Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

src/modules/commander/commander.cpp

@@ -1463,7 +1463,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* data links check */
 		bool have_link = false;
 		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
-			if (hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
+			if (telemetry_last_heartbeat[i] != 0 && hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
 				/* handle the case where data link was regained */
 				if (telemetry_lost[i]) {
 					mavlink_log_critical(mavlink_fd, "data link %i regained", i);

src/modules/commander/gyro_calibration.cpp

@@ -92,7 +92,7 @@ int do_gyro_calibration(int mavlink_fd)
 		unsigned poll_errcount = 0;
 
 		/* subscribe to gyro sensor topic */
-		int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro));
+		int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0));
 		struct gyro_report gyro_report;
 
 		while (calibration_counter < calibration_count) {
@@ -104,7 +104,7 @@ int do_gyro_calibration(int mavlink_fd)
 			int poll_ret = poll(fds, 1, 1000);
 
 			if (poll_ret > 0) {
-				orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
+				orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report);
 				gyro_scale.x_offset += gyro_report.x;
 				gyro_scale.y_offset += gyro_report.y;
 				gyro_scale.z_offset += gyro_report.z;

src/modules/commander/mag_calibration.cpp

@@ -145,7 +145,7 @@ int do_mag_calibration(int mavlink_fd)
 	}
 
 	if (res == OK) {
-		int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
+		int sub_mag = orb_subscribe(ORB_ID(sensor_mag0));
 		struct mag_report mag;
 
 		/* limit update rate to get equally spaced measurements over time (in ms) */
@@ -170,7 +170,7 @@ int do_mag_calibration(int mavlink_fd)
 			int poll_ret = poll(fds, 1, 1000);
 
 			if (poll_ret > 0) {
-				orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
+				orb_copy(ORB_ID(sensor_mag0), sub_mag, &mag);
 
 				x[calibration_counter] = mag.x;
 				y[calibration_counter] = mag.y;

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -112,6 +112,10 @@ public:
 	 */
 	FixedwingEstimator();
 
+	/* we do not want people ever copying this class */
+	FixedwingEstimator(const FixedwingEstimator& that) = delete;
+	FixedwingEstimator operator=(const FixedwingEstimator&) = delete;
+
 	/**
 	 * Destructor, also kills the sensors task.
 	 */
@@ -371,9 +375,10 @@ FixedwingEstimator::FixedwingEstimator() :
 	_mag_offsets({}),
 
 	#ifdef SENSOR_COMBINED_SUB
-	_sensor_combined({}),
+	_sensor_combined{},
 	#endif
 
+	_pos_ref{},
 	_baro_ref(0.0f),
 	_baro_ref_offset(0.0f),
 	_baro_gps_offset(0.0f),
@@ -390,12 +395,18 @@ FixedwingEstimator::FixedwingEstimator() :
 /* states */
 	_baro_init(false),
 	_gps_initialized(false),
+	_gps_start_time(0),
+	_filter_start_time(0),
+	_last_sensor_timestamp(0),
+	_last_run(0),
 	_gyro_valid(false),
 	_accel_valid(false),
 	_mag_valid(false),
 	_ekf_logging(true),
 	_debug(0),
 	_mavlink_fd(-1),
+	_parameters{},
+	_parameter_handles{},
 	_ekf(nullptr),
 	_velocity_xy_filtered(0.0f),
 	_velocity_z_filtered(0.0f),
@@ -693,7 +704,7 @@ FixedwingEstimator::task_main()
 	/*
 	 * do subscriptions
 	 */
-	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
+	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -1041,7 +1052,7 @@ FixedwingEstimator::task_main()
 			orb_check(_baro_sub, &baro_updated);
 
 			if (baro_updated) {
-				orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
+				orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
 
 				_ekf->baroHgt = _baro.altitude;
 
@@ -1133,7 +1144,7 @@ FixedwingEstimator::task_main()
 					initVelNED[2] = _gps.vel_d_m_s;
 
 					// Set up height correctly
-					orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
+					orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
 					_baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame
 					_baro_gps_offset = _baro.altitude - gps_alt;
 					_ekf->baroHgt = _baro.altitude;

src/modules/ekf_att_pos_estimator/estimator_utilities.cpp

@@ -45,8 +45,11 @@ void Vector3f::zero(void)
     z = 0.0f;
 }
 
-Mat3f::Mat3f() {
-    identity();
+Mat3f::Mat3f() :
+    x{1.0f, 0.0f, 0.0f},
+    y{0.0f, 1.0f, 0.0f},
+    z{0.0f, 0.0f, 1.0f}
+{
 }
 
 void Mat3f::identity() {

src/modules/ekf_att_pos_estimator/module.mk

@@ -41,3 +41,5 @@ SRCS		= ekf_att_pos_estimator_main.cpp \
 		  ekf_att_pos_estimator_params.c \
 		  estimator_23states.cpp \
 		  estimator_utilities.cpp
+
+EXTRACXXFLAGS	= -Weffc++

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -529,7 +529,7 @@ FixedwingAttitudeControl::vehicle_accel_poll()
 	orb_check(_accel_sub, &accel_updated);
 
 	if (accel_updated) {
-		orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+		orb_copy(ORB_ID(sensor_accel0), _accel_sub, &_accel);
 	}
 }
 
@@ -577,7 +577,7 @@ FixedwingAttitudeControl::task_main()
 	 */
 	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));

src/modules/mavlink/mavlink_commands.cpp

@@ -40,9 +40,12 @@
 
 #include "mavlink_commands.h"
 
-MavlinkCommandsStream::MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel) : _channel(channel), _cmd_time(0)
+MavlinkCommandsStream::MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel) :
+	_cmd_sub(mavlink->add_orb_subscription(ORB_ID(vehicle_command))),
+	_cmd{},
+	_channel(channel),
+	_cmd_time(0)
 {
-	_cmd_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_command));
 }
 
 void

src/modules/mavlink/mavlink_ftp.cpp

@@ -50,16 +50,20 @@ MavlinkFTP::getServer()
 	return _server;
 }
 
-MavlinkFTP::MavlinkFTP()
+MavlinkFTP::MavlinkFTP() :
+	_session_fds{},
+	_workBufs{},
+	_workFree{},
+	_lock{}
 {
 	// initialise the request freelist
 	dq_init(&_workFree);
 	sem_init(&_lock, 0, 1);
-    
-    // initialize session list
-    for (size_t i=0; i<kMaxSession; i++) {
-        _session_fds[i] = -1;
-    }
+
+	// initialize session list
+	for (size_t i=0; i<kMaxSession; i++) {
+		_session_fds[i] = -1;
+	}
 
 	// drop work entries onto the free list
 	for (unsigned i = 0; i < kRequestQueueSize; i++) {

src/modules/mavlink/mavlink_main.cpp

@@ -216,6 +216,7 @@ Mavlink::Mavlink() :
 	_device_name(DEFAULT_DEVICE_NAME),
 	_task_should_exit(false),
 	next(nullptr),
+	_instance_id(0),
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
@@ -231,17 +232,24 @@ Mavlink::Mavlink() :
 	_mission_pub(-1),
 	_mission_result_sub(-1),
 	_mode(MAVLINK_MODE_NORMAL),
+	_channel(MAVLINK_COMM_0),
+	_logbuffer{},
 	_total_counter(0),
+	_receive_thread{},
 	_verbose(false),
 	_forwarding_on(false),
 	_passing_on(false),
 	_ftp_on(false),
 	_uart_fd(-1),
+	_baudrate(57600),
+	_datarate(10000),
 	_mavlink_param_queue_index(0),
+	mavlink_link_termination_allowed(false),
 	_subscribe_to_stream(nullptr),
 	_subscribe_to_stream_rate(0.0f),
 	_flow_control_enabled(true),
-	_message_buffer({}),
+	_message_buffer{},
+	_message_buffer_mutex{},
 	_param_initialized(false),
 	_param_system_id(0),
 	_param_component_id(0),

src/modules/mavlink/mavlink_main.h

@@ -376,4 +376,8 @@ private:
 	 * Main mavlink task.
 	 */
 	int		task_main(int argc, char *argv[]);
+
+	/* do not allow copying this class */
+	Mavlink(const Mavlink&);
+	Mavlink operator=(const Mavlink&);
 };

src/modules/mavlink/mavlink_messages.cpp

@@ -258,7 +258,16 @@ private:
 	MavlinkOrbSubscription *status_sub;
 	MavlinkOrbSubscription *pos_sp_triplet_sub;
 
+	/* do not allow top copying this class */
+	MavlinkStreamHeartbeat(MavlinkStreamHeartbeat &);
+	MavlinkStreamHeartbeat& operator = (const MavlinkStreamHeartbeat &);
+
 protected:
+	explicit MavlinkStreamHeartbeat() : MavlinkStream(),
+		status_sub(nullptr),
+		pos_sp_triplet_sub(nullptr)
+	{}
+
 	void subscribe(Mavlink *mavlink)
 	{
 		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
@@ -322,7 +331,15 @@ public:
 private:
 	MavlinkOrbSubscription *status_sub;
 
+	/* do not allow top copying this class */
+	MavlinkStreamSysStatus(MavlinkStreamSysStatus &);
+	MavlinkStreamSysStatus& operator = (const MavlinkStreamSysStatus &);
+
 protected:
+	explicit MavlinkStreamSysStatus() : MavlinkStream(),
+		status_sub(nullptr)
+	{}
+
 	void subscribe(Mavlink *mavlink)
 	{
 		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
@@ -384,8 +401,13 @@ private:
 	uint64_t mag_timestamp;
 	uint64_t baro_timestamp;
 
+	/* do not allow top copying this class */
+	MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &);
+	MavlinkStreamHighresIMU& operator = (const MavlinkStreamHighresIMU &);
+
 protected:
 	explicit MavlinkStreamHighresIMU() : MavlinkStream(),
+		sensor_sub(nullptr),
 		sensor_time(0),
 		accel_timestamp(0),
 		gyro_timestamp(0),
@@ -469,8 +491,14 @@ private:
 	MavlinkOrbSubscription *att_sub;
 	uint64_t att_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamAttitude(MavlinkStreamAttitude &);
+	MavlinkStreamAttitude& operator = (const MavlinkStreamAttitude &);
+
+
 protected:
 	explicit MavlinkStreamAttitude() : MavlinkStream(),
+		att_sub(nullptr),
 		att_time(0)
 	{}
 
@@ -520,8 +548,13 @@ private:
 	MavlinkOrbSubscription *att_sub;
 	uint64_t att_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &);
+	MavlinkStreamAttitudeQuaternion& operator = (const MavlinkStreamAttitudeQuaternion &);
+
 protected:
 	explicit MavlinkStreamAttitudeQuaternion() : MavlinkStream(),
+		att_sub(nullptr),
 		att_time(0)
 	{}
 
@@ -589,12 +622,21 @@ private:
 	MavlinkOrbSubscription *airspeed_sub;
 	uint64_t airspeed_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
+	MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
+
 protected:
 	explicit MavlinkStreamVFRHUD() : MavlinkStream(),
+		att_sub(nullptr),
 		att_time(0),
+		pos_sub(nullptr),
 		pos_time(0),
+		armed_sub(nullptr),
 		armed_time(0),
+		act_sub(nullptr),
 		act_time(0),
+		airspeed_sub(nullptr),
 		airspeed_time(0)
 	{}
 
@@ -665,8 +707,13 @@ private:
 	MavlinkOrbSubscription *gps_sub;
 	uint64_t gps_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &);
+	MavlinkStreamGPSRawInt& operator = (const MavlinkStreamGPSRawInt &);
+
 protected:
 	explicit MavlinkStreamGPSRawInt() : MavlinkStream(),
+		gps_sub(nullptr),
 		gps_time(0)
 	{}
 
@@ -726,9 +773,15 @@ private:
 	MavlinkOrbSubscription *home_sub;
 	uint64_t home_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &);
+	MavlinkStreamGlobalPositionInt& operator = (const MavlinkStreamGlobalPositionInt &);
+
 protected:
 	explicit MavlinkStreamGlobalPositionInt() : MavlinkStream(),
+		pos_sub(nullptr),
 		pos_time(0),
+		home_sub(nullptr),
 		home_time(0)
 	{}
 
@@ -789,8 +842,13 @@ private:
 	MavlinkOrbSubscription *pos_sub;
 	uint64_t pos_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &);
+	MavlinkStreamLocalPositionNED& operator = (const MavlinkStreamLocalPositionNED &);
+
 protected:
 	explicit MavlinkStreamLocalPositionNED() : MavlinkStream(),
+		pos_sub(nullptr),
 		pos_time(0)
 	{}
 
@@ -845,8 +903,13 @@ private:
 	MavlinkOrbSubscription *pos_sub;
 	uint64_t pos_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamViconPositionEstimate(MavlinkStreamViconPositionEstimate &);
+	MavlinkStreamViconPositionEstimate& operator = (const MavlinkStreamViconPositionEstimate &);
+
 protected:
 	explicit MavlinkStreamViconPositionEstimate() : MavlinkStream(),
+		pos_sub(nullptr),
 		pos_time(0)
 	{}
 
@@ -899,7 +962,15 @@ public:
 private:
 	MavlinkOrbSubscription *home_sub;
 
+	/* do not allow top copying this class */
+	MavlinkStreamGPSGlobalOrigin(MavlinkStreamGPSGlobalOrigin &);
+	MavlinkStreamGPSGlobalOrigin& operator = (const MavlinkStreamGPSGlobalOrigin &);
+
 protected:
+	explicit MavlinkStreamGPSGlobalOrigin() : MavlinkStream(),
+		home_sub(nullptr)
+	{}
+
 	void subscribe(Mavlink *mavlink)
 	{
 		home_sub = mavlink->add_orb_subscription(ORB_ID(home_position));
@@ -962,8 +1033,13 @@ private:
 	MavlinkOrbSubscription *act_sub;
 	uint64_t act_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &);
+	MavlinkStreamServoOutputRaw& operator = (const MavlinkStreamServoOutputRaw &);
+
 protected:
 	explicit MavlinkStreamServoOutputRaw() : MavlinkStream(),
+		act_sub(nullptr),
 		act_time(0)
 	{}
 
@@ -1033,10 +1109,17 @@ private:
 	MavlinkOrbSubscription *act_sub;
 	uint64_t act_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamHILControls(MavlinkStreamHILControls &);
+	MavlinkStreamHILControls& operator = (const MavlinkStreamHILControls &);
+
 protected:
 	explicit MavlinkStreamHILControls() : MavlinkStream(),
+		status_sub(nullptr),
 		status_time(0),
+		pos_sp_triplet_sub(nullptr),
 		pos_sp_triplet_time(0),
+		act_sub(nullptr),
 		act_time(0)
 	{}
 
@@ -1159,7 +1242,15 @@ public:
 private:
 	MavlinkOrbSubscription *pos_sp_triplet_sub;
 
+	/* do not allow top copying this class */
+	MavlinkStreamGlobalPositionSetpointInt(MavlinkStreamGlobalPositionSetpointInt &);
+	MavlinkStreamGlobalPositionSetpointInt& operator = (const MavlinkStreamGlobalPositionSetpointInt &);
+
 protected:
+	explicit MavlinkStreamGlobalPositionSetpointInt() : MavlinkStream(),
+		pos_sp_triplet_sub(nullptr)
+	{}
+
 	void subscribe(Mavlink *mavlink)
 	{
 		pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
@@ -1208,8 +1299,13 @@ private:
 	MavlinkOrbSubscription *pos_sp_sub;
 	uint64_t pos_sp_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &);
+	MavlinkStreamLocalPositionSetpoint& operator = (const MavlinkStreamLocalPositionSetpoint &);
+
 protected:
 	explicit MavlinkStreamLocalPositionSetpoint() : MavlinkStream(),
+		pos_sp_sub(nullptr),
 		pos_sp_time(0)
 	{}
 
@@ -1261,8 +1357,13 @@ private:
 	MavlinkOrbSubscription *att_sp_sub;
 	uint64_t att_sp_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamRollPitchYawThrustSetpoint(MavlinkStreamRollPitchYawThrustSetpoint &);
+	MavlinkStreamRollPitchYawThrustSetpoint& operator = (const MavlinkStreamRollPitchYawThrustSetpoint &);
+
 protected:
 	explicit MavlinkStreamRollPitchYawThrustSetpoint() : MavlinkStream(),
+		att_sp_sub(nullptr),
 		att_sp_time(0)
 	{}
 
@@ -1314,8 +1415,13 @@ private:
 	MavlinkOrbSubscription *att_rates_sp_sub;
 	uint64_t att_rates_sp_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamRollPitchYawRatesThrustSetpoint(MavlinkStreamRollPitchYawRatesThrustSetpoint &);
+	MavlinkStreamRollPitchYawRatesThrustSetpoint& operator = (const MavlinkStreamRollPitchYawRatesThrustSetpoint &);
+
 protected:
 	explicit MavlinkStreamRollPitchYawRatesThrustSetpoint() : MavlinkStream(),
+		att_rates_sp_sub(nullptr),
 		att_rates_sp_time(0)
 	{}
 
@@ -1367,8 +1473,13 @@ private:
 	MavlinkOrbSubscription *rc_sub;
 	uint64_t rc_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamRCChannelsRaw(MavlinkStreamRCChannelsRaw &);
+	MavlinkStreamRCChannelsRaw& operator = (const MavlinkStreamRCChannelsRaw &);
+
 protected:
 	explicit MavlinkStreamRCChannelsRaw() : MavlinkStream(),
+		rc_sub(nullptr),
 		rc_time(0)
 	{}
 
@@ -1456,8 +1567,13 @@ private:
 	MavlinkOrbSubscription *manual_sub;
 	uint64_t manual_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamManualControl(MavlinkStreamManualControl &);
+	MavlinkStreamManualControl& operator = (const MavlinkStreamManualControl &);
+
 protected:
 	explicit MavlinkStreamManualControl() : MavlinkStream(),
+		manual_sub(nullptr),
 		manual_time(0)
 	{}
 
@@ -1510,8 +1626,13 @@ private:
 	MavlinkOrbSubscription *flow_sub;
 	uint64_t flow_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &);
+	MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &);
+
 protected:
 	explicit MavlinkStreamOpticalFlow() : MavlinkStream(),
+		flow_sub(nullptr),
 		flow_time(0)
 	{}
 
@@ -1563,8 +1684,13 @@ private:
 	MavlinkOrbSubscription *att_ctrl_sub;
 	uint64_t att_ctrl_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamAttitudeControls(MavlinkStreamAttitudeControls &);
+	MavlinkStreamAttitudeControls& operator = (const MavlinkStreamAttitudeControls &);
+
 protected:
 	explicit MavlinkStreamAttitudeControls() : MavlinkStream(),
+		att_ctrl_sub(nullptr),
 		att_ctrl_time(0)
 	{}
 
@@ -1626,8 +1752,13 @@ private:
 	MavlinkOrbSubscription *debug_sub;
 	uint64_t debug_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamNamedValueFloat(MavlinkStreamNamedValueFloat &);
+	MavlinkStreamNamedValueFloat& operator = (const MavlinkStreamNamedValueFloat &);
+
 protected:
 	explicit MavlinkStreamNamedValueFloat() : MavlinkStream(),
+		debug_sub(nullptr),
 		debug_time(0)
 	{}
 
@@ -1678,7 +1809,15 @@ public:
 private:
 	MavlinkOrbSubscription *status_sub;
 
+	/* do not allow top copying this class */
+	MavlinkStreamCameraCapture(MavlinkStreamCameraCapture &);
+	MavlinkStreamCameraCapture& operator = (const MavlinkStreamCameraCapture &);
+
 protected:
+	explicit MavlinkStreamCameraCapture() : MavlinkStream(),
+		status_sub(nullptr)
+	{}
+
 	void subscribe(Mavlink *mavlink)
 	{
 		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
@@ -1729,8 +1868,13 @@ private:
 	MavlinkOrbSubscription *range_sub;
 	uint64_t range_time;
 
+	/* do not allow top copying this class */
+	MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &);
+	MavlinkStreamDistanceSensor& operator = (const MavlinkStreamDistanceSensor &);
+
 protected:
 	explicit MavlinkStreamDistanceSensor() : MavlinkStream(),
+		range_sub(nullptr),
 		range_time(0)
 	{}
 

src/modules/mavlink/mavlink_mission.h

@@ -174,4 +174,8 @@ private:
 
 	mavlink_channel_t	_channel;
 	uint8_t			_comp_id;
+
+	/* do not allow copying this class */
+	MavlinkMissionManager(const MavlinkMissionManager&);
+	MavlinkMissionManager operator=(const MavlinkMissionManager&);
 };

src/modules/mavlink/mavlink_orb_subscription.h

@@ -82,6 +82,10 @@ private:
 	const orb_id_t _topic;		///< topic metadata
 	int _fd;			///< subscription handle
 	bool _published;		///< topic was ever published
+
+	/* do not allow copying this class */
+	MavlinkOrbSubscription(const MavlinkOrbSubscription&);
+	MavlinkOrbSubscription operator=(const MavlinkOrbSubscription&);
 };
 
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -86,7 +86,9 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
 
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mavlink(parent),
-
+	status{},
+	hil_local_pos{},
+	_control_mode{},
 	_global_pos_pub(-1),
 	_local_pos_pub(-1),
 	_attitude_pub(-1),
@@ -112,15 +114,13 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_manual_pub(-1),
 	_telemetry_heartbeat_time(0),
 	_radio_status_available(false),
-	_control_mode_sub(-1),
+	_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
 	_hil_frames(0),
 	_old_timestamp(0),
 	_hil_local_proj_inited(0),
-	_hil_local_alt0(0.0)
+	_hil_local_alt0(0.0f),
+	_hil_local_proj_ref{}
 {
-	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	memset(&hil_local_pos, 0, sizeof(hil_local_pos));
-	memset(&_control_mode, 0, sizeof(_control_mode));
 
 	// make sure the FTP server is started
 	(void)MavlinkFTP::getServer();
@@ -740,10 +740,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		gyro.temperature = imu.temperature;
 
 		if (_gyro_pub < 0) {
-			_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
+			_gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro);
 
 		} else {
-			orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
+			orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro);
 		}
 	}
 
@@ -762,10 +762,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		accel.temperature = imu.temperature;
 
 		if (_accel_pub < 0) {
-			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
 
 		} else {
-			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+			orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
 		}
 	}
 
@@ -783,10 +783,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		mag.z = imu.zmag;
 
 		if (_mag_pub < 0) {
-			_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
+			_mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag);
 
 		} else {
-			orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
+			orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag);
 		}
 	}
 
@@ -801,10 +801,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		baro.temperature = imu.temperature;
 
 		if (_baro_pub < 0) {
-			_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
+			_baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro);
 
 		} else {
-			orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
+			orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro);
 		}
 	}
 
@@ -1078,10 +1078,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		accel.temperature = 25.0f;
 
 		if (_accel_pub < 0) {
-			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
 
 		} else {
-			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+			orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
 		}
 	}
 

src/modules/mavlink/mavlink_receiver.h

@@ -160,4 +160,8 @@ private:
 	bool _hil_local_proj_inited;
 	float _hil_local_alt0;
 	struct map_projection_reference_s _hil_local_proj_ref;
+
+	/* do not allow copying this class */
+	MavlinkReceiver(const MavlinkReceiver&);
+	MavlinkReceiver operator=(const MavlinkReceiver&);
 };

src/modules/mavlink/mavlink_stream.h

@@ -77,6 +77,10 @@ protected:
 
 private:
 	hrt_abstime _last_sent;
+
+	/* do not allow top copying this class */
+	MavlinkStream(const MavlinkStream&);
+	MavlinkStream& operator=(const MavlinkStream&);
 };
 
 

src/modules/mavlink/module.mk

@@ -52,3 +52,5 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 MAXOPTIMIZATION	 = -Os
 
 MODULE_STACKSIZE = 1024
+
+EXTRACXXFLAGS	= -Weffc++

src/modules/sdlog2/sdlog2.c

@@ -1073,6 +1073,12 @@ 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 gyro1_timestamp = 0;
+	hrt_abstime accelerometer1_timestamp = 0;
+	hrt_abstime magnetometer1_timestamp = 0;
+	hrt_abstime gyro2_timestamp = 0;
+	hrt_abstime accelerometer2_timestamp = 0;
+	hrt_abstime magnetometer2_timestamp = 0;
 
 	/* initialize calculated mean SNR */
 	float snr_mean = 0.0f;
@@ -1209,6 +1215,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 		/* --- SENSOR COMBINED --- */
 		if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
 			bool write_IMU = false;
+			bool write_IMU1 = false;
+			bool write_IMU2 = false;
 			bool write_SENS = false;
 
 			if (buf.sensor.timestamp != gyro_timestamp) {
@@ -1260,6 +1268,64 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(SENS);
 			}
 
+			if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) {
+				accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (buf.sensor.gyro1_timestamp != gyro1_timestamp) {
+				gyro1_timestamp = buf.sensor.gyro1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) {
+				magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (write_IMU1) {
+				log_msg.msg_type = LOG_IMU1_MSG;
+				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0];
+				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1];
+				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2];
+				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0];
+				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1];
+				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2];
+				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0];
+				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1];
+				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2];
+				LOGBUFFER_WRITE_AND_COUNT(IMU);
+			}
+
+			if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) {
+				accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (buf.sensor.gyro2_timestamp != gyro2_timestamp) {
+				gyro2_timestamp = buf.sensor.gyro2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) {
+				magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (write_IMU2) {
+				log_msg.msg_type = LOG_IMU2_MSG;
+				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0];
+				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1];
+				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2];
+				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0];
+				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1];
+				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2];
+				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0];
+				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1];
+				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2];
+				LOGBUFFER_WRITE_AND_COUNT(IMU);
+			}
+
 		}
 
 		/* --- ATTITUDE --- */

src/modules/sdlog2/sdlog2_messages.h

@@ -73,6 +73,8 @@ struct log_ATSP_s {
 
 /* --- IMU - IMU SENSORS --- */
 #define LOG_IMU_MSG 4
+#define LOG_IMU1_MSG 22
+#define LOG_IMU2_MSG 23
 struct log_IMU_s {
 	float acc_x;
 	float acc_y;
@@ -276,8 +278,8 @@ struct log_DIST_s {
 	uint8_t flags;
 };
 
-// ID 22 available
-// ID 23 available
+/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */
+
 
 /* --- PWR - ONBOARD POWER SYSTEM --- */
 #define LOG_PWR_MSG 24
@@ -420,7 +422,9 @@ static const struct log_format_s log_formats[] = {
 	/* business-level messages, ID < 0x80 */
 	LOG_FORMAT(ATT, "fffffffff",		"Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
 	LOG_FORMAT(ATSP, "ffff",		"RollSP,PitchSP,YawSP,ThrustSP"),
-	LOG_FORMAT(IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	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(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"),

src/modules/sensors/sensor_params.c

@@ -292,6 +292,19 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
  */
 PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
 
+/**
+* Set usage of external magnetometer
+*
+*  * Set to 0 (default) to auto-detect (will try to get the external as primary)
+*  * Set to 1 to force the external magnetometer as primary
+*  * Set to 2 to force the internal magnetometer as primary
+*
+* @min 0
+* @max 2
+* @group Sensor Calibration
+*/
+PARAM_DEFINE_INT32(SENS_EXT_MAG, 0);
+
 
 /**
  * RC Channel 1 Minimum

src/modules/sensors/sensors.cpp

@@ -199,9 +199,15 @@ private:
 	bool		_hil_enabled;			/**< if true, HIL is active */
 	bool		_publishing;			/**< if true, we are publishing sensor data */
 
-	int		_gyro_sub;			/**< raw gyro data subscription */
-	int		_accel_sub;			/**< raw accel data subscription */
-	int		_mag_sub;			/**< raw mag data subscription */
+	int		_gyro_sub;			/**< raw gyro0 data subscription */
+	int		_accel_sub;			/**< raw accel0 data subscription */
+	int		_mag_sub;			/**< raw mag0 data subscription */
+	int		_gyro1_sub;			/**< raw gyro1 data subscription */
+	int		_accel1_sub;			/**< raw accel1 data subscription */
+	int		_mag1_sub;			/**< raw mag1 data subscription */
+	int		_gyro2_sub;			/**< raw gyro2 data subscription */
+	int		_accel2_sub;			/**< raw accel2 data subscription */
+	int		_mag2_sub;			/**< raw mag2 data subscription */
 	int 		_rc_sub;			/**< raw rc channels data subscription */
 	int		_baro_sub;			/**< raw baro data subscription */
 	int		_airspeed_sub;			/**< airspeed subscription */
@@ -478,6 +484,12 @@ Sensors::Sensors() :
 	_gyro_sub(-1),
 	_accel_sub(-1),
 	_mag_sub(-1),
+	_gyro1_sub(-1),
+	_accel1_sub(-1),
+	_mag1_sub(-1),
+	_gyro2_sub(-1),
+	_accel2_sub(-1),
+	_mag2_sub(-1),
 	_rc_sub(-1),
 	_baro_sub(-1),
 	_vcontrol_mode_sub(-1),
@@ -1004,7 +1016,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 	if (accel_updated) {
 		struct accel_report	accel_report;
 
-		orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
+		orb_copy(ORB_ID(sensor_accel0), _accel_sub, &accel_report);
 
 		math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
 		vect = _board_rotation * vect;
@@ -1019,6 +1031,48 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 
 		raw.accelerometer_timestamp = accel_report.timestamp;
 	}
+
+	orb_check(_accel1_sub, &accel_updated);
+
+	if (accel_updated) {
+		struct accel_report	accel_report;
+
+		orb_copy(ORB_ID(sensor_accel1), _accel_sub, &accel_report);
+
+		math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
+		vect = _board_rotation * vect;
+
+		raw.accelerometer1_m_s2[0] = vect(0);
+		raw.accelerometer1_m_s2[1] = vect(1);
+		raw.accelerometer1_m_s2[2] = vect(2);
+
+		raw.accelerometer1_raw[0] = accel_report.x_raw;
+		raw.accelerometer1_raw[1] = accel_report.y_raw;
+		raw.accelerometer1_raw[2] = accel_report.z_raw;
+
+		raw.accelerometer1_timestamp = accel_report.timestamp;
+	}
+
+	orb_check(_accel2_sub, &accel_updated);
+
+	if (accel_updated) {
+		struct accel_report	accel_report;
+
+		orb_copy(ORB_ID(sensor_accel2), _accel_sub, &accel_report);
+
+		math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
+		vect = _board_rotation * vect;
+
+		raw.accelerometer2_m_s2[0] = vect(0);
+		raw.accelerometer2_m_s2[1] = vect(1);
+		raw.accelerometer2_m_s2[2] = vect(2);
+
+		raw.accelerometer2_raw[0] = accel_report.x_raw;
+		raw.accelerometer2_raw[1] = accel_report.y_raw;
+		raw.accelerometer2_raw[2] = accel_report.z_raw;
+
+		raw.accelerometer2_timestamp = accel_report.timestamp;
+	}
 }
 
 void
@@ -1030,7 +1084,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 	if (gyro_updated) {
 		struct gyro_report	gyro_report;
 
-		orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
+		orb_copy(ORB_ID(sensor_gyro0), _gyro_sub, &gyro_report);
 
 		math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
 		vect = _board_rotation * vect;
@@ -1045,6 +1099,48 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 
 		raw.timestamp = gyro_report.timestamp;
 	}
+
+	orb_check(_gyro1_sub, &gyro_updated);
+
+	if (gyro_updated) {
+		struct gyro_report	gyro_report;
+
+		orb_copy(ORB_ID(sensor_gyro1), _gyro1_sub, &gyro_report);
+
+		math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
+		vect = _board_rotation * vect;
+
+		raw.gyro1_rad_s[0] = vect(0);
+		raw.gyro1_rad_s[1] = vect(1);
+		raw.gyro1_rad_s[2] = vect(2);
+
+		raw.gyro1_raw[0] = gyro_report.x_raw;
+		raw.gyro1_raw[1] = gyro_report.y_raw;
+		raw.gyro1_raw[2] = gyro_report.z_raw;
+
+		raw.gyro1_timestamp = gyro_report.timestamp;
+	}
+
+	orb_check(_gyro2_sub, &gyro_updated);
+
+	if (gyro_updated) {
+		struct gyro_report	gyro_report;
+
+		orb_copy(ORB_ID(sensor_gyro2), _gyro_sub, &gyro_report);
+
+		math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
+		vect = _board_rotation * vect;
+
+		raw.gyro2_rad_s[0] = vect(0);
+		raw.gyro2_rad_s[1] = vect(1);
+		raw.gyro2_rad_s[2] = vect(2);
+
+		raw.gyro2_raw[0] = gyro_report.x_raw;
+		raw.gyro2_raw[1] = gyro_report.y_raw;
+		raw.gyro2_raw[2] = gyro_report.z_raw;
+
+		raw.gyro2_timestamp = gyro_report.timestamp;
+	}
 }
 
 void
@@ -1056,10 +1152,12 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 	if (mag_updated) {
 		struct mag_report	mag_report;
 
-		orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report);
+		orb_copy(ORB_ID(sensor_mag0), _mag_sub, &mag_report);
 
 		math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
 
+		// XXX we need device-id based handling here
+
 		if (_mag_is_external) {
 			vect = _external_mag_rotation * vect;
 
@@ -1087,7 +1185,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
 
 	if (baro_updated) {
 
-		orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer);
+		orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_barometer);
 
 		raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar
 		raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
@@ -1618,11 +1716,17 @@ Sensors::task_main()
 	/*
 	 * do subscriptions
 	 */
-	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
-	_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
+	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
+	_mag_sub = orb_subscribe(ORB_ID(sensor_mag0));
+	_gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1));
+	_accel1_sub = orb_subscribe(ORB_ID(sensor_accel1));
+	_mag1_sub = orb_subscribe(ORB_ID(sensor_mag1));
+	_gyro2_sub = orb_subscribe(ORB_ID(sensor_gyro2));
+	_accel2_sub = orb_subscribe(ORB_ID(sensor_accel2));
+	_mag2_sub = orb_subscribe(ORB_ID(sensor_mag2));
 	_rc_sub = orb_subscribe(ORB_ID(input_rc));
-	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
+	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
 	_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));

src/modules/systemlib/mixer/mixer.h

@@ -231,6 +231,10 @@ protected:
 	static const char *		skipline(const char *buf, unsigned &buflen);
 
 private:
+
+	/* do not allow to copy due to prt data members */
+	Mixer(const Mixer&);
+	Mixer& operator=(const Mixer&);
 };
 
 /**
@@ -307,6 +311,10 @@ public:
 
 private:
 	Mixer				*_first;	/**< linked list of mixers */
+
+	/* do not allow to copy due to pointer data members */
+	MixerGroup(const MixerGroup&);
+	MixerGroup operator=(const MixerGroup&);
 };
 
 /**
@@ -424,6 +432,10 @@ private:
 			mixer_scaler_s &scaler,
 			uint8_t &control_group,
 			uint8_t &control_index);
+
+	/* do not allow to copy due to ptr data members */
+	SimpleMixer(const SimpleMixer&);
+	SimpleMixer operator=(const SimpleMixer&);
 };
 
 /**
@@ -522,6 +534,9 @@ private:
 	unsigned			_rotor_count;
 	const Rotor			*_rotors;
 
+	/* do not allow to copy due to ptr data members */
+	MultirotorMixer(const MultirotorMixer&);
+	MultirotorMixer operator=(const MultirotorMixer&);
 };
 
 #endif

src/modules/uORB/objects_common.cpp

@@ -46,16 +46,23 @@
 #include <drivers/drv_orb_dev.h>
 
 #include <drivers/drv_mag.h>
-ORB_DEFINE(sensor_mag, struct mag_report);
+ORB_DEFINE(sensor_mag0, struct mag_report);
+ORB_DEFINE(sensor_mag1, struct mag_report);
+ORB_DEFINE(sensor_mag2, struct mag_report);
 
 #include <drivers/drv_accel.h>
-ORB_DEFINE(sensor_accel, struct accel_report);
+ORB_DEFINE(sensor_accel0, struct accel_report);
+ORB_DEFINE(sensor_accel1, struct accel_report);
+ORB_DEFINE(sensor_accel2, struct accel_report);
 
 #include <drivers/drv_gyro.h>
-ORB_DEFINE(sensor_gyro, struct gyro_report);
+ORB_DEFINE(sensor_gyro0, struct gyro_report);
+ORB_DEFINE(sensor_gyro1, struct gyro_report);
+ORB_DEFINE(sensor_gyro2, struct gyro_report);
 
 #include <drivers/drv_baro.h>
-ORB_DEFINE(sensor_baro, struct baro_report);
+ORB_DEFINE(sensor_baro0, struct baro_report);
+ORB_DEFINE(sensor_baro1, struct baro_report);
 
 #include <drivers/drv_range_finder.h>
 ORB_DEFINE(sensor_range_finder, struct range_finder_report);

src/modules/uORB/topics/sensor_combined.h

@@ -95,6 +95,30 @@ struct sensor_combined_s {
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
 	uint64_t magnetometer_timestamp;	/**< Magnetometer timestamp         */
 
+	int16_t	gyro1_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro1_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro1_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer1_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer1_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer1_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer1_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer1_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer1_timestamp;	/**< Magnetometer timestamp         */
+
+	int16_t	gyro2_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro2_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro2_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer2_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer2_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer2_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer2_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer2_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer2_timestamp;	/**< Magnetometer timestamp         */
+
 	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               */