Merge branch 'release_v1.0.0' into beta

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

@@ -6,5 +6,30 @@
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set BAT_N_CELLS 3
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 14
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 16
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.1
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.2
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.3
+fi
+
 set HIL yes
 set MIXER AERT

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -7,4 +7,12 @@
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set NAV_LOITER_RAD 150
+	param set FW_AIRSPD_MAX 30
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 15
+fi
+
 set MIXER FX79

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -9,26 +9,29 @@ sh /etc/init.d/rc.fw_defaults
 
 if [ $AUTOCNF == yes ]
 then
-
+	param set FW_AIRSPD_MAX 20
-	# TODO: these are the X5 default parameters, update them to the caipi
+	param set FW_AIRSPD_MIN 12
-
+	param set FW_AIRSPD_TRIM 16
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 40
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 15
+	param set FW_L1_PERIOD 16
-	param set FW_PR_FF 0.3
+	param set FW_LND_ANG 15
-	param set FW_PR_I 0
+	param set FW_LND_FLALT 5
-	param set FW_PR_IMAX 0.2
+	param set FW_LND_HHDIST 15
-	param set FW_PR_P 0.03
+	param set FW_LND_HVIRT 13
-	param set FW_P_ROLLFF 0
+	param set FW_LND_TLALT 5
-	param set FW_RR_FF 0.3
+	param set FW_THR_LND_MAX 0
-	param set FW_RR_I 0
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.01
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
 	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.03
+	param set FW_RR_P 0.04
-	param set FW_R_LIM 60
-	param set FW_R_RMAX 0
 fi
 
-set MIXER Q
+set MIXER caipi
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
+set PWM_DISARMED 1000

ROMFS/px4fmu_common/mixers/caipi.main.mix

@@ -0,0 +1,51 @@
+Delta-wing mixer
+===========================
+
+Designed for TBS Caipirinha
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      -3000 -10000  10000
+S: 0 0  -9000  -9000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      3000 -10000  10000
+S: 0 0  -9000  -9000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000

msg/navigation_capabilities.msg

@@ -0,0 +1,5 @@
+uint64 timestamp		# timestamp this topic was emitted
+float32 turn_distance		# the optimal distance to a waypoint to switch to the next
+float32 landing_horizontal_slope_displacement
+float32 landing_slope_angle_rad
+float32 landing_flare_length

src/drivers/px4io/px4io.cpp

@@ -1009,7 +1009,7 @@ PX4IO::task_main()
 				orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
 
 				// Check for a DSM pairing command
-				if (((int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
+				if (((uint32_t)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
 					dsm_bind_ioctl((int)cmd.param2);
 				}
 			}

src/drivers/trone/trone.cpp

@@ -314,10 +314,16 @@ TRONE::probe()
 	uint8_t who_am_i=0;
 
 	const uint8_t cmd = TRONE_WHO_AM_I_REG;
-	if (transfer(&cmd, 1, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL) {
+    
-		// it is responding correctly to a WHO_AM_I
+    // set the I2C bus address
-		return measure();
+    set_address(TRONE_BASEADDR);
-	}
+        
+    // can't use a single transfer as TROne need a bit of time for internal processing
+	if (transfer(&cmd, 1, nullptr, 0) == OK) {
+        if ( transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL){
+            return measure();
+        }
+	}     
 
 	debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
 		(unsigned)who_am_i,

src/modules/commander/commander.cpp

@@ -1582,6 +1582,8 @@ int commander_thread_main(int argc, char *argv[])
 			low_battery_voltage_actions_done = true;
 			if (armed.armed) {
 				mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
+			} else {
+				mavlink_log_critical(mavlink_fd, "LOW BATTERY, TAKEOFF DISCOURAGED");
 			}
 			status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW;
 			status_changed = true;
@@ -2054,11 +2056,13 @@ int commander_thread_main(int argc, char *argv[])
 			set_tune(TONE_ARMING_WARNING_TUNE);
 			arm_tune_played = true;
 
-		} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
+		} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
+				status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
 			/* play tune on battery critical */
 			set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
 
-		} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe) {
+		} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
+				(status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe)) {
 			/* play tune on battery warning or failsafe */
 			set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -948,7 +948,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		 * which makes the corner positions unreachable.
 		 * scale yaw up and clip it to overcome this.
 		 */
-		rc.values[2] = man.r / 1.2f + 1500;
+		rc.values[2] = man.r / 1.1f + 1500;
 		if (rc.values[2] > 2000) {
 			rc.values[2] = 2000;
 		} else if (rc.values[2] < 1000) {
@@ -956,7 +956,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		}
 
 		/* throttle */
-		rc.values[3] = man.z + 1000;
+		rc.values[3] = man.z / 0.9f + 1000;
+		if (rc.values[3] > 2000) {
+			rc.values[3] = 2000;
+		} else if (rc.values[3] < 1000) {
+			rc.values[3] = 1000;
+		}
 
 		rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
 		rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;

src/modules/navigator/mission_params.c

@@ -81,7 +81,7 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
  * @max 1000
  * @group Mission
  */
-PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
+PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900);
 
 /**
  * Altitude setpoint mode
@@ -94,7 +94,7 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
  * @max 1
  * @group Mission
  */
-PARAM_DEFINE_INT32(MIS_ALTMODE, 0);
+PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
 
 /**
  * Multirotor only. Yaw setpoint mode.

src/modules/px4iofirmware/controls.c

@@ -64,6 +64,10 @@ static int _dsm_fd;
 
 static uint16_t rc_value_override = 0;
 
+#ifdef ADC_RSSI
+static unsigned _rssi_adc_counts = 0;
+#endif
+
 bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
 {
 	perf_begin(c_gather_dsm);
@@ -71,17 +75,22 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
 	uint8_t n_bytes = 0;
 	uint8_t *bytes;
 	*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes);
+
 	if (*dsm_updated) {
 		r_raw_rc_count = temp_count & 0x7fff;
-		if (temp_count & 0x8000)
+
+		if (temp_count & 0x8000) {
 			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
-		else
+
+		} else {
 			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
+		}
 
 		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
 		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
 
 	}
+
 	perf_end(c_gather_dsm);
 
 	/* get data from FD and attempt to parse with DSM and ST24 libs */
@@ -94,7 +103,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
 		/* set updated flag if one complete packet was parsed */
 		st24_rssi = RC_INPUT_RSSI_MAX;
 		*st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count,
-					&st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
+						    &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
 	}
 
 	if (*st24_updated) {
@@ -121,7 +130,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
 		/* set updated flag if one complete packet was parsed */
 		sumd_rssi = RC_INPUT_RSSI_MAX;
 		*sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
-					&sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
+						    &sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
 	}
 
 	if (*sumd_updated) {
@@ -170,7 +179,8 @@ controls_init(void)
 }
 
 void
-controls_tick() {
+controls_tick()
+{
 
 	/*
 	 * Gather R/C control inputs from supported sources.
@@ -184,19 +194,24 @@ controls_tick() {
 	uint16_t rssi = 0;
 
 #ifdef ADC_RSSI
+
 	if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) {
 		unsigned counts = adc_measure(ADC_RSSI);
-		if (counts != 0xffff) {
-			/* use 1:1 scaling on 3.3V ADC input */
-			unsigned mV = counts * 3300 / 4096;
 
-			/* scale to 0..253 and lowpass */
+		if (counts != 0xffff) {
-			rssi = (rssi * 0.99f) + ((mV / (3300 / RC_INPUT_RSSI_MAX)) * 0.01f);
+			/* low pass*/
+			_rssi_adc_counts = (_rssi_adc_counts * 0.998f) + (counts * 0.002f);
+			/* use 1:1 scaling on 3.3V, 12-Bit ADC input */
+			unsigned mV = _rssi_adc_counts * 3300 / 4095;
+			/* scale to 0..100 (RC_INPUT_RSSI_MAX == 100) */
+			rssi = (mV * RC_INPUT_RSSI_MAX / 3300);
+
 			if (rssi > RC_INPUT_RSSI_MAX) {
 				rssi = RC_INPUT_RSSI_MAX;
 			}
 		}
 	}
+
 #endif
 
 	/* zero RSSI if signal is lost */
@@ -207,21 +222,26 @@ controls_tick() {
 	perf_begin(c_gather_dsm);
 	bool dsm_updated, st24_updated, sumd_updated;
 	(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
+
 	if (dsm_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
 	}
+
 	if (st24_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24;
 	}
+
 	if (sumd_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
 	}
+
 	perf_end(c_gather_dsm);
 
 	perf_begin(c_gather_sbus);
 
 	bool sbus_failsafe, sbus_frame_drop;
-	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS);
+	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
+				       PX4IO_RC_INPUT_CHANNELS);
 
 	if (sbus_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
@@ -231,17 +251,19 @@ controls_tick() {
 		if (sbus_frame_drop) {
 			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP;
 			sbus_rssi = RC_INPUT_RSSI_MAX / 2;
+
 		} else {
 			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
 		}
 
 		if (sbus_failsafe) {
 			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
+
 		} else {
 			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
 		}
 
-		/* set RSSI to an emulated value if ADC RSSI is off */ 
+		/* set RSSI to an emulated value if ADC RSSI is off */
 		if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
 			rssi = sbus_rssi;
 		}
@@ -257,17 +279,20 @@ controls_tick() {
 	 */
 	perf_begin(c_gather_ppm);
 	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]);
+
 	if (ppm_updated) {
 
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
 		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
 		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
 	}
+
 	perf_end(c_gather_ppm);
 
 	/* limit number of channels to allowable data size */
-	if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
+	if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) {
 		r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
+	}
 
 	/* store RSSI */
 	r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi;
@@ -308,10 +333,13 @@ controls_tick() {
 				/*
 				 * 1) Constrain to min/max values, as later processing depends on bounds.
 				 */
-				if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
+				if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) {
 					raw = conf[PX4IO_P_RC_CONFIG_MIN];
-				if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
+				}
+
+				if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) {
 					raw = conf[PX4IO_P_RC_CONFIG_MAX];
+				}
 
 				/*
 				 * 2) Scale around the mid point differently for lower and upper range.
@@ -330,10 +358,12 @@ controls_tick() {
 				 * DO NOT REMOVE OR ALTER STEP 1!
 				 */
 				if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(
+								     conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
 
 				} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(
+								     conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
 
 				} else {
 					/* in the configured dead zone, output zero */
@@ -347,6 +377,7 @@ controls_tick() {
 
 				/* and update the scaled/mapped version */
 				unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
+
 				if (mapped < PX4IO_CONTROL_CHANNELS) {
 
 					/* invert channel if pitch - pulling the lever down means pitching up by convention */
@@ -360,6 +391,7 @@ controls_tick() {
 						if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
 						    ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
 							r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
+
 						} else {
 							r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
 						}
@@ -389,6 +421,7 @@ controls_tick() {
 		/* if we have enough channels (5) to control the vehicle, the mapping is ok */
 		if (assigned_channels > 4) {
 			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
+
 		} else {
 			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
 		}
@@ -408,9 +441,9 @@ controls_tick() {
 
 		/* clear the input-kind flags here */
 		r_status_flags &= ~(
-			PX4IO_P_STATUS_FLAGS_RC_PPM |
+					  PX4IO_P_STATUS_FLAGS_RC_PPM |
-			PX4IO_P_STATUS_FLAGS_RC_DSM |
+					  PX4IO_P_STATUS_FLAGS_RC_DSM |
-			PX4IO_P_STATUS_FLAGS_RC_SBUS);
+					  PX4IO_P_STATUS_FLAGS_RC_SBUS);
 
 	}
 
@@ -427,8 +460,8 @@ controls_tick() {
 	if (rc_input_lost) {
 		/* Clear the RC input status flag, clear manual override flag */
 		r_status_flags &= ~(
-			PX4IO_P_STATUS_FLAGS_OVERRIDE |
+					  PX4IO_P_STATUS_FLAGS_OVERRIDE |
-			PX4IO_P_STATUS_FLAGS_RC_OK);
+					  PX4IO_P_STATUS_FLAGS_RC_OK);
 
 		/* flag raw RC as lost */
 		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
@@ -451,9 +484,9 @@ controls_tick() {
 	 * Override is enabled if either the hardcoded channel / value combination
 	 * is selected, or the AP has requested it.
 	 */
-	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
+	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
-		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
+	    (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
-		!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
+	    !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
 
 		bool override = false;
 
@@ -464,8 +497,9 @@ controls_tick() {
 		 * requested override.
 		 *
 		 */
-		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH))
+		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) {
 			override = true;
+		}
 
 		/*
 		  if the FMU is dead then enable override if we have a
@@ -473,20 +507,23 @@ controls_tick() {
 		 */
 		if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
 		    (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) &&
-		    (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
+		    (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
-			override = true;                
+			override = true;
+		}
 
 		if (override) {
 
 			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
 
 			/* mix new RC input control values to servos */
-			if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated)
+			if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {
 				mixer_tick();
+			}
 
 		} else {
 			r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
 		}
+
 	} else {
 		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
 	}
@@ -512,8 +549,10 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 
 		/* PPM data exists, copy it */
 		*num_values = ppm_decoded_channels;
-		if (*num_values > PX4IO_RC_INPUT_CHANNELS)
+
+		if (*num_values > PX4IO_RC_INPUT_CHANNELS) {
 			*num_values = PX4IO_RC_INPUT_CHANNELS;
+		}
 
 		for (unsigned i = 0; ((i < *num_values) && (i < PPM_MAX_CHANNELS)); i++) {
 			values[i] = ppm_buffer[i];

src/modules/uORB/topics/navigation_capabilities.h

@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file navigation_capabilities.h
- *
- * Definition of navigation capabilities uORB topic.
- */
-
-#ifndef TOPIC_NAVIGATION_CAPABILITIES_H_
-#define TOPIC_NAVIGATION_CAPABILITIES_H_
-
-#include "../uORB.h"
-#include <stdint.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Airspeed
- */
-struct navigation_capabilities_s {
-	float turn_distance;		/**< the optimal distance to a waypoint to switch to the next */
-
-	/* Landing parameters: see fw_pos_control_l1/landingslope.h */
-	float landing_horizontal_slope_displacement;
-	float landing_slope_angle_rad;
-	float landing_flare_length;
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(navigation_capabilities);
-
-#endif