void
@@ -1373,6 +1488,45 @@ Sensors::parameter_update_poll(bool forced)
 	}
 }
 
+void
+Sensors::rc_parameter_map_poll(bool forced)
+{
+	bool map_updated;
+	orb_check(_rc_parameter_map_sub, &map_updated);
+
+	if (map_updated) {
+		orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
+		/* update paramter handles to which the RC channels are mapped */
+		for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+			if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
+				/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
+				 * or no request to map this channel to a param has been sent via mavlink
+				 */
+				continue;
+			}
+
+			/* Set the handle by index if the index is set, otherwise use the id */
+			if (_rc_parameter_map.param_index[i] >= 0) {
+				_parameter_handles.rc_param[i] = param_for_index((unsigned)_rc_parameter_map.param_index[i]);
+			} else {
+				_parameter_handles.rc_param[i] = param_find(_rc_parameter_map.param_id[i]);
+			}
+
+		}
+		warnx("rc to parameter map updated");
+		for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+			warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
+					i,
+					_rc_parameter_map.param_id[i],
+					(double)_rc_parameter_map.scale[i],
+					(double)_rc_parameter_map.value0[i],
+					(double)_rc_parameter_map.value_min[i],
+					(double)_rc_parameter_map.value_max[i]
+					);
+		}
+	}
+}
+
 void
 Sensors::adc_poll(struct sensor_combined_s &raw)
 {
@@ -1551,6 +1705,31 @@ Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
 	}
 }
 
+void
+Sensors::set_params_from_rc()
+{
+	static float param_rc_values[RC_PARAM_MAP_NCHAN] = {};
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
+			/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
+			 * or no request to map this channel to a param has been sent via mavlink
+			 */
+			continue;
+		}
+
+		float rc_val = get_rc_value((enum RC_CHANNELS_FUNCTION)(PARAM_1 + i), -1.0, 1.0);
+		/* Check if the value has changed,
+		 * maybe we need to introduce a more aggressive limit here */
+		if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) {
+			param_rc_values[i] = rc_val;
+			float param_val = math::constrain(
+					_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
+					_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
+			param_set(_parameter_handles.rc_param[i], &param_val);
+		}
+	}
+}
+
 void
 Sensors::rc_poll()
 {
@@ -1717,6 +1896,13 @@ Sensors::rc_poll()
 			} else {
 				_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
 			}
+
+			/* Update parameters from RC Channels (tuning with RC) if activated */
+			static hrt_abstime last_rc_to_param_map_time = 0;
+			if (hrt_elapsed_time(&last_rc_to_param_map_time) > 1e6) {
+				set_params_from_rc();
+				last_rc_to_param_map_time = hrt_absolute_time();
+			}
 		}
 	}
 }
@@ -1732,11 +1918,27 @@ Sensors::task_main()
 {
 
 	/* start individual sensors */
-	accel_init();
-	gyro_init();
-	mag_init();
-	baro_init();
-	adc_init();
+	int ret;
+	ret = accel_init();
+	if (ret) {
+		goto exit_immediate;
+	}
+	ret = gyro_init();
+	if (ret) {
+		goto exit_immediate;
+	}
+	ret = mag_init();
+	if (ret) {
+		goto exit_immediate;
+	}
+	ret = baro_init();
+	if (ret) {
+		goto exit_immediate;
+	}
+	ret = adc_init();
+	if (ret) {
+		goto exit_immediate;
+	}
 
 	/*
 	 * do subscriptions
@@ -1752,9 +1954,11 @@ Sensors::task_main()
 	_mag2_sub = orb_subscribe(ORB_ID(sensor_mag2));
 	_rc_sub = orb_subscribe(ORB_ID(input_rc));
 	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
+	_baro1_sub = orb_subscribe(ORB_ID(sensor_baro1));
 	_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
 	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 
 	/* rate limit vehicle status updates to 5Hz */
@@ -1788,6 +1992,7 @@ Sensors::task_main()
 	diff_pres_poll(raw);
 
 	parameter_update_poll(true /* forced */);
+	rc_parameter_map_poll(true /* forced */);
 
 	/* advertise the sensor_combined topic and make the initial publication */
 	_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
@@ -1799,6 +2004,8 @@ Sensors::task_main()
 	fds[0].fd = _gyro_sub;
 	fds[0].events = POLLIN;
 
+	_task_should_exit = false;
+
 	while (!_task_should_exit) {
 
 		/* wait for up to 50ms for data */
@@ -1820,6 +2027,9 @@ Sensors::task_main()
 		/* check parameters for updates */
 		parameter_update_poll();
 
+		/* check rc parameter map for updates */
+		rc_parameter_map_poll();
+
 		/* the timestamp of the raw struct is updated by the gyro_poll() method */
 
 		/* copy most recent sensor data */
@@ -1846,8 +2056,9 @@ Sensors::task_main()
 
 	warnx("[sensors] exiting.");
 
+exit_immediate:
 	_sensors_task = -1;
-	_exit(0);
+	_exit(ret);
 }
 
 int
@@ -1863,9 +2074,13 @@ Sensors::start()
 				       (main_t)&Sensors::task_main_trampoline,
 				       nullptr);
 
+	/* wait until the task is up and running or has failed */
+	while(_sensors_task > 0 && _task_should_exit) {
+		usleep(100);
+	}
+
 	if (_sensors_task < 0) {
-		warn("task start failed");
-		return -errno;
+		return -ERROR;
 	}
 
 	return OK;

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -78,89 +78,87 @@ float constrain(float val, float min, float max)
  */
 
 const MultirotorMixer::Rotor _config_quad_x[] = {
-	{ -0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107, -1.00 },
-	{ -0.707107, -0.707107, -1.00 },
+	{ -0.707107,  0.707107,  1.000000 },
+	{  0.707107, -0.707107,  1.000000 },
+	{  0.707107,  0.707107, -1.000000 },
+	{ -0.707107, -0.707107, -1.000000 },
 };
 const MultirotorMixer::Rotor _config_quad_plus[] = {
-	{ -1.000000,  0.000000,  1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
+	{ -1.000000,  0.000000,  1.000000 },
+	{  1.000000,  0.000000,  1.000000 },
+	{  0.000000,  1.000000, -1.000000 },
+	{ -0.000000, -1.000000, -1.000000 },
 };
-//Add table for quad in V configuration, which is not generated by multi_tables!
 const MultirotorMixer::Rotor _config_quad_v[] = {
-	{ -0.3223,  0.9466,   0.4242 },
-	{  0.3223, -0.9466,   1.0000 },
-	{  0.3223,  0.9466,  -0.4242 },
-	{ -0.3223, -0.9466,  -1.0000 },
+	{ -0.322266,  0.946649,  0.424200 },
+	{  0.322266,  0.946649,  1.000000 },
+	{  0.322266,  0.946649, -0.424200 },
+	{ -0.322266,  0.946649, -1.000000 },
 };
 const MultirotorMixer::Rotor _config_quad_wide[] = {
-	{ -0.927184,  0.374607,  1.00 },
-	{  0.777146, -0.629320,  1.00 },
-	{  0.927184,  0.374607, -1.00 },
-	{ -0.777146, -0.629320, -1.00 },
+	{ -0.927184,  0.374607,  1.000000 },
+	{  0.777146, -0.629320,  1.000000 },
+	{  0.927184,  0.374607, -1.000000 },
+	{ -0.777146, -0.629320, -1.000000 },
 };
 const MultirotorMixer::Rotor _config_hex_x[] = {
-	{ -1.000000,  0.000000, -1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{  0.500000,  0.866025, -1.00 },
-	{ -0.500000, -0.866025,  1.00 },
-	{ -0.500000,  0.866025,  1.00 },
-	{  0.500000, -0.866025, -1.00 },
+	{ -1.000000,  0.000000, -1.000000 },
+	{  1.000000,  0.000000,  1.000000 },
+	{  0.500000,  0.866025, -1.000000 },
+	{ -0.500000, -0.866025,  1.000000 },
+	{ -0.500000,  0.866025,  1.000000 },
+	{  0.500000, -0.866025, -1.000000 },
 };
 const MultirotorMixer::Rotor _config_hex_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000,  1.00 },
-	{  0.866025, -0.500000, -1.00 },
-	{ -0.866025,  0.500000,  1.00 },
-	{  0.866025,  0.500000,  1.00 },
-	{ -0.866025, -0.500000, -1.00 },
+	{  0.000000,  1.000000, -1.000000 },
+	{ -0.000000, -1.000000,  1.000000 },
+	{  0.866025, -0.500000, -1.000000 },
+	{ -0.866025,  0.500000,  1.000000 },
+	{  0.866025,  0.500000,  1.000000 },
+	{ -0.866025, -0.500000, -1.000000 },
 };
 const MultirotorMixer::Rotor _config_hex_cox[] = {
-	{ -0.866025,  0.500000, -1.00 },
-	{ -0.866025,  0.500000,  1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-	{ -0.000000, -1.000000,  1.00 },
-	{  0.866025,  0.500000, -1.00 },
-	{  0.866025,  0.500000,  1.00 },
+	{ -0.866025,  0.500000, -1.000000 },
+	{ -0.866025,  0.500000,  1.000000 },
+	{ -0.000000, -1.000000, -1.000000 },
+	{ -0.000000, -1.000000,  1.000000 },
+	{  0.866025,  0.500000, -1.000000 },
+	{  0.866025,  0.500000,  1.000000 },
 };
 const MultirotorMixer::Rotor _config_octa_x[] = {
-	{ -0.382683,  0.923880, -1.00 },
-	{  0.382683, -0.923880, -1.00 },
-	{ -0.923880,  0.382683,  1.00 },
-	{ -0.382683, -0.923880,  1.00 },
-	{  0.382683,  0.923880,  1.00 },
-	{  0.923880, -0.382683,  1.00 },
-	{  0.923880,  0.382683, -1.00 },
-	{ -0.923880, -0.382683, -1.00 },
+	{ -0.382683,  0.923880, -1.000000 },
+	{  0.382683, -0.923880, -1.000000 },
+	{ -0.923880,  0.382683,  1.000000 },
+	{ -0.382683, -0.923880,  1.000000 },
+	{  0.382683,  0.923880,  1.000000 },
+	{  0.923880, -0.382683,  1.000000 },
+	{  0.923880,  0.382683, -1.000000 },
+	{ -0.923880, -0.382683, -1.000000 },
 };
 const MultirotorMixer::Rotor _config_octa_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-	{ -0.707107,  0.707107,  1.00 },
-	{ -0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  1.000000,  0.000000, -1.00 },
-	{ -1.000000,  0.000000, -1.00 },
+	{  0.000000,  1.000000, -1.000000 },
+	{ -0.000000, -1.000000, -1.000000 },
+	{ -0.707107,  0.707107,  1.000000 },
+	{ -0.707107, -0.707107,  1.000000 },
+	{  0.707107,  0.707107,  1.000000 },
+	{  0.707107, -0.707107,  1.000000 },
+	{  1.000000,  0.000000, -1.000000 },
+	{ -1.000000,  0.000000, -1.000000 },
 };
 const MultirotorMixer::Rotor _config_octa_cox[] = {
-	{ -0.707107,  0.707107,  1.00 },
-	{  0.707107,  0.707107, -1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{ -0.707107, -0.707107, -1.00 },
-	{  0.707107,  0.707107,  1.00 },
-	{ -0.707107,  0.707107, -1.00 },
-	{ -0.707107, -0.707107,  1.00 },
-	{  0.707107, -0.707107, -1.00 },
+	{ -0.707107,  0.707107,  1.000000 },
+	{  0.707107,  0.707107, -1.000000 },
+	{  0.707107, -0.707107,  1.000000 },
+	{ -0.707107, -0.707107, -1.000000 },
+	{  0.707107,  0.707107,  1.000000 },
+	{ -0.707107,  0.707107, -1.000000 },
+	{ -0.707107, -0.707107,  1.000000 },
+	{  0.707107, -0.707107, -1.000000 },
 };
-const MultirotorMixer::Rotor _config_duorotor[] = {
-	{ -1.000000,  0.000000,  0.00 },
-	{  1.000000,  0.000000,  0.00 },
+const MultirotorMixer::Rotor _config_twin_engine[] = {
+	{ -1.000000,  0.000000,  0.000000 },
+	{  1.000000,  0.000000,  0.000000 },
 };
-
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
@@ -172,7 +170,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_octa_x[0],
 	&_config_octa_plus[0],
 	&_config_octa_cox[0],
-	&_config_duorotor[0],
+	&_config_twin_engine[0],
 };
 const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	4, /* quad_x */

src/modules/systemlib/mixer/multi_tables

@@ -21,6 +21,12 @@ set quad_plus {
 	 180 CW
 }
 
+set quad_v {
+      18.8 0.4242
+     -18.8 1.0
+     -18.8 -0.4242
+      18.8 -1.0
+}
 
 set quad_wide {
 	  68 CCW
@@ -89,11 +95,14 @@ set octa_cox {
 	-135 CW
 }
 
+set twin_engine {
+      90 0.0
+     -90 0.0
+}
 
-set tables {quad_x quad_plus quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
+set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine}
 
-
-proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
+proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]}
 
 foreach table $tables {
 	puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
@@ -101,9 +110,11 @@ foreach table $tables {
 	upvar #0 $table angles
 	foreach {angle dir} $angles {
 		if {$dir == "CW"} {
+			set dd -1.0
+		} elseif {$dir == "CCW"} {
 			set dd 1.0
 		} else {
-			set dd -1.0
+			set dd $dir
 		}
 		factors $angle $dd
 	}

src/modules/uORB/objects_common.cpp

@@ -63,6 +63,7 @@ ORB_DEFINE(sensor_gyro2, struct gyro_report);
 #include <drivers/drv_baro.h>
 ORB_DEFINE(sensor_baro0, struct baro_report);
 ORB_DEFINE(sensor_baro1, struct baro_report);
+ORB_DEFINE(sensor_baro2, struct baro_report);
 
 #include <drivers/drv_range_finder.h>
 ORB_DEFINE(sensor_range_finder, struct range_finder_report);
@@ -246,3 +247,6 @@ ORB_DEFINE(tecs_status, struct tecs_status_s);
 
 #include "topics/wind_estimate.h"
 ORB_DEFINE(wind_estimate, struct wind_estimate_s);
+
+#include "topics/rc_parameter_map.h"
+ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s);

src/modules/uORB/topics/rc_parameter_map.h

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   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 rc_parameter_map.h
+ * Maps RC channels to parameters
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef TOPIC_RC_PARAMETER_MAP_H
+#define TOPIC_RC_PARAMETER_MAP_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define RC_PARAM_MAP_NCHAN 3 // This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
+#define PARAM_ID_LEN 16 // corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct rc_parameter_map_s {
+	uint64_t timestamp;			/**< time at which the map was updated */
+
+	bool valid[RC_PARAM_MAP_NCHAN];		/**< true for RC-Param channels which are mapped to a param */
+
+	int param_index[RC_PARAM_MAP_NCHAN];	/**< corresponding param index, this
+						  this field is ignored if set to -1, in this case param_id will
+						  be used*/
+	char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1];	/**< corresponding param id, null terminated */
+	float scale[RC_PARAM_MAP_NCHAN];	/** scale to map the RC input [-1, 1] to a parameter value */
+	float value0[RC_PARAM_MAP_NCHAN];	/** inital value around which the parameter value is changed */
+	float value_min[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
+	float value_max[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(rc_parameter_map);
+
+#endif

src/modules/uORB/topics/sensor_combined.h

@@ -122,15 +122,25 @@ struct sensor_combined_s {
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	float adc_voltage_v[10];		/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
-	unsigned adc_mapping[10];		/**< Channel indices of each of these values */
-	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
 	uint64_t baro_timestamp;		/**< Barometer timestamp        */
 
-	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */
-	uint64_t differential_pressure_timestamp;		/**< Last measurement timestamp */
+	float baro1_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
+	float baro1_alt_meter;			/**< Altitude, already temp. comp.                */
+	float baro1_temp_celcius;		/**< Temperature in degrees celsius               */
+	uint64_t baro1_timestamp;		/**< Barometer timestamp        */
+
+	float adc_voltage_v[10];		/**< ADC voltages of ADC Chan 10/11/12/13 or -1   */
+	unsigned adc_mapping[10];		/**< Channel indices of each of these values */
+	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
+
+	float differential_pressure_pa;			/**< Airspeed sensor differential pressure */
+	uint64_t differential_pressure_timestamp;	/**< Last measurement timestamp */
 	float differential_pressure_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
 
+	float differential_pressure1_pa;			/**< Airspeed sensor differential pressure */
+	uint64_t differential_pressure1_timestamp;	/**< Last measurement timestamp */
+	float differential_pressure1_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
+
 };
 
 /**

src/modules/uORB/topics/vehicle_global_position.h

@@ -62,7 +62,7 @@
  */
 struct vehicle_global_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start		*/
-	uint64_t time_gps_usec;		/**< GPS timestamp in microseconds					   */
+	uint64_t time_utc_usec;		/**< GPS UTC timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
 	float alt;			/**< Altitude AMSL in meters						 	   */

src/modules/uORB/topics/vehicle_gps_position.h

@@ -79,7 +79,7 @@ struct vehicle_gps_position_s {
 	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */
 
 	uint64_t timestamp_time;			/**< Timestamp for time information */
-	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
+	uint64_t time_utc_usec;				/**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
 
 	uint8_t satellites_used;			/**< Number of satellites used */
 };

src/modules/uORB/topics/vtol_vehicle_status.h

@@ -54,6 +54,7 @@ struct vtol_vehicle_status_s {
 
 	uint64_t	timestamp;	/**< Microseconds since system boot */
 	bool vtol_in_rw_mode;	/*true: vtol vehicle is in rotating wing mode */
+	bool fw_permanent_stab;	/**< In fw mode stabilize attitude even if in manual mode*/
 };
 
 /**

src/modules/uavcan/sensors/gnss.cpp

@@ -159,7 +159,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 	report.vel_ned_valid = true;
 
 	report.timestamp_time = report.timestamp_position;
-	report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec();	// Convert to microseconds
+	report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec();	// Convert to microseconds
 
 	report.satellites_used = msg.sats_used;
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -134,17 +134,21 @@ private:
 	struct {
 		param_t idle_pwm_mc;	//pwm value for idle in mc mode
 		param_t vtol_motor_count;
+		param_t vtol_fw_permanent_stab;	// in fw mode stabilize attitude also in manual mode
 		float mc_airspeed_min;		// min airspeed in multicoper mode (including prop-wash)
 		float mc_airspeed_trim;		// trim airspeed in multicopter mode
 		float mc_airspeed_max;		// max airpseed in multicopter mode
+		float fw_pitch_trim;		// trim for neutral elevon position in fw mode
 	} _params;
 
 	struct {
 		param_t idle_pwm_mc;
 		param_t vtol_motor_count;
+		param_t vtol_fw_permanent_stab;
 		param_t mc_airspeed_min;
 		param_t mc_airspeed_trim;
 		param_t mc_airspeed_max;
+		param_t fw_pitch_trim;
 	} _params_handles;
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
@@ -234,12 +238,15 @@ VtolAttitudeControl::VtolAttitudeControl() :
 
 	_params.idle_pwm_mc = PWM_LOWEST_MIN;
 	_params.vtol_motor_count = 0;
+	_params.vtol_fw_permanent_stab = 0;
 
 	_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
 	_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
+	_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
 	_params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN");
 	_params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX");
 	_params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM");
+	_params_handles.fw_pitch_trim = param_find("VT_FW_PITCH_TRIM");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -411,6 +418,9 @@ VtolAttitudeControl::parameters_update()
 	/* vtol motor count */
 	param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count);
 
+	/* vtol fw permanent stabilization */
+	param_get(_params_handles.vtol_fw_permanent_stab, &_params.vtol_fw_permanent_stab);
+
 	/* vtol mc mode min airspeed */
 	param_get(_params_handles.mc_airspeed_min, &v);
 	_params.mc_airspeed_min = v;
@@ -423,6 +433,10 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.mc_airspeed_trim, &v);
 	_params.mc_airspeed_trim = v;
 
+	/* vtol pitch trim for fw mode */
+	param_get(_params_handles.fw_pitch_trim, &v);
+	_params.fw_pitch_trim = v;
+
 	return OK;
 }
 
@@ -452,7 +466,7 @@ void VtolAttitudeControl::fill_fw_att_control_output()
 	_actuators_out_0.control[3] = _actuators_fw_in.control[3];
 	/*controls for the elevons */
 	_actuators_out_1.control[0] = -_actuators_fw_in.control[0];	// roll elevon
-	_actuators_out_1.control[1] = _actuators_fw_in.control[1];	// pitch elevon
+	_actuators_out_1.control[1] = _actuators_fw_in.control[1] + _params.fw_pitch_trim;	// pitch elevon
 	// unused now but still logged
 	_actuators_out_1.control[2] = _actuators_fw_in.control[2];	// yaw
 	_actuators_out_1.control[3] = _actuators_fw_in.control[3];	// throttle
@@ -597,6 +611,9 @@ void VtolAttitudeControl::task_main()
 
 	parameters_update();  // initialize parameter cache
 
+	/* update vtol vehicle status*/
+	_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
+
 	// make sure we start with idle in mc mode
 	set_idle_mc();
 	flag_idle_mc = true;
@@ -647,6 +664,8 @@ void VtolAttitudeControl::task_main()
 			parameters_update();
 		}
 
+		_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
+
 		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
 		vehicle_manual_poll();			//Check for changes in manual inputs.
 		arming_status_poll();			//Check for arming status updates.

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -86,3 +86,26 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);
  */
 PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
 
+/**
+ * Permanent stabilization in fw mode
+ *
+ * If set to one this parameter will cause permanent attitude stabilization in fw mode.
+ * This parameter has been introduced for pure convenience sake.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0);
+
+/**
+ * Fixed wing pitch trim
+ *
+ * This parameter allows to adjust the neutral elevon position in fixed wing mode.
+ *
+ * @min -1
+ * @max 1
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f);
+