Merged master

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -63,6 +63,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vision_position_estimate.h>
 #include <drivers/drv_hrt.h>
 
 #include <lib/mathlib/mathlib.h>
@@ -134,7 +135,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      7200,
 					      attitude_estimator_ekf_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
@@ -207,7 +208,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 			     };		/**< init: identity matrix */
 
 	float debugOutput[4] = { 0.0f };
-
 	int overloadcounter = 19;
 
 	/* Initialize filter */
@@ -220,6 +220,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	memset(&raw, 0, sizeof(raw));
 	struct vehicle_gps_position_s gps;
 	memset(&gps, 0, sizeof(gps));
+	gps.eph = 100000;
+	gps.epv = 100000;
 	struct vehicle_global_position_s global_pos;
 	memset(&global_pos, 0, sizeof(global_pos));
 	struct vehicle_attitude_s att;
@@ -258,9 +260,12 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* subscribe to param changes */
 	int sub_params = orb_subscribe(ORB_ID(parameter_update));
 
-	/* subscribe to control mode*/
+	/* subscribe to control mode */
 	int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
 
+	/* subscribe to vision estimate */
+	int vision_sub = orb_subscribe(ORB_ID(vision_position_estimate));
+
 	/* advertise attitude */
 	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
@@ -268,14 +273,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 	thread_running = true;
 
-	/* advertise debug value */
-	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
-	// orb_advert_t pub_dbg = -1;
-
 	/* keep track of sensor updates */
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
-	struct attitude_estimator_ekf_params ekf_params = { 0 };
+	struct attitude_estimator_ekf_params ekf_params;
+	memset(&ekf_params, 0, sizeof(ekf_params));
 
 	struct attitude_estimator_ekf_param_handles ekf_param_handles = { 0 };
 
@@ -293,6 +295,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	math::Matrix<3, 3> R_decl;
 	R_decl.identity();
 
+	struct vision_position_estimate vision {};
+
 	/* register the perf counter */
 	perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");
 
@@ -313,8 +317,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 			orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode);
 
 			if (!control_mode.flag_system_hil_enabled) {
-				fprintf(stderr,
-					"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
+				warnx("WARNING: Not getting sensors - sensor app running?");
 			}
 
 		} else {
@@ -449,9 +452,30 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 						sensor_last_timestamp[2] = raw.magnetometer_timestamp;
 					}
 
-					z_k[6] = raw.magnetometer_ga[0];
-					z_k[7] = raw.magnetometer_ga[1];
-					z_k[8] = raw.magnetometer_ga[2];
+					bool vision_updated = false;
+					orb_check(vision_sub, &vision_updated);
+
+					if (vision_updated) {
+						orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision);
+					}
+
+					if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) {
+
+						math::Quaternion q(vision.q);
+						math::Matrix<3, 3> Rvis = q.to_dcm();
+
+						math::Vector<3> v(1.0f, 0.0f, 0.4f);
+
+						math::Vector<3> vn = Rvis * v;
+
+						z_k[6] = vn(0);
+						z_k[7] = vn(1);
+						z_k[8] = vn(2);
+					} else {
+						z_k[6] = raw.magnetometer_ga[0];
+						z_k[7] = raw.magnetometer_ga[1];
+						z_k[8] = raw.magnetometer_ga[2];
+					}
 
 					uint64_t now = hrt_absolute_time();
 					unsigned int time_elapsed = now - last_run;

src/modules/attitude_estimator_ekf/module.mk

@@ -42,3 +42,7 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/AttitudeEKF.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3600
+
+EXTRACXXFLAGS = -Wframe-larger-than=2400

src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp

@@ -153,7 +153,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      14000,
 					      attitude_estimator_so3_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/modules/attitude_estimator_so3/module.mk

@@ -8,3 +8,5 @@ SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS = -Wno-float-equal

src/modules/bottle_drop/bottle_drop.cpp

@@ -523,6 +523,9 @@ BottleDrop::task_main()
 			}
 
 			switch (_drop_state) {
+				case DROP_STATE_INIT:
+					// do nothing
+					break;
 
 				case DROP_STATE_TARGET_VALID:
 				{
@@ -689,6 +692,10 @@ BottleDrop::task_main()
 						orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
 					}
 					break;
+
+				case DROP_STATE_BAY_CLOSED:
+					// do nothing
+					break;
 			}
 
 			counter++;

src/modules/commander/commander.cpp

@@ -81,6 +81,7 @@
 #include <uORB/topics/system_power.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
+#include <uORB/topics/geofence_result.h>
 #include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/vtol_vehicle_status.h>
 
@@ -267,7 +268,7 @@ int commander_main(int argc, char *argv[])
 					     SCHED_PRIORITY_MAX - 40,
 					     3200,
 					     commander_thread_main,
-					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
 		while (!thread_running) {
 			usleep(200);
@@ -926,6 +927,11 @@ int commander_thread_main(int argc, char *argv[])
 	struct mission_result_s mission_result;
 	memset(&mission_result, 0, sizeof(mission_result));
 
+	/* Subscribe to geofence result topic */
+	int geofence_result_sub = orb_subscribe(ORB_ID(geofence_result));
+	struct geofence_result_s geofence_result;
+	memset(&geofence_result, 0, sizeof(geofence_result));
+
 	/* Subscribe to manual control data */
 	int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	struct manual_control_setpoint_s sp_man;
@@ -1553,27 +1559,34 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (updated) {
 			orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
-
-			/* Check for geofence violation */
-			if (armed.armed && (mission_result.geofence_violated || mission_result.flight_termination)) {
-				//XXX: make this configurable to select different actions (e.g. navigation modes)
-				/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
-				armed.force_failsafe = true;
-				status_changed = true;
-				static bool flight_termination_printed = false;
-
-				if (!flight_termination_printed) {
-					warnx("Flight termination because of navigator request or geofence");
-					mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
-					flight_termination_printed = true;
-				}
-
-				if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
-					mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
-				}
-			} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
 		}
 
+		/* start geofence result check */
+		orb_check(geofence_result_sub, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(geofence_result), geofence_result_sub, &geofence_result);
+		}
+
+		/* Check for geofence violation */
+		if (armed.armed && (geofence_result.geofence_violated || mission_result.flight_termination)) {
+			//XXX: make this configurable to select different actions (e.g. navigation modes)
+			/* this will only trigger if geofence is activated via param and a geofence file is present, also there is a circuit breaker to disable the actual flight termination in the px4io driver */
+			armed.force_failsafe = true;
+			status_changed = true;
+			static bool flight_termination_printed = false;
+
+			if (!flight_termination_printed) {
+				warnx("Flight termination because of navigator request or geofence");
+				mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
+				flight_termination_printed = true;
+			}
+
+			if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
+				mavlink_log_critical(mavlink_fd, "GF violation: flight termination");
+			}
+		} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
+
 		/* RC input check */
 		if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
 		    hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {

src/modules/commander/module.mk

@@ -51,3 +51,6 @@ SRCS		 	= commander.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wframe-larger-than=2000
+

src/modules/ekf_att_pos_estimator/module.mk

@@ -42,4 +42,5 @@ SRCS		= ekf_att_pos_estimator_main.cpp \
 		  estimator_23states.cpp \
 		  estimator_utilities.cpp
 
-EXTRACXXFLAGS	= -Weffc++
+EXTRACXXFLAGS	= -Weffc++ -Wframe-larger-than=6100
+

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -115,7 +115,7 @@ int fixedwing_backside_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
 					 control_demo_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -335,8 +335,8 @@ 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")),
@@ -588,12 +588,14 @@ 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);
+			}
 		}
 	}
 }
@@ -719,22 +721,24 @@ 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);
@@ -748,7 +752,7 @@ FixedwingAttitudeControl::task_main()
 				_att.R[2][1] = R_adapted(2, 1);
 				_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;
@@ -819,6 +823,7 @@ 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
@@ -879,6 +884,8 @@ 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;
 
@@ -978,6 +985,9 @@ 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);
@@ -1017,7 +1027,7 @@ 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);
 				}
@@ -1042,7 +1052,7 @@ 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_pos_control_l1/module.mk

@@ -47,3 +47,5 @@ SRCS		= fw_pos_control_l1_main.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wno-float-equal

src/modules/mavlink/mavlink_ftp.cpp

@@ -801,7 +801,7 @@ MavlinkFTP::_return_request(Request *req)
 
 /// @brief Copy file (with limited space)
 int
-MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length)
+MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length)
 {
 	char buff[512];
 	int src_fd = -1, dst_fd = -1;

src/modules/mavlink/mavlink_ftp.h

@@ -142,7 +142,7 @@ private:
 	static void	_worker_trampoline(void *arg);
 	void		_process_request(Request *req);
 	void		_reply(Request *req);
-	int		_copy_file(const char *src_path, const char *dst_path, ssize_t length);
+	int		_copy_file(const char *src_path, const char *dst_path, size_t length);
 
 	ErrorCode	_workList(PayloadHeader *payload);
 	ErrorCode	_workOpen(PayloadHeader *payload, int oflag);

src/modules/mavlink/mavlink_main.cpp

@@ -948,7 +948,6 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
 				/* delete stream */
 				LL_DELETE(_streams, stream);
 				delete stream;
-				warnx("deleted stream %s", stream->get_name());
 			}
 
 			return OK;
@@ -1412,9 +1411,13 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("SYS_STATUS", 1.0f);
 		configure_stream("ATTITUDE", 50.0f);
 		configure_stream("GLOBAL_POSITION_INT", 50.0f);
+		configure_stream("LOCAL_POSITION_NED", 30.0f);
 		configure_stream("CAMERA_CAPTURE", 2.0f);
 		configure_stream("ATTITUDE_TARGET", 10.0f);
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
+		configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
+		configure_stream("DISTANCE_SENSOR", 10.0f);
+		configure_stream("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream("VFR_HUD", 10.0f);
 		break;
 
@@ -1638,7 +1641,7 @@ Mavlink::start(int argc, char *argv[])
 		       SCHED_PRIORITY_DEFAULT,
 		       2800,
 		       (main_t)&Mavlink::start_helper,
-		       (const char **)argv);
+		       (char * const *)argv);
 
 	// Ensure that this shell command
 	// does not return before the instance

src/modules/mavlink/mavlink_messages.cpp

@@ -1486,6 +1486,7 @@ protected:
 		if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) {
 			mavlink_position_target_global_int_t msg{};
 
+			msg.time_boot_ms = hrt_absolute_time()/1000;
 			msg.coordinate_frame = MAV_FRAME_GLOBAL;
 			msg.lat_int = pos_sp_triplet.current.lat * 1e7;
 			msg.lon_int = pos_sp_triplet.current.lon * 1e7;
@@ -1764,6 +1765,9 @@ protected:
 				case RC_INPUT_SOURCE_PX4IO_ST24:
 					msg.rssi |= (3 << 4);
 					break;
+				case RC_INPUT_SOURCE_UNKNOWN:
+					// do nothing
+					break;
 			}
 
 			if (rc.rc_lost) {

src/modules/mavlink/mavlink_mission.cpp

@@ -292,9 +292,6 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
 void
 MavlinkMissionManager::send(const hrt_abstime now)
 {
-	/* update interval for slow rate limiter */
-	_slow_rate_limiter.set_interval(_interval * 10 / _mavlink->get_rate_mult());
-
 	bool updated = false;
 	orb_check(_mission_result_sub, &updated);
 
@@ -312,6 +309,12 @@ MavlinkMissionManager::send(const hrt_abstime now)
 
 		send_mission_current(_current_seq);
 
+		if (mission_result.item_do_jump_changed) {
+			/* send a mission item again if the remaining DO_JUMPs has changed */
+			send_mission_item(_transfer_partner_sysid, _transfer_partner_compid,
+					  (uint16_t)mission_result.item_changed_index);
+		}
+
 	} else {
 		if (_slow_rate_limiter.check(now)) {
 			send_mission_current(_current_seq);
@@ -811,7 +814,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 
 	case NAV_CMD_DO_JUMP:
 		mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
-		mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
+		mavlink_mission_item->param2 = mission_item->do_jump_repeat_count - mission_item->do_jump_current_count;
 		break;
 
 	default:

src/modules/mavlink/module.mk

@@ -53,4 +53,6 @@ MAXOPTIMIZATION	 = -Os
 
 MODULE_STACKSIZE = 1024
 
-EXTRACXXFLAGS	= -Weffc++
+EXTRACXXFLAGS	= -Weffc++ -Wno-attributes -Wno-packed
+
+EXTRACFLAGS	= -Wno-packed

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -652,8 +652,6 @@ MulticopterPositionControl::control_offboard(float dt)
 			/* control position */
 			_pos_sp(0) = _pos_sp_triplet.current.x;
 			_pos_sp(1) = _pos_sp_triplet.current.y;
-			_pos_sp(2) = _pos_sp_triplet.current.z;
-
 		} else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) {
 			/* control velocity */
 			/* reset position setpoint to current position if needed */
@@ -670,7 +668,10 @@ MulticopterPositionControl::control_offboard(float dt)
 			_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
 		}
 
-		if (_control_mode.flag_control_altitude_enabled) {
+		if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.position_valid) {
+			/* Control altitude */
+			_pos_sp(2) = _pos_sp_triplet.current.z;
+		} else if (_control_mode.flag_control_climb_rate_enabled && _pos_sp_triplet.current.velocity_valid) {
 			/* reset alt setpoint to current altitude if needed */
 			reset_alt_sp();
 

src/modules/navigator/datalinkloss.cpp

@@ -155,7 +155,7 @@ DataLinkLoss::set_dll_item()
 	case DLL_STATE_TERMINATE: {
 		/* Request flight termination from the commander */
 		_navigator->get_mission_result()->flight_termination = true;
-		_navigator->publish_mission_result();
+		_navigator->set_mission_result_updated();
 		reset_mission_item_reached();
 		warnx("not switched to manual: request flight termination");
 		pos_sp_triplet->previous.valid = false;
@@ -188,7 +188,7 @@ DataLinkLoss::advance_dll()
 					_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
 			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
 			_navigator->get_mission_result()->stay_in_failsafe = true;
-			_navigator->publish_mission_result();
+			_navigator->set_mission_result_updated();
 			reset_mission_item_reached();
 			_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 		} else {
@@ -209,7 +209,7 @@ DataLinkLoss::advance_dll()
 			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home");
 		_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 		_navigator->get_mission_result()->stay_in_failsafe = true;
-		_navigator->publish_mission_result();
+		_navigator->set_mission_result_updated();
 		reset_mission_item_reached();
 		break;
 	case DLL_STATE_FLYTOAIRFIELDHOMEWP:
@@ -217,7 +217,7 @@ DataLinkLoss::advance_dll()
 		warnx("time is up, state should have been changed manually by now");
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
 		_navigator->get_mission_result()->stay_in_failsafe = true;
-		_navigator->publish_mission_result();
+		_navigator->set_mission_result_updated();
 		reset_mission_item_reached();
 		break;
 	case DLL_STATE_TERMINATE:

src/modules/navigator/geofence.cpp

@@ -279,8 +279,14 @@ Geofence::loadFromFile(const char *filename)
 		while((textStart < sizeof(line)/sizeof(char)) && isspace(line[textStart])) textStart++;
 
 		/* if the line starts with #, skip */
-		if (line[textStart] == commentChar)
+		if (line[textStart] == commentChar) {
 			continue;
+		}
+
+		/* if there is only a linefeed, skip it */
+		if (line[0] == '\n') {
+			continue;
+		}
 
 		if (gotVertical) {
 			/* Parse the line as a geofence point */
@@ -291,8 +297,10 @@ Geofence::loadFromFile(const char *filename)
 				/* Handle degree minute second format */
 				float lat_d, lat_m, lat_s, lon_d, lon_m, lon_s;
 
-				if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6)
+				if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6) {
+					warnx("Scanf to parse DMS geofence vertex failed.");
 					return ERROR;
+				}
 
 //				warnx("Geofence DMS: %.5f %.5f %.5f ; %.5f %.5f %.5f", (double)lat_d, (double)lat_m, (double)lat_s, (double)lon_d, (double)lon_m, (double)lon_s);
 
@@ -301,9 +309,10 @@ Geofence::loadFromFile(const char *filename)
 
 			} else {
 				/* Handle decimal degree format */
-
-				if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2)
+				if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2) {
+					warnx("Scanf to parse geofence vertex failed.");
 					return ERROR;
+				}
 			}
 
 			if (dm_write(DM_KEY_FENCE_POINTS, pointCounter, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) != sizeof(vertex))

src/modules/navigator/gpsfailure.cpp

@@ -141,7 +141,7 @@ GpsFailure::set_gpsf_item()
 	case GPSF_STATE_TERMINATE: {
 		/* Request flight termination from the commander */
 		_navigator->get_mission_result()->flight_termination = true;
-		_navigator->publish_mission_result();
+		_navigator->set_mission_result_updated();
 		warnx("gps fail: request flight termination");
 	}
 	default:

src/modules/navigator/mission.cpp

@@ -38,6 +38,7 @@
  * @author Julian Oes <julian@oes.ch>
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #include <sys/types.h>
@@ -149,18 +150,12 @@ Mission::on_active()
 
 	/* lets check if we reached the current mission item */
 	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
+		set_mission_item_reached();
 		if (_mission_item.autocontinue) {
 			/* switch to next waypoint if 'autocontinue' flag set */
 			advance_mission();
 			set_mission_items();
 
-		} else {
-			/* else just report that item reached */
-			if (_mission_type == MISSION_TYPE_OFFBOARD) {
-				if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) {
-					set_mission_item_reached();
-				}
-			}
 		}
 
 	} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
@@ -395,7 +390,6 @@ Mission::set_mission_items()
 		/* reuse setpoint for LOITER only if it's not IDLE */
 		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
 
-		reset_mission_item_reached();
 		set_mission_finished();
 
 		_navigator->set_position_setpoint_triplet_updated();
@@ -636,6 +630,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 								     "ERROR DO JUMP waypoint could not be written");
 						return false;
 					}
+					report_do_jump_mission_changed(*mission_index_ptr,
+								       mission_item_tmp.do_jump_repeat_count);
 				}
 				/* set new mission item index and repeat
 				* we don't have to validate here, if it's invalid, we should realize this later .*/
@@ -706,23 +702,32 @@ Mission::save_offboard_mission_state()
 	dm_unlock(DM_KEY_MISSION_STATE);
 }
 
+void
+Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining)
+{
+	/* inform about the change */
+	_navigator->get_mission_result()->item_do_jump_changed = true;
+	_navigator->get_mission_result()->item_changed_index = index;
+	_navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining;
+	_navigator->set_mission_result_updated();
+}
+
 void
 Mission::set_mission_item_reached()
 {
 	_navigator->get_mission_result()->reached = true;
 	_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
-	_navigator->publish_mission_result();
+	_navigator->set_mission_result_updated();
 	reset_mission_item_reached();
 }
 
 void
 Mission::set_current_offboard_mission_item()
 {
-	warnx("current offboard mission index: %d", _current_offboard_mission_index);
 	_navigator->get_mission_result()->reached = false;
 	_navigator->get_mission_result()->finished = false;
 	_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
-	_navigator->publish_mission_result();
+	_navigator->set_mission_result_updated();
 
 	save_offboard_mission_state();
 }
@@ -731,5 +736,5 @@ void
 Mission::set_mission_finished()
 {
 	_navigator->get_mission_result()->finished = true;
-	_navigator->publish_mission_result();
+	_navigator->set_mission_result_updated();
 }

src/modules/navigator/mission.h

@@ -38,6 +38,7 @@
  * @author Julian Oes <julian@oes.ch>
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #ifndef NAVIGATOR_MISSION_H
@@ -130,6 +131,11 @@ private:
 	 */
 	void save_offboard_mission_state();
 
+	/**
+	 * Inform about a changed mission item after a DO_JUMP
+	 */
+	void report_do_jump_mission_changed(int index, int do_jumps_remaining);
+
 	/**
 	 * Set a mission item as reached
 	 */

src/modules/navigator/module.mk

@@ -62,3 +62,5 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION = -Os
+
+EXTRACXXFLAGS	= -Wno-sign-compare

src/modules/navigator/navigator.h

@@ -54,6 +54,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/mission_result.h>
+#include <uORB/topics/geofence_result.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 
 #include "navigator_mode.h"
@@ -107,9 +108,9 @@ public:
 	void		load_fence_from_file(const char *filename);
 
 	/**
-	 * Publish the mission result so commander and mavlink know what is going on
+	 * Publish the geofence result
 	 */
-	void publish_mission_result();
+	void publish_geofence_result();
 
 	/**
 	 * Publish the attitude sp, only to be used in very special modes when position control is deactivated
@@ -122,6 +123,7 @@ public:
 	 */
 	void		set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
 	void		set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; }
+	void		set_mission_result_updated() { _mission_result_updated = true; }
 
 	/**
 	 * Getters
@@ -134,6 +136,7 @@ public:
 	struct home_position_s*		    get_home_position() { return &_home_pos; }
 	struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
 	struct mission_result_s*	    get_mission_result() { return &_mission_result; }
+	struct geofence_result_s*		    get_geofence_result() { return &_geofence_result; }
 	struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; }
 
 	int		get_onboard_mission_sub() { return _onboard_mission_sub; }
@@ -164,6 +167,7 @@ private:
 
 	orb_advert_t	_pos_sp_triplet_pub;		/**< publish position setpoint triplet */
 	orb_advert_t	_mission_result_pub;
+	orb_advert_t	_geofence_result_pub;
 	orb_advert_t	_att_sp_pub;			/**< publish att sp
 							  used only in very special failsafe modes
 							  when pos control is deactivated */
@@ -179,7 +183,8 @@ private:
 	position_setpoint_triplet_s			_pos_sp_triplet;	/**< triplet of position setpoints */
 
 	mission_result_s				_mission_result;
-	vehicle_attitude_setpoint_s					_att_sp;
+	geofence_result_s				_geofence_result;
+	vehicle_attitude_setpoint_s			_att_sp;
 
 	bool 		_mission_item_valid;		/**< flags if the current mission item is valid */
 
@@ -206,6 +211,7 @@ private:
 	bool		_can_loiter_at_sp;			/**< flags if current position SP can be used to loiter */
 	bool		_pos_sp_triplet_updated;		/**< flags if position SP triplet needs to be published */
 	bool 		_pos_sp_triplet_published_invalid_once;	/**< flags if position SP triplet has been published once to UORB */
+	bool		_mission_result_updated;		/**< flags if mission result has seen an update */
 
 	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */
 	control::BlockParamFloat _param_acceptance_radius;	/**< acceptance for takeoff */
@@ -271,6 +277,12 @@ private:
 	 */
 	void		publish_position_setpoint_triplet();
 
+
+	/**
+	 * Publish the mission result so commander and mavlink know what is going on
+	 */
+	void		publish_mission_result();
+
 	/* this class has ptr data members, so it should not be copied,
 	 * consequently the copy constructors are private.
 	 */

src/modules/navigator/navigator_main.cpp

@@ -110,6 +110,7 @@ Navigator::Navigator() :
 	_param_update_sub(-1),
 	_pos_sp_triplet_pub(-1),
 	_mission_result_pub(-1),
+	_geofence_result_pub(-1),
 	_att_sp_pub(-1),
 	_vstatus{},
 	_control_mode{},
@@ -138,6 +139,7 @@ Navigator::Navigator() :
 	_can_loiter_at_sp(false),
 	_pos_sp_triplet_updated(false),
 	_pos_sp_triplet_published_invalid_once(false),
+	_mission_result_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_param_acceptance_radius(this, "ACC_RAD"),
 	_param_datalinkloss_obc(this, "DLL_OBC"),
@@ -398,8 +400,8 @@ Navigator::task_main()
 			have_geofence_position_data = false;
 			if (!inside) {
 				/* inform other apps via the mission result */
-				_mission_result.geofence_violated = true;
-				publish_mission_result();
+				_geofence_result.geofence_violated = true;
+				publish_geofence_result();
 
 				/* Issue a warning about the geofence violation once */
 				if (!_geofence_violation_warning_sent) {
@@ -408,8 +410,8 @@ Navigator::task_main()
 				}
 			} else {
 				/* inform other apps via the mission result */
-				_mission_result.geofence_violated = false;
-				publish_mission_result();
+				_geofence_result.geofence_violated = false;
+				publish_geofence_result();
 				/* Reset the _geofence_violation_warning_sent field */
 				_geofence_violation_warning_sent = false;
 			}
@@ -490,6 +492,11 @@ Navigator::task_main()
 			_pos_sp_triplet_updated = false;
 		}
 
+		if (_mission_result_updated) {
+			publish_mission_result();
+			_mission_result_updated = false;
+		}
+
 		perf_end(_loop_perf);
 	}
 	warnx("exiting.");
@@ -639,6 +646,28 @@ Navigator::publish_mission_result()
 		/* advertise and publish */
 		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
 	}
+
+	/* reset some of the flags */
+	_mission_result.seq_reached = false;
+	_mission_result.seq_current = 0;
+	_mission_result.item_do_jump_changed = false;
+	_mission_result.item_changed_index = 0;
+	_mission_result.item_do_jump_remaining = 0;
+}
+
+void
+Navigator::publish_geofence_result()
+{
+
+	/* lazily publish the geofence result only once available */
+	if (_geofence_result_pub > 0) {
+		/* publish mission result */
+		orb_publish(ORB_ID(geofence_result), _geofence_result_pub, &_geofence_result);
+
+	} else {
+		/* advertise and publish */
+		_geofence_result_pub = orb_advertise(ORB_ID(geofence_result), &_geofence_result);
+	}
 }
 
 void

src/modules/navigator/navigator_mode.cpp

@@ -65,7 +65,7 @@ NavigatorMode::run(bool active) {
 			_first_run = false;
 			/* Reset stay in failsafe flag */
 			_navigator->get_mission_result()->stay_in_failsafe = false;
-			_navigator->publish_mission_result();
+			_navigator->set_mission_result_updated();
 			on_activation();
 
 		} else {

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/rcloss.cpp

@@ -128,7 +128,7 @@ RCLoss::set_rcl_item()
 	case RCL_STATE_TERMINATE: {
 		/* Request flight termination from the commander */
 		_navigator->get_mission_result()->flight_termination = true;
-		_navigator->publish_mission_result();
+		_navigator->set_mission_result_updated();
 		warnx("rc not recovered: request flight termination");
 		pos_sp_triplet->previous.valid = false;
 		pos_sp_triplet->current.valid = false;
@@ -162,7 +162,7 @@ RCLoss::advance_rcl()
 			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, terminating");
 			_rcl_state = RCL_STATE_TERMINATE;
 			_navigator->get_mission_result()->stay_in_failsafe = true;
-			_navigator->publish_mission_result();
+			_navigator->set_mission_result_updated();
 			reset_mission_item_reached();
 		}
 		break;
@@ -171,7 +171,7 @@ RCLoss::advance_rcl()
 		warnx("time is up, no RC regain, terminating");
 		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
 		_navigator->get_mission_result()->stay_in_failsafe = true;
-		_navigator->publish_mission_result();
+		_navigator->set_mission_result_updated();
 		reset_mission_item_reached();
 		break;
 	case RCL_STATE_TERMINATE:

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/module.mk

@@ -41,3 +41,6 @@ SRCS		 	= position_estimator_inav_main.c \
 			inertial_filter.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wframe-larger-than=3500
+

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -151,7 +151,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
 					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
 					       position_estimator_inav_thread_main,
-					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
+					       (argv) ? (char * const *) &argv[2] : (char * const *) NULL);
 		exit(0);
 	}
 
@@ -233,8 +233,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 	float eph_flow = 1.0f;
 
-	float eph_vision = 0.5f;
-	float epv_vision = 0.5f;
+	float eph_vision = 0.2f;
+	float epv_vision = 0.2f;
 
 	float x_est_prev[2], y_est_prev[2], z_est_prev[2];
 	memset(x_est_prev, 0, sizeof(x_est_prev));
@@ -640,6 +640,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				if (updated) {
 					orb_copy(ORB_ID(vision_position_estimate), vision_position_estimate_sub, &vision);
 
+					static float last_vision_x = 0.0f;
+					static float last_vision_y = 0.0f;
+					static float last_vision_z = 0.0f;
+
 					/* reset position estimate on first vision update */
 					if (!vision_valid) {
 						x_est[0] = vision.x;
@@ -654,6 +658,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						}
 						
 						vision_valid = true;
+
+						last_vision_x = vision.x;
+						last_vision_y = vision.y;
+						last_vision_z = vision.z;
+
 						warnx("VISION estimate valid");
 						mavlink_log_info(mavlink_fd, "[inav] VISION estimate valid");
 					}
@@ -663,10 +672,30 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					corr_vision[1][0] = vision.y - y_est[0];
 					corr_vision[2][0] = vision.z - z_est[0];
 
-					/* calculate correction for velocity */
-					corr_vision[0][1] = vision.vx - x_est[1];
-					corr_vision[1][1] = vision.vy - y_est[1];
-					corr_vision[2][1] = vision.vz - z_est[1];
+					static hrt_abstime last_vision_time = 0;
+
+					float vision_dt = (vision.timestamp_boot - last_vision_time) / 1e6f;
+					last_vision_time = vision.timestamp_boot;
+
+					if (vision_dt > 0.000001f && vision_dt < 0.2f) {
+						vision.vx = (vision.x - last_vision_x) / vision_dt;
+						vision.vy = (vision.y - last_vision_y) / vision_dt;
+						vision.vz = (vision.z - last_vision_z) / vision_dt;
+
+						last_vision_x = vision.x;
+						last_vision_y = vision.y;
+						last_vision_z = vision.z;
+
+						/* calculate correction for velocity */
+						corr_vision[0][1] = vision.vx - x_est[1];
+						corr_vision[1][1] = vision.vy - y_est[1];
+						corr_vision[2][1] = vision.vz - z_est[1];
+					} else {
+						/* assume zero motion */
+						corr_vision[0][1] = 0.0f - x_est[1];
+						corr_vision[1][1] = 0.0f - y_est[1];
+						corr_vision[2][1] = 0.0f - z_est[1];
+					}
 
 				}
 			}

src/modules/position_estimator_inav/position_estimator_inav_params.c

@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
  * @max 10.0
  * @group Position Estimator INAV
  */
-PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f);
+PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
 
 /**
  * XY axis weight for vision velocity

src/modules/sdlog2/module.mk

@@ -45,3 +45,6 @@ SRCS = sdlog2.c \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACFLAGS = -Wframe-larger-than=1200
+

src/modules/sdlog2/sdlog2.c

@@ -304,7 +304,7 @@ int sdlog2_main(int argc, char *argv[])
 						 SCHED_PRIORITY_DEFAULT - 30,
 						 3000,
 						 sdlog2_thread_main,
-						 (const char **)argv);
+						 (char * const *)argv);
 		exit(0);
 	}
 
@@ -1089,6 +1089,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	if (_extended_logging) {
 		subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
+	} else {
+		subs.sat_info_sub = 0;
 	}
 
 	/* close non-needed fd's */

src/modules/sdlog2/sdlog2_messages.h

@@ -468,7 +468,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
 	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
-	LOG_FORMAT(FLOW, "hhfffBB",		"RawX,RawY,CompX,CompY,Dist,Q,SensID"),
+	LOG_FORMAT(FLOW, "QBffffffLLHhB",	"IntT,ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
 	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
 	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),

src/modules/segway/segway_main.cpp

@@ -110,7 +110,7 @@ int segway_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
 					 segway_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/modules/sensors/module.mk

@@ -44,3 +44,5 @@ SRCS		= sensors.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS	= -Wno-type-limits

src/modules/systemlib/module.mk

@@ -57,3 +57,5 @@ SRCS		 = err.c \
 		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACFLAGS	= -Wno-sign-compare

src/modules/systemlib/perf_counter.c

@@ -41,7 +41,7 @@
 #include <stdio.h>
 #include <sys/queue.h>
 #include <drivers/drv_hrt.h>
-
+#include <math.h>
 #include "perf_counter.h"
 
 /**
@@ -84,7 +84,8 @@ struct perf_ctr_interval {
 	uint64_t		time_last;
 	uint64_t		time_least;
 	uint64_t		time_most;
-
+	float			mean;
+	float			M2;
 };
 
 /**
@@ -109,6 +110,7 @@ perf_alloc(enum perf_counter_type type, const char *name)
 
 	case PC_INTERVAL:
 		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
+
 		break;
 
 	default:
@@ -156,15 +158,23 @@ perf_count(perf_counter_t handle)
 		case 1:
 			pci->time_least = now - pci->time_last;
 			pci->time_most = now - pci->time_last;
+			pci->mean = pci->time_least / 1e6f;
+			pci->M2 = 0;
 			break;
 		default: {
-			hrt_abstime interval = now - pci->time_last;
-			if (interval < pci->time_least)
-				pci->time_least = interval;
-			if (interval > pci->time_most)
-				pci->time_most = interval;
-			break;
-		}
+				hrt_abstime interval = now - pci->time_last;
+				if (interval < pci->time_least)
+					pci->time_least = interval;
+				if (interval > pci->time_most)
+					pci->time_most = interval;
+				// maintain mean and variance of interval in seconds
+				// Knuth/Welford recursive mean and variance of update intervals (via Wikipedia)
+				float dt = interval / 1e6f;
+				float delta_intvl = dt - pci->mean;
+				pci->mean += delta_intvl / pci->event_count;
+				pci->M2 += delta_intvl * (dt - pci->mean);
+				break;
+			}
 		}
 		pci->time_last = now;
 		pci->event_count++;
@@ -313,13 +323,16 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
 
 	case PC_INTERVAL: {
 		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+		float rms = sqrtf(pci->M2 / (pci->event_count-1));
 
-		dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus\n",
+		dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3f msec mean %5.3f msec rms\n",
 		       handle->name,
 		       pci->event_count,
 		       (pci->time_last - pci->time_first) / pci->event_count,
 		       pci->time_least,
-		       pci->time_most);
+		       pci->time_most,
+			   (double)(1000 * pci->mean),
+			   (double)(1000 * rms));
 		break;
 	}
 
@@ -365,6 +378,21 @@ perf_print_all(int fd)
 	}
 }
 
+extern const uint16_t latency_bucket_count;
+extern uint32_t latency_counters[];
+extern const uint16_t latency_buckets[];
+
+void
+perf_print_latency(int fd)
+{
+	dprintf(fd, "bucket : events\n");
+	for (int i = 0; i < latency_bucket_count; i++) {
+		printf("  %4i : %i\n", latency_buckets[i], latency_counters[i]);
+	}
+	// print the overflow bucket value
+	dprintf(fd, " >%4i : %i\n", latency_buckets[latency_bucket_count-1], latency_counters[latency_bucket_count]);
+}
+
 void
 perf_reset_all(void)
 {
@@ -374,4 +402,7 @@ perf_reset_all(void)
 		perf_reset(handle);
 		handle = (perf_counter_t)sq_next(&handle->link);
 	}
+	for (int i = 0; i <= latency_bucket_count; i++) {
+		latency_counters[i] = 0;
+	}
 }

src/modules/systemlib/perf_counter.h

@@ -94,7 +94,7 @@ __EXPORT extern void		perf_begin(perf_counter_t handle);
  * End a performance event.
  *
  * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
- * If a call is made without a corresopnding perf_begin call, or if perf_cancel
+ * If a call is made without a corresponding perf_begin call, or if perf_cancel
  * has been called subsequently, no change is made to the counter.
  *
  * @param handle		The handle returned from perf_alloc.
@@ -142,6 +142,13 @@ __EXPORT extern void		perf_print_counter_fd(int fd, perf_counter_t handle);
  */
 __EXPORT extern void		perf_print_all(int fd);
 
+/**
+ * Print hrt latency counters.
+ *
+ * @param fd			File descriptor to print to - e.g. 0 for stdout
+ */
+__EXPORT extern void		perf_print_latency(int fd);
+
 /**
  * Reset all of the performance counters.
  */

src/modules/systemlib/system_params.c

@@ -82,3 +82,17 @@ PARAM_DEFINE_INT32(SYS_USE_IO, 1);
 * @group System
 */
 PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
+
+/**
+* Companion computer interface
+*
+* Configures the baud rate of the companion computer interface.
+* Set to zero to disable, set to 921600 to enable.
+* CURRENTLY ONLY SUPPORTS 921600 BAUD! Use extras.txt for
+* other baud rates.
+*
+* @min 0
+* @max 921600
+* @group System
+*/
+PARAM_DEFINE_INT32(SYS_COMPANION, 0);

src/modules/systemlib/systemlib.c

@@ -87,7 +87,7 @@ static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
 	kill(tcb->pid, SIGUSR1);
 }
 
-int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[])
 {
 	int pid;
 

src/modules/systemlib/systemlib.h

@@ -64,7 +64,7 @@ __EXPORT int task_spawn_cmd(const char *name,
 			int scheduler,
 			int stack_size,
 			main_t entry,
-			const char *argv[]);
+			char * const argv[]);
 
 enum MULT_PORTS {
 	MULT_0_US2_RXTX = 0,

src/modules/uORB/objects_common.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -148,6 +148,9 @@ ORB_DEFINE(onboard_mission, struct mission_s);
 #include "topics/mission_result.h"
 ORB_DEFINE(mission_result, struct mission_result_s);
 
+#include "topics/geofence_result.h"
+ORB_DEFINE(geofence_result, struct geofence_result_s);
+
 #include "topics/fence.h"
 ORB_DEFINE(fence, unsigned);
 

src/modules/uORB/topics/geofence_result.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   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 geofence_result.h
+ * Status of the plance concerning the geofence
+ *
+ * @author Ban Siesta <bansiesta@gmail.com>
+ */
+
+#ifndef TOPIC_GEOFENCE_RESULT_H
+#define TOPIC_GEOFENCE_RESULT_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct geofence_result_s
+{
+	bool geofence_violated;		/**< true if the geofence is violated */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(geofence_result);
+
+#endif

src/modules/uORB/topics/mission_result.h

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,11 @@
 /**
  * @file mission_result.h
  * Mission results that navigator needs to pass on to commander and mavlink.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #ifndef TOPIC_MISSION_RESULT_H
@@ -58,8 +60,10 @@ struct mission_result_s
 	bool reached;			/**< true if mission has been reached					 */
 	bool finished;			/**< true if mission has been completed					 */
 	bool stay_in_failsafe;		/**< true if the commander should not switch out of the failsafe mode*/
-	bool geofence_violated;		/**< true if the geofence is violated */
 	bool flight_termination;	/**< true if the navigator demands a flight termination from the commander app */
+	bool item_do_jump_changed;	/**< true if the number of do jumps remaining has changed */
+	unsigned item_changed_index;	/**< indicate which item has changed */
+	unsigned item_do_jump_remaining;/**< set to the number of do jumps remaining for that item */
 };
 
 /**

src/modules/uORB/uORB.h

@@ -67,6 +67,33 @@ typedef const struct orb_metadata *orb_id_t;
  */
 #define ORB_ID(_name)		&__orb_##_name
 
+/**
+ * Generates a pointer to the uORB metadata structure for
+ * a given topic.
+ *
+ * The topic must have been declared previously in scope
+ * with ORB_DECLARE().
+ *
+ * @param _name		The name of the topic.
+ * @param _count	The class ID of the topic
+ */
+#define ORB_ID_DOUBLE(_name, _count)	((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : &__orb_##_name##1)
+
+/**
+ * Generates a pointer to the uORB metadata structure for
+ * a given topic.
+ *
+ * The topic must have been declared previously in scope
+ * with ORB_DECLARE().
+ *
+ * @param _name		The name of the topic.
+ * @param _count	The class ID of the topic
+ */
+#define ORB_ID_TRIPLE(_name, _count)					\
+ 	((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : \
+			((_count == CLASS_DEVICE_SECONDARY) ? &__orb_##_name##1 : \
+				(((_count == CLASS_DEVICE_TERTIARY) ? &__orb_##_name##2 : 0))))
+
 /**
  * Declare (prototype) the uORB metadata for a topic.
  *

src/modules/uavcan/module.mk

@@ -57,7 +57,7 @@ SRCS += sensors/sensor_bridge.cpp   \
 #
 # libuavcan
 #
-include $(UAVCAN_DIR)/libuavcan/include.mk
+include $(PX4_LIB_DIR)/uavcan/libuavcan/include.mk
 SRCS += $(LIBUAVCAN_SRC)
 INCLUDE_DIRS += $(LIBUAVCAN_INC)
 # Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
@@ -67,7 +67,7 @@ override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAV
 #
 # libuavcan drivers for STM32
 #
-include $(UAVCAN_DIR)/libuavcan_drivers/stm32/driver/include.mk
+include $(PX4_LIB_DIR)/uavcan/libuavcan_drivers/stm32/driver/include.mk
 SRCS += $(LIBUAVCAN_STM32_SRC)
 INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
 override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2

src/modules/vtol_att_control/module.mk

@@ -39,3 +39,6 @@ MODULE_COMMAND	= vtol_att_control
 
 SRCS		= vtol_att_control_main.cpp \
 			  vtol_att_control_params.c
+
+EXTRACXXFLAGS = -Wno-write-strings
+

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -74,11 +74,8 @@
 #include <lib/geo/geo.h>
 
 #include "drivers/drv_pwm_output.h"
-#include <nuttx/fs/nxffs.h>
 #include <nuttx/fs/ioctl.h>
 
-#include <nuttx/mtd.h>
-
 #include <fcntl.h>