From 3efb1be48e7f5b3608a4bfef87a09748b3458c54 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:18:47 -0500
Subject: [PATCH 01/12] move mixer_test and conversion_test to gtest

---
 unittests/CMakeLists.txt      | 23 +++++++++++++++++++++--
 unittests/Makefile            | 21 +++------------------
 unittests/conversion_test.cpp |  9 +++++++++
 unittests/mixer_test.cpp      | 21 +++++++++------------
 4 files changed, 42 insertions(+), 32 deletions(-)
 create mode 100644 unittests/conversion_test.cpp

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index d264ae8cdc..7a7b2a731d 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -11,16 +11,35 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/modules)
 include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
 
 add_definitions(-D__EXPORT=)
+set(CMAKE_C_FLAGS "-std=c99")
+set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
 
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
-    add_test(${test_name}Test ${test_name})
+    add_test(${test_name} ${test_name})
   endforeach()
 endfunction()
 
 
 # add each test
-# todo: add  mixer_test sbus2_test st24_test sf0x_test
+# todo: add sbus2_test st24_test sf0x_test
 add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
 add_gtest(autodeclination_test)
+
+
+# mixer_test
+add_executable(mixer_test mixer_test.cpp hrt.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c
+                          ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp)
+add_gtest(mixer_test)
+
+# conversion_test
+add_executable(conversion_test conversion_test.cpp
+	                       ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
+add_gtest(conversion_test)
diff --git a/unittests/Makefile b/unittests/Makefile
index 5faa50bb5f..0c50b38146 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -40,18 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
 	$(AR) $(ARFLAGS) $@ $^
 
 
-all: mixer_test sbus2_test st24_test sf0x_test
-
-MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
-		../src/systemcmds/tests/test_conv.cpp \
-		../src/modules/systemlib/mixer/mixer_simple.cpp \
-		../src/modules/systemlib/mixer/mixer_multirotor.cpp \
-		../src/modules/systemlib/mixer/mixer.cpp \
-		../src/modules/systemlib/mixer/mixer_group.cpp \
-		../src/modules/systemlib/mixer/mixer_load.c \
-		../src/modules/systemlib/pwm_limit/pwm_limit.c \
-		hrt.cpp \
-		mixer_test.cpp
+all: sbus2_test st24_test sf0x_test
 
 SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
 		hrt.cpp \
@@ -66,9 +55,6 @@ SF0X_FILES= \
 		sf0x_test.cpp \
 		../src/drivers/sf0x/sf0x_parser.cpp
 
-mixer_test: $(MIXER_FILES)
-	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
-
 sbus2_test: $(SBUS2_FILES)
 	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
 
@@ -82,12 +68,11 @@ cmake_gtests:
 	mkdir -p build
 	cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test
 
-unittests: clean mixer_test sbus2_test sf0x_test st24_test cmake_gtests
-	./mixer_test
+unittests: clean sbus2_test sf0x_test st24_test cmake_gtests
 	./sbus2_test
 	./sf0x_test
 	./st24_test
 
 .PHONY: clean
 clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test build
+	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sbus2_test st24_test sf0x_test build
diff --git a/unittests/conversion_test.cpp b/unittests/conversion_test.cpp
new file mode 100644
index 0000000000..99e1c7721d
--- /dev/null
+++ b/unittests/conversion_test.cpp
@@ -0,0 +1,9 @@
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+#include "gtest/gtest.h"
+
+TEST(ConversionTest, FMU_quad_w) {
+        ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
+}
diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index 4919e325c8..1c808e052a 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -2,18 +2,15 @@
 #include <systemlib/err.h>
 #include "../../src/systemcmds/tests/tests.h"
 
-int main(int argc, char *argv[]) {
+#include "gtest/gtest.h"
 
-	int ret;
 
-	warnx("Host execution started");
-
-	char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix",
-				 "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
-
-	if (ret = test_mixer(3, args));
-
-	test_conv(1, args);
-
-	return 0;
+TEST(MixerTest, IO_pass) {
+	char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix"};
+	ASSERT_EQ(test_mixer(2, args), 0) << "IO_pass.mix failed";
 }
+
+TEST(MixerTest, FMU_quad_w) {
+        char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+        ASSERT_EQ(test_mixer(2, args), 0) << "FMU_quad_w.mix failed";
+} 

From 6287231fecded6b3329e28994d133c0246817864 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:34:13 -0500
Subject: [PATCH 02/12] cmake test harness output everything on failure

---
 unittests/CMakeLists.txt | 12 ++++++++----
 unittests/Makefile       |  2 +-
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 7a7b2a731d..b4a4ec423e 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -14,20 +14,22 @@ add_definitions(-D__EXPORT=)
 set(CMAKE_C_FLAGS "-std=c99")
 set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
 
+# check
+add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
+
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
     add_test(${test_name} ${test_name})
+    add_dependencies(check ${test_name})
   endforeach()
 endfunction()
 
 
 # add each test
-# todo: add sbus2_test st24_test sf0x_test
 add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
 add_gtest(autodeclination_test)
 
-
 # mixer_test
 add_executable(mixer_test mixer_test.cpp hrt.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
@@ -40,6 +42,8 @@ add_executable(mixer_test mixer_test.cpp hrt.cpp
 add_gtest(mixer_test)
 
 # conversion_test
-add_executable(conversion_test conversion_test.cpp
-	                       ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
+add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
 add_gtest(conversion_test)
+
+
+# todo: add sbus2_test st24_test sf0x_test
diff --git a/unittests/Makefile b/unittests/Makefile
index 0c50b38146..e1d2acacc0 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -66,7 +66,7 @@ st24_test: $(ST24_FILES)
 
 cmake_gtests:
 	mkdir -p build
-	cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test
+	cd build && CC=gcc cmake .. && $(MAKE) check
 
 unittests: clean sbus2_test sf0x_test st24_test cmake_gtests
 	./sbus2_test

From efb3240bd27fa037f9f68d21208453ab6361deca Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:38:28 -0500
Subject: [PATCH 03/12] gtest mixer_test match original

---
 unittests/mixer_test.cpp | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index 1c808e052a..29595c0671 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -5,12 +5,7 @@
 #include "gtest/gtest.h"
 
 
-TEST(MixerTest, IO_pass) {
-	char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix"};
-	ASSERT_EQ(test_mixer(2, args), 0) << "IO_pass.mix failed";
+TEST(MixerTest, Mixer) {
+	char* args[] = {"empty", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }
-
-TEST(MixerTest, FMU_quad_w) {
-        char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
-        ASSERT_EQ(test_mixer(2, args), 0) << "FMU_quad_w.mix failed";
-} 

From 4a09e6370a9d730af001a3c5f2736e69e8c170c2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:43:26 -0500
Subject: [PATCH 04/12] move sbus2_test to cmake

---
 unittests/CMakeLists.txt |  7 +++++--
 unittests/Makefile       | 14 +++-----------
 2 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index b4a4ec423e..644609a103 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -20,7 +20,7 @@ add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
-    add_test(${test_name} ${test_name})
+    add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
     add_dependencies(check ${test_name})
   endforeach()
 endfunction()
@@ -45,5 +45,8 @@ add_gtest(mixer_test)
 add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
 add_gtest(conversion_test)
 
+# sbus2_test
+add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
 
-# todo: add sbus2_test st24_test sf0x_test
+
+# todo: add st24_test sf0x_test
diff --git a/unittests/Makefile b/unittests/Makefile
index e1d2acacc0..1d6db6817c 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -40,11 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
 	$(AR) $(ARFLAGS) $@ $^
 
 
-all: sbus2_test st24_test sf0x_test
-
-SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
-		hrt.cpp \
-		sbus2_test.cpp
+all: st24_test sf0x_test
 
 ST24_FILES=../src/lib/rc/st24.c \
 		hrt.cpp \
@@ -55,9 +51,6 @@ SF0X_FILES= \
 		sf0x_test.cpp \
 		../src/drivers/sf0x/sf0x_parser.cpp
 
-sbus2_test: $(SBUS2_FILES)
-	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
-
 sf0x_test: $(SF0X_FILES)
 	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
 
@@ -68,11 +61,10 @@ cmake_gtests:
 	mkdir -p build
 	cd build && CC=gcc cmake .. && $(MAKE) check
 
-unittests: clean sbus2_test sf0x_test st24_test cmake_gtests
-	./sbus2_test
+unittests: clean sf0x_test st24_test cmake_gtests
 	./sf0x_test
 	./st24_test
 
 .PHONY: clean
 clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sbus2_test st24_test sf0x_test build
+	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest st24_test sf0x_test build

From 322362d5e0adac332c1fab968831f0569460afd5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:50:26 -0500
Subject: [PATCH 05/12] move st24_test to cmake and run tests from original
 unittests working directory

---
 unittests/CMakeLists.txt | 11 +++++++++--
 unittests/Makefile       | 14 +++-----------
 unittests/mixer_test.cpp |  2 +-
 3 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 644609a103..1657797e95 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -12,7 +12,7 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
 
 add_definitions(-D__EXPORT=)
 set(CMAKE_C_FLAGS "-std=c99")
-set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
+set(CMAKE_CXX_FLAGS "-std=c++11")
 
 # check
 add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
@@ -46,7 +46,14 @@ add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/sy
 add_gtest(conversion_test)
 
 # sbus2_test
+# TODO: move to gtest
 add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
+add_gtest(sbus2_test)
+
+# st24_test
+# TODO: move to gtest
+add_executable(st24_test st24_test.cpp hrt.cpp ${CMAKE_SOURCE_DIR}/../src/lib/rc/st24.c)
+add_gtest(st24_test)
 
 
-# todo: add st24_test sf0x_test
+# todo: add sf0x_test
diff --git a/unittests/Makefile b/unittests/Makefile
index 1d6db6817c..eb15ebbea4 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -40,11 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
 	$(AR) $(ARFLAGS) $@ $^
 
 
-all: st24_test sf0x_test
-
-ST24_FILES=../src/lib/rc/st24.c \
-		hrt.cpp \
-		st24_test.cpp
+all: sf0x_test
 
 SF0X_FILES= \
 		hrt.cpp \
@@ -54,17 +50,13 @@ SF0X_FILES= \
 sf0x_test: $(SF0X_FILES)
 	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
 
-st24_test: $(ST24_FILES)
-	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
-
 cmake_gtests:
 	mkdir -p build
 	cd build && CC=gcc cmake .. && $(MAKE) check
 
-unittests: clean sf0x_test st24_test cmake_gtests
+unittests: clean sf0x_test cmake_gtests
 	./sf0x_test
-	./st24_test
 
 .PHONY: clean
 clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest st24_test sf0x_test build
+	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sf0x_test build
diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index 29595c0671..fd3ece7f87 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -6,6 +6,6 @@
 
 
 TEST(MixerTest, Mixer) {
-	char* args[] = {"empty", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
 	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }

From bd130ec397bea54d28643d6331384fd8a0438f0a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:55:38 -0500
Subject: [PATCH 06/12] move sf0x_test to cmake and remove unittests/Makefile

---
 Makefile                 |  2 +-
 unittests/CMakeLists.txt | 12 ++++----
 unittests/Makefile       | 62 ----------------------------------------
 3 files changed, 8 insertions(+), 68 deletions(-)
 delete mode 100644 unittests/Makefile

diff --git a/Makefile b/Makefile
index 905a60a3b6..64c468d31b 100644
--- a/Makefile
+++ b/Makefile
@@ -236,7 +236,7 @@ testbuild:
 # unit tests.
 .PHONY: tests
 tests:
-	$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)
+	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 1657797e95..02e2a4d902 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -12,16 +12,16 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
 
 add_definitions(-D__EXPORT=)
 set(CMAKE_C_FLAGS "-std=c99")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
 
 # check
-add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
+add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
 
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
     add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
-    add_dependencies(check ${test_name})
+    add_dependencies(unittests ${test_name})
   endforeach()
 endfunction()
 
@@ -55,5 +55,7 @@ add_gtest(sbus2_test)
 add_executable(st24_test st24_test.cpp hrt.cpp ${CMAKE_SOURCE_DIR}/../src/lib/rc/st24.c)
 add_gtest(st24_test)
 
-
-# todo: add sf0x_test
+# sf0x_test
+# TODO: move to gtest
+add_executable(sf0x_test sf0x_test.cpp ${CMAKE_SOURCE_DIR}/../src/drivers/sf0x/sf0x_parser.cpp)
+add_gtest(sf0x_test)
diff --git a/unittests/Makefile b/unittests/Makefile
deleted file mode 100644
index eb15ebbea4..0000000000
--- a/unittests/Makefile
+++ /dev/null
@@ -1,62 +0,0 @@
-
-CC=g++
-CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
-	-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm
-
-# Points to the root of Google Test, relative to where this file is.
-# Remember to tweak this if you move this file.
-GTEST_DIR = gtest
-
-# Flags passed to the preprocessor.
-# Set Google Test's header directory as a system directory, such that
-# the compiler doesn't generate warnings in Google Test headers.
-CFLAGS += -isystem $(GTEST_DIR)/include
-
-# All Google Test headers.  Usually you shouldn't change this
-# definition.
-GTEST_HEADERS = $(GTEST_DIR)/include/gtest/*.h \
-                $(GTEST_DIR)/include/gtest/internal/*.h
-
-# Usually you shouldn't tweak such internal variables, indicated by a
-# trailing _.
-GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/src/*.h $(GTEST_HEADERS)
-
-# For simplicity and to avoid depending on Google Test's
-# implementation details, the dependencies specified below are
-# conservative and not optimized.  This is fine as Google Test
-# compiles fast and for ordinary users its source rarely changes.
-gtest-all.o: $(GTEST_SRCS_)
-	$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
-            $(GTEST_DIR)/src/gtest-all.cc
-
-gtest_main.o: $(GTEST_SRCS_)
-	$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
-            $(GTEST_DIR)/src/gtest_main.cc
-
-gtest.a: gtest-all.o
-	$(AR) $(ARFLAGS) $@ $^
-
-gtest_main.a: gtest-all.o gtest_main.o
-	$(AR) $(ARFLAGS) $@ $^
-
-
-all: sf0x_test
-
-SF0X_FILES= \
-		hrt.cpp \
-		sf0x_test.cpp \
-		../src/drivers/sf0x/sf0x_parser.cpp
-
-sf0x_test: $(SF0X_FILES)
-	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
-
-cmake_gtests:
-	mkdir -p build
-	cd build && CC=gcc cmake .. && $(MAKE) check
-
-unittests: clean sf0x_test cmake_gtests
-	./sf0x_test
-
-.PHONY: clean
-clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sf0x_test build

From d31b0cd5dbdbe13b783176d3e68290a25d14fb62 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 22:12:25 -0500
Subject: [PATCH 07/12] move sbus2 to gtest

---
 unittests/sbus2_test.cpp | 39 +++++++++++----------------------------
 1 file changed, 11 insertions(+), 28 deletions(-)

diff --git a/unittests/sbus2_test.cpp b/unittests/sbus2_test.cpp
index ba075f8b3b..ee4f3d1d68 100644
--- a/unittests/sbus2_test.cpp
+++ b/unittests/sbus2_test.cpp
@@ -1,33 +1,23 @@
-
 #include <stdio.h>
-#include <unistd.h>
 #include <string.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/err.h>
+#include <unistd.h>
+
+#include "../../src/systemcmds/tests/tests.h"
 #include <drivers/drv_hrt.h>
 #include <px4iofirmware/px4io.h>
-#include "../../src/systemcmds/tests/tests.h"
+#include <systemlib/err.h>
+#include <systemlib/mixer/mixer.h>
 
-int main(int argc, char *argv[]) {
-	warnx("SBUS2 test started");
+#include "gtest/gtest.h"
 
-	char *filepath = 0;
-
-	if (argc < 2) {
-		warnx("Using default input file");
-		filepath = "testdata/sbus2_r7008SB.txt";
-	} else {
-		filepath = argv[1];
-	}
-
-	warnx("loading data from: %s", filepath);
+TEST(SBUS2Test, SBUS2) {
+	char *filepath = "testdata/sbus2_r7008SB.txt";
 
 	FILE *fp;
-	
 	fp = fopen(filepath,"rt");
 
-	if (!fp)
-		errx(1, "failed opening file");
+	ASSERT_TRUE(fp);
+	warnx("loading data from: %s", filepath);
 
 	float f;
 	unsigned x;
@@ -73,12 +63,5 @@ int main(int argc, char *argv[]) {
 			//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
 	}
 
-	if (ret == EOF) {
-		warnx("Test finished, reached end of file");
-		ret = 0;
-	} else {
-		warnx("Test aborted, errno: %d", ret);
-	}
-
-	return ret;
+	ASSERT_EQ(ret, EOF);
 }

From 50e27f60add1e5cd1b61736e6fe82a51060dd5f5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 6 Jan 2015 00:28:05 -0500
Subject: [PATCH 08/12] travis use gcc 4.8 for unittests

---
 .travis.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index b201d5130c..f75d034eb4 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -4,7 +4,10 @@
 language: cpp
 
 before_script:
-  - sudo apt-get update -q
+  - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test
+  - sudo apt-get update -qq
+  - if [ "$CXX" = "g++" ]; then sudo apt-get install -qq g++-4.8 gcc-4.8 libstdc++-4.8-dev; fi
+  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
 # Travis specific tools
   - sudo apt-get install s3cmd grep zip mailutils
 # General toolchain dependencies

From 3606f5370af4d439afc47d1585a76e0b66e34336 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 6 Jan 2015 08:46:58 -0500
Subject: [PATCH 09/12] cmake generate mixer_multirotor.generated.h for
 unittests

---
 unittests/CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 05d5fb214e..39fc514374 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -12,6 +12,7 @@ elseif(COMPILER_SUPPORTS_CXX0X)
 else()
   message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
 endif()
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
 
 set(GTEST_DIR gtest)
 add_subdirectory(${GTEST_DIR})
@@ -40,11 +41,14 @@ add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}
 add_gtest(autodeclination_test)
 
 # mixer_test
+add_custom_command(OUTPUT ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
+                   COMMAND ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/multi_tables.py > ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h)
 add_executable(mixer_test mixer_test.cpp hrt.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c
                           ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp)

From 620df8ba0bfdc5f8caf4041e52baa4b83b141dfa Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 6 Jan 2015 08:50:45 -0500
Subject: [PATCH 10/12] cmake unittests add PX_SRC variable to cleanup long
 paths

---
 unittests/CMakeLists.txt | 36 +++++++++++++++++++-----------------
 1 file changed, 19 insertions(+), 17 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 39fc514374..c2990c59f2 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -17,10 +17,12 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
 set(GTEST_DIR gtest)
 add_subdirectory(${GTEST_DIR})
 include_directories(${GTEST_DIR}/include)
+
+set(PX_SRC ${CMAKE_SOURCE_DIR}/../src)
 include_directories(${CMAKE_SOURCE_DIR})
-include_directories(${CMAKE_SOURCE_DIR}/../src)
-include_directories(${CMAKE_SOURCE_DIR}/../src/modules)
-include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
+include_directories(${PX_SRC})
+include_directories(${PX_SRC}/modules)
+include_directories(${PX_SRC}/lib)
 
 add_definitions(-D__EXPORT=)
 
@@ -37,25 +39,25 @@ endfunction()
 
 
 # add each test
-add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
+add_executable(autodeclination_test autodeclination_test.cpp ${PX_SRC}/lib/geo_lookup/geo_mag_declination.c)
 add_gtest(autodeclination_test)
 
 # mixer_test
-add_custom_command(OUTPUT ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
-                   COMMAND ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/multi_tables.py > ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h)
+add_custom_command(OUTPUT ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
+                   COMMAND ${PX_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h)
 add_executable(mixer_test mixer_test.cpp hrt.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c
-                          ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp)
+                          ${PX_SRC}/modules/systemlib/mixer/mixer.cpp
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_group.cpp
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_load.c
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_simple.cpp
+                          ${PX_SRC}/modules/systemlib/pwm_limit/pwm_limit.c
+                          ${PX_SRC}/systemcmds/tests/test_mixer.cpp)
 add_gtest(mixer_test)
 
 # conversion_test
-add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
+add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp)
 add_gtest(conversion_test)
 
 # sbus2_test
@@ -65,10 +67,10 @@ add_gtest(sbus2_test)
 
 # st24_test
 # TODO: move to gtest
-add_executable(st24_test st24_test.cpp hrt.cpp ${CMAKE_SOURCE_DIR}/../src/lib/rc/st24.c)
+add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
 add_gtest(st24_test)
 
 # sf0x_test
 # TODO: move to gtest
-add_executable(sf0x_test sf0x_test.cpp ${CMAKE_SOURCE_DIR}/../src/drivers/sf0x/sf0x_parser.cpp)
+add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
 add_gtest(sf0x_test)

From c6722fce0be914e2c678437eee6531e087e5d89a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 3 Jan 2015 18:24:26 +0100
Subject: [PATCH 11/12] fw att control: cleanup, create base class for ECL

Adding a new base class to remove a lot of boilerplate code, no
functionality changes
---
 src/lib/ecl/attitude_fw/ecl_controller.cpp    | 128 ++++++++++++++++++
 src/lib/ecl/attitude_fw/ecl_controller.h      | 119 ++++++++++++++++
 .../ecl/attitude_fw/ecl_pitch_controller.cpp  |  80 +++++------
 .../ecl/attitude_fw/ecl_pitch_controller.h    |  67 ++-------
 .../ecl/attitude_fw/ecl_roll_controller.cpp   |  68 ++++------
 src/lib/ecl/attitude_fw/ecl_roll_controller.h |  69 +---------
 .../ecl/attitude_fw/ecl_yaw_controller.cpp    |  84 ++++++------
 src/lib/ecl/attitude_fw/ecl_yaw_controller.h  |  68 ++--------
 src/lib/ecl/module.mk                         |   3 +-
 .../fw_att_control/fw_att_control_main.cpp    |  47 ++++---
 10 files changed, 403 insertions(+), 330 deletions(-)
 create mode 100644 src/lib/ecl/attitude_fw/ecl_controller.cpp
 create mode 100644 src/lib/ecl/attitude_fw/ecl_controller.h

diff --git a/src/lib/ecl/attitude_fw/ecl_controller.cpp b/src/lib/ecl/attitude_fw/ecl_controller.cpp
new file mode 100644
index 0000000000..46140fbfd9
--- /dev/null
+++ b/src/lib/ecl/attitude_fw/ecl_controller.cpp
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_controller.cpp
+ * Definition of base class for other controllers
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+
+#include "ecl_controller.h"
+
+#include <stdio.h>
+
+ECL_Controller::ECL_Controller(const char *name) :
+	_last_run(0),
+	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_ff(0.0f),
+	_integrator_max(0.0f),
+	_max_rate(0.0f),
+	_last_output(0.0f),
+	_integrator(0.0f),
+	_rate_error(0.0f),
+	_rate_setpoint(0.0f),
+	_bodyrate_setpoint(0.0f),
+	_perf_name()
+{
+	/* Init performance counter */
+	snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name);
+	_nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name);
+}
+
+ECL_Controller::~ECL_Controller()
+{
+	perf_free(_nonfinite_input_perf);
+}
+
+void ECL_Controller::reset_integrator()
+{
+	_integrator = 0.0f;
+}
+
+void ECL_Controller::set_time_constant(float time_constant)
+{
+	if (time_constant > 0.1f && time_constant < 3.0f) {
+		_tc = time_constant;
+	}
+}
+
+void ECL_Controller::set_k_p(float k_p)
+{
+	_k_p = k_p;
+}
+
+void ECL_Controller::set_k_i(float k_i)
+{
+	_k_i = k_i;
+}
+
+void ECL_Controller::set_k_ff(float k_ff)
+{
+	_k_ff = k_ff;
+}
+
+void ECL_Controller::set_integrator_max(float max)
+{
+	_integrator_max = max;
+}
+
+void ECL_Controller::set_max_rate(float max_rate)
+{
+	_max_rate = max_rate;
+}
+
+float ECL_Controller::get_rate_error()
+{
+	return _rate_error;
+}
+
+float ECL_Controller::get_desired_rate()
+{
+	return _rate_setpoint;
+}
+
+float ECL_Controller::get_desired_bodyrate()
+{
+	return _bodyrate_setpoint;
+}
diff --git a/src/lib/ecl/attitude_fw/ecl_controller.h b/src/lib/ecl/attitude_fw/ecl_controller.h
new file mode 100644
index 0000000000..9880d1c174
--- /dev/null
+++ b/src/lib/ecl/attitude_fw/ecl_controller.h
@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_controller.h
+ * Definition of base class for other controllers
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <systemlib/perf_counter.h>
+
+struct ECL_ControlData {
+	float roll;
+	float pitch;
+	float yaw;
+	float roll_rate;
+	float pitch_rate;
+	float yaw_rate;
+	float speed_body_u;
+	float speed_body_v;
+	float speed_body_w;
+	float roll_setpoint;
+	float pitch_setpoint;
+	float yaw_setpoint;
+	float roll_rate_setpoint;
+	float pitch_rate_setpoint;
+	float yaw_rate_setpoint;
+	float airspeed_min;
+	float airspeed_max;
+	float airspeed;
+	float scaler;
+	bool lock_integrator;
+};
+
+class __EXPORT ECL_Controller
+{
+public:
+	ECL_Controller(const char *name);
+
+	~ECL_Controller();
+
+	virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
+	virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;
+
+	/* Setters */
+	void set_time_constant(float time_constant);
+	void set_k_p(float k_p);
+	void set_k_i(float k_i);
+	void set_k_ff(float k_ff);
+	void set_integrator_max(float max);
+	void set_max_rate(float max_rate);
+
+	/* Getters */
+	float get_rate_error();
+	float get_desired_rate();
+	float get_desired_bodyrate();
+
+	void reset_integrator();
+
+protected:
+	uint64_t _last_run;
+	float _tc;
+	float _k_p;
+	float _k_i;
+	float _k_ff;
+	float _integrator_max;
+	float _max_rate;
+	float _last_output;
+	float _integrator;
+	float _rate_error;
+	float _rate_setpoint;
+	float _bodyrate_setpoint;
+	perf_counter_t _nonfinite_input_perf;
+	static const uint8_t _perf_name_max = 40;
+	char _perf_name[_perf_name_max];
+};
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 926a8db2ac..add884146c 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -48,33 +48,24 @@
 #include <systemlib/err.h>
 
 ECL_PitchController::ECL_PitchController() :
-	_last_run(0),
-	_tc(0.1f),
-	_k_p(0.0f),
-	_k_i(0.0f),
-	_k_ff(0.0f),
-	_integrator_max(0.0f),
-	_max_rate_pos(0.0f),
+	ECL_Controller("pitch"),
 	_max_rate_neg(0.0f),
-	_roll_ff(0.0f),
-	_last_output(0.0f),
-	_integrator(0.0f),
-	_rate_error(0.0f),
-	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input"))
+	_roll_ff(0.0f)
 {
 }
 
 ECL_PitchController::~ECL_PitchController()
 {
-	perf_free(_nonfinite_input_perf);
 }
 
-float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
+float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
+	float roll = ctl_data.roll;
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(pitch_setpoint) && isfinite(roll) && isfinite(pitch) && isfinite(airspeed))) {
+	if (!(isfinite(ctl_data.pitch_setpoint) &&
+				isfinite(roll) &&
+				isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.airspeed))) {
 		perf_count(_nonfinite_input_perf);
 		warnx("not controlling pitch");
 		return _rate_setpoint;
@@ -102,13 +93,13 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 
 	/* calculate the offset in the rate resulting from rolling  */
 	//xxx needs explanation and conversion to body angular rates or should be removed
-	float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) *
+	float turn_offset = fabsf((CONSTANTS_ONE_G / ctl_data.airspeed) *
 				tanf(roll) * sinf(roll)) * _roll_ff;
 	if (inverted)
 		turn_offset = -turn_offset;
 
 	/* Calculate the error */
-	float pitch_error = pitch_setpoint - pitch;
+	float pitch_error = ctl_data.pitch_setpoint - ctl_data.pitch;
 
 	/*  Apply P controller: rate setpoint from current error and time constant */
 	_rate_setpoint =  pitch_error / _tc;
@@ -117,9 +108,9 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 	_rate_setpoint += turn_offset;
 
 	/* limit the rate */ //XXX: move to body angluar rates
-	if (_max_rate_pos > 0.01f && _max_rate_neg > 0.01f) {
+	if (_max_rate > 0.01f && _max_rate_neg > 0.01f) {
 		if (_rate_setpoint > 0.0f) {
-			_rate_setpoint = (_rate_setpoint > _max_rate_pos) ? _max_rate_pos : _rate_setpoint;
+			_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
 		} else {
 			_rate_setpoint = (_rate_setpoint < -_max_rate_neg) ? -_max_rate_neg : _rate_setpoint;
 		}
@@ -129,15 +120,17 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 	return _rate_setpoint;
 }
 
-float ECL_PitchController::control_bodyrate(float roll, float pitch,
-		float pitch_rate, float yaw_rate,
-		float yaw_rate_setpoint,
-		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
+float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
-				isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) &&
-				isfinite(airspeed_max) && isfinite(scaler))) {
+	if (!(isfinite(ctl_data.roll) &&
+				isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.pitch_rate) &&
+				isfinite(ctl_data.yaw_rate) &&
+				isfinite(ctl_data.yaw_rate_setpoint) &&
+				isfinite(ctl_data.airspeed_min) &&
+				isfinite(ctl_data.airspeed_max) &&
+				isfinite(ctl_data.scaler))) {
 		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
@@ -148,28 +141,32 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	float dt = (float)dt_micros * 1e-6f;
 
 	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
 	/* input conditioning */
+	float airspeed = ctl_data.airspeed;
 	if (!isfinite(airspeed)) {
 		/* airspeed is NaN, +- INF or not available, pick center of band */
-		airspeed = 0.5f * (airspeed_min + airspeed_max);
-	} else if (airspeed < airspeed_min) {
-		airspeed = airspeed_min;
+		airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+	} else if (airspeed < ctl_data.airspeed_min) {
+		airspeed = ctl_data.airspeed_min;
 	}
 
-	/* Transform setpoint to body angular rates */
-	_bodyrate_setpoint = cosf(roll) * _rate_setpoint + cosf(pitch) * sinf(roll) * yaw_rate_setpoint; //jacobian
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = cosf(ctl_data.roll) * _rate_setpoint +
+		cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.yaw_rate_setpoint;
 
-	/* Transform estimation to body angular rates */
-	float pitch_bodyrate = cosf(roll) * pitch_rate + cosf(pitch) * sinf(roll) * yaw_rate; //jacobian
+	/* Transform estimation to body angular rates (jacobian) */
+	float pitch_bodyrate = cosf(ctl_data.roll) * ctl_data.pitch_rate +
+		cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.yaw_rate;
 
 	_rate_error = _bodyrate_setpoint - pitch_bodyrate;
 
-	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
 
-		float id = _rate_error * dt * scaler;
+		float id = _rate_error * dt * ctl_data.scaler;
 
 		/*
 		 * anti-windup: do not allow integrator to increase if actuator is at limit
@@ -190,15 +187,10 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = _bodyrate_setpoint * _k_ff * scaler +
-		_rate_error * _k_p * scaler * scaler
+	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
+		_rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
 		+ integrator_constrained;  //scaler is proportional to 1/airspeed
 //	warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
 //	warnx("roll: _last_output %.4f", (double)_last_output);
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }
-
-void ECL_PitchController::reset_integrator()
-{
-	_integrator = 0.0f;
-}
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index 39b9f9d03c..47b5605e95 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -51,46 +51,23 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <systemlib/perf_counter.h>
 
-class __EXPORT ECL_PitchController //XXX: create controller superclass
+#include "ecl_controller.h"
+
+class __EXPORT ECL_PitchController :
+	public ECL_Controller
 {
 public:
 	ECL_PitchController();
 
 	~ECL_PitchController();
 
-	float control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed);
-
-
-	float control_bodyrate(float roll, float pitch,
-			float pitch_rate, float yaw_rate,
-			float yaw_rate_setpoint,
-			float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f), float scaler = 1.0f, bool lock_integrator = false);
-
-	void reset_integrator();
-
-	void set_time_constant(float time_constant) {
-		_tc = time_constant;
-	}
-	void set_k_p(float k_p) {
-		_k_p = k_p;
-	}
-
-	void set_k_i(float k_i) {
-		_k_i = k_i;
-	}
-
-	void set_k_ff(float k_ff) {
-		_k_ff = k_ff;
-	}
-
-	void set_integrator_max(float max) {
-		_integrator_max = max;
-	}
+	float control_attitude(const struct ECL_ControlData &ctl_data);
+	float control_bodyrate(const struct ECL_ControlData &ctl_data);
 
+	/* Additional Setters */
 	void set_max_rate_pos(float max_rate_pos) {
-		_max_rate_pos = max_rate_pos;
+		_max_rate = max_rate_pos;
 	}
 
 	void set_max_rate_neg(float max_rate_neg) {
@@ -101,35 +78,9 @@ public:
 		_roll_ff = roll_ff;
 	}
 
-	float get_rate_error() {
-		return _rate_error;
-	}
-
-	float get_desired_rate() {
-		return _rate_setpoint;
-	}
-
-	float get_desired_bodyrate() {
-		return _bodyrate_setpoint;
-	}
-
-private:
-
-	uint64_t _last_run;
-	float _tc;
-	float _k_p;
-	float _k_i;
-	float _k_ff;
-	float _integrator_max;
-	float _max_rate_pos;
+protected:
 	float _max_rate_neg;
 	float _roll_ff;
-	float _last_output;
-	float _integrator;
-	float _rate_error;
-	float _rate_setpoint;
-	float _bodyrate_setpoint;
-	perf_counter_t _nonfinite_input_perf;
 };
 
 #endif // ECL_PITCH_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 94bd26f03d..0606c87cb9 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -48,37 +48,24 @@
 #include <systemlib/err.h>
 
 ECL_RollController::ECL_RollController() :
-	_last_run(0),
-	_tc(0.1f),
-	_k_p(0.0f),
-	_k_i(0.0f),
-	_k_ff(0.0f),
-	_integrator_max(0.0f),
-	_max_rate(0.0f),
-	_last_output(0.0f),
-	_integrator(0.0f),
-	_rate_error(0.0f),
-	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input"))
+	ECL_Controller("roll")
 {
 }
 
 ECL_RollController::~ECL_RollController()
 {
-	perf_free(_nonfinite_input_perf);
 }
 
-float ECL_RollController::control_attitude(float roll_setpoint, float roll)
+float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll_setpoint) && isfinite(roll))) {
+	if (!(isfinite(ctl_data.roll_setpoint) && isfinite(ctl_data.roll))) {
 		perf_count(_nonfinite_input_perf);
 		return _rate_setpoint;
 	}
 
 	/* Calculate error */
-	float roll_error = roll_setpoint - roll;
+	float roll_error = ctl_data.roll_setpoint - ctl_data.roll;
 
 	/* Apply P controller */
 	_rate_setpoint = roll_error / _tc;
@@ -92,15 +79,16 @@ float ECL_RollController::control_attitude(float roll_setpoint, float roll)
 	return _rate_setpoint;
 }
 
-float ECL_RollController::control_bodyrate(float pitch,
-		float roll_rate, float yaw_rate,
-		float yaw_rate_setpoint,
-		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
+float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) &&
-			isfinite(airspeed_min) && isfinite(airspeed_max) &&
-			isfinite(scaler))) {
+	if (!(isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.roll_rate) &&
+				isfinite(ctl_data.yaw_rate) &&
+				isfinite(ctl_data.yaw_rate_setpoint) &&
+				isfinite(ctl_data.airspeed_min) &&
+				isfinite(ctl_data.airspeed_max) &&
+				isfinite(ctl_data.scaler))) {
 		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
@@ -111,31 +99,31 @@ float ECL_RollController::control_bodyrate(float pitch,
 	float dt = (float)dt_micros * 1e-6f;
 
 	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
 	/* input conditioning */
-//	warnx("airspeed pre %.4f", (double)airspeed);
+	float airspeed = ctl_data.airspeed;
 	if (!isfinite(airspeed)) {
 		/* airspeed is NaN, +- INF or not available, pick center of band */
-		airspeed = 0.5f * (airspeed_min + airspeed_max);
-	} else if (airspeed < airspeed_min) {
-		airspeed = airspeed_min;
+		airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+	} else if (airspeed < ctl_data.airspeed_min) {
+		airspeed = ctl_data.airspeed_min;
 	}
 
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = _rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;
 
-	/* Transform setpoint to body angular rates */
-	_bodyrate_setpoint = _rate_setpoint - sinf(pitch) * yaw_rate_setpoint; //jacobian
-
-	/* Transform estimation to body angular rates */
-	float roll_bodyrate = roll_rate - sinf(pitch) * yaw_rate; //jacobian
+	/* Transform estimation to body angular rates (jacobian) */
+	float roll_bodyrate = ctl_data.roll_rate - sinf(ctl_data.pitch) * ctl_data.yaw_rate;
 
 	/* Calculate body angular rate error */
 	_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
 
-	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
 
-		float id = _rate_error * dt * scaler;
+		float id = _rate_error * dt * ctl_data.scaler;
 
 		/*
 		* anti-windup: do not allow integrator to increase if actuator is at limit
@@ -157,15 +145,9 @@ float ECL_RollController::control_bodyrate(float pitch,
 	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = _bodyrate_setpoint * _k_ff * scaler +
-		_rate_error * _k_p * scaler * scaler
+	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
+		_rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
 		+ integrator_constrained;  //scaler is proportional to 1/airspeed
 
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }
-
-void ECL_RollController::reset_integrator()
-{
-	_integrator = 0.0f;
-}
-
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index 0799dbe03b..6d07bab8ab 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -51,76 +51,19 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <systemlib/perf_counter.h>
 
-class __EXPORT ECL_RollController //XXX: create controller superclass
+#include "ecl_controller.h"
+
+class __EXPORT ECL_RollController :
+	public ECL_Controller
 {
 public:
 	ECL_RollController();
 
 	~ECL_RollController();
 
-	float control_attitude(float roll_setpoint, float roll);
-
-	float control_bodyrate(float pitch,
-			float roll_rate, float yaw_rate,
-			float yaw_rate_setpoint,
-			float airspeed_min = 0.0f, float airspeed_max = 0.0f, float airspeed = (0.0f / 0.0f), float scaler = 1.0f, bool lock_integrator = false);
-
-	void reset_integrator();
-
-	void set_time_constant(float time_constant) {
-		if (time_constant > 0.1f && time_constant < 3.0f) {
-			_tc = time_constant;
-		}
-	}
-
-	void set_k_p(float k_p) {
-		_k_p = k_p;
-	}
-
-	void set_k_i(float k_i) {
-		_k_i = k_i;
-	}
-
-	void set_k_ff(float k_ff) {
-		_k_ff = k_ff;
-	}
-
-	void set_integrator_max(float max) {
-		_integrator_max = max;
-	}
-
-	void set_max_rate(float max_rate) {
-		_max_rate = max_rate;
-	}
-
-	float get_rate_error() {
-		return _rate_error;
-	}
-
-	float get_desired_rate() {
-		return _rate_setpoint;
-	}
-
-	float get_desired_bodyrate() {
-		return _bodyrate_setpoint;
-	}
-
-private:
-	uint64_t _last_run;
-	float _tc;
-	float _k_p;
-	float _k_i;
-	float _k_ff;
-	float _integrator_max;
-	float _max_rate;
-	float _last_output;
-	float _integrator;
-	float _rate_error;
-	float _rate_setpoint;
-	float _bodyrate_setpoint;
-	perf_counter_t _nonfinite_input_perf;
+	float control_attitude(const struct ECL_ControlData &ctl_data);
+	float control_bodyrate(const struct ECL_ControlData &ctl_data);
 };
 
 #endif // ECL_ROLL_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index fe03b80651..82ba2c6c7e 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -47,45 +47,43 @@
 #include <systemlib/err.h>
 
 ECL_YawController::ECL_YawController() :
-	_last_run(0),
-	_k_p(0.0f),
-	_k_i(0.0f),
-	_k_ff(0.0f),
-	_integrator_max(0.0f),
-	_max_rate(0.0f),
-	_last_output(0.0f),
-	_integrator(0.0f),
-	_rate_error(0.0f),
-	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f),
-	_coordinated_min_speed(1.0f),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input"))
+	ECL_Controller("yaw"),
+	_coordinated_min_speed(1.0f)
 {
 }
 
 ECL_YawController::~ECL_YawController()
 {
-	perf_free(_nonfinite_input_perf);
 }
 
-float ECL_YawController::control_attitude(float roll, float pitch,
-		float speed_body_u, float speed_body_v, float speed_body_w,
-		float roll_rate_setpoint, float pitch_rate_setpoint)
+float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) &&
-				isfinite(speed_body_w) && isfinite(roll_rate_setpoint) &&
-				isfinite(pitch_rate_setpoint))) {
+	if (!(isfinite(ctl_data.roll) &&
+				isfinite(ctl_data.pitch) &&
+				isfinite(ctl_data.speed_body_u) &&
+				isfinite(ctl_data.speed_body_v) &&
+				isfinite(ctl_data.speed_body_w) &&
+				isfinite(ctl_data.roll_rate_setpoint) &&
+				isfinite(ctl_data.pitch_rate_setpoint))) {
 		perf_count(_nonfinite_input_perf);
 		return _rate_setpoint;
 	}
+
 //	static int counter = 0;
 	/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
 	_rate_setpoint = 0.0f;
-	if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) {
-		float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
+	if (sqrtf(ctl_data.speed_body_u * ctl_data.speed_body_u + ctl_data.speed_body_v * ctl_data.speed_body_v +
+				ctl_data.speed_body_w * ctl_data.speed_body_w) > _coordinated_min_speed) {
+		float denumerator = (ctl_data.speed_body_u * cosf(ctl_data.roll) * cosf(ctl_data.pitch) +
+				ctl_data.speed_body_w * sinf(ctl_data.pitch));
+
 		if(fabsf(denumerator) > FLT_EPSILON) {
-			_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
+			_rate_setpoint = (ctl_data.speed_body_w * ctl_data.roll_rate_setpoint +
+					9.81f * sinf(ctl_data.roll) * cosf(ctl_data.pitch) +
+					ctl_data.speed_body_u * ctl_data.pitch_rate_setpoint * sinf(ctl_data.roll)) /
+				denumerator;
+
 //			warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
 		}
 
@@ -111,46 +109,49 @@ float ECL_YawController::control_attitude(float roll, float pitch,
 	return _rate_setpoint;
 }
 
-float ECL_YawController::control_bodyrate(float roll, float pitch,
-		float pitch_rate, float yaw_rate,
-		float pitch_rate_setpoint,
-		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
+float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
-	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
-				isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) &&
-				isfinite(airspeed_max) && isfinite(scaler))) {
+	if (!(isfinite(ctl_data.roll) && isfinite(ctl_data.pitch) && isfinite(ctl_data.pitch_rate) &&
+				isfinite(ctl_data.yaw_rate) && isfinite(ctl_data.pitch_rate_setpoint) &&
+				isfinite(ctl_data.airspeed_min) && isfinite(ctl_data.airspeed_max) &&
+				isfinite(ctl_data.scaler))) {
 		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
+
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
 	float dt = (float)dt_micros * 1e-6f;
 
 	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
 	/* input conditioning */
+	float airspeed = ctl_data.airspeed;
 	if (!isfinite(airspeed)) {
 	/* airspeed is NaN, +- INF or not available, pick center of band */
-	airspeed = 0.5f * (airspeed_min + airspeed_max);
-	} else if (airspeed < airspeed_min) {
-	airspeed = airspeed_min;
+	airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+	} else if (airspeed < ctl_data.airspeed_min) {
+	airspeed = ctl_data.airspeed_min;
 	}
 
 
-	/* Transform setpoint to body angular rates */
-	_bodyrate_setpoint = -sinf(roll) * pitch_rate_setpoint + cosf(roll)*cosf(pitch) * _rate_setpoint; //jacobian
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
+		cosf(ctl_data.roll)*cosf(ctl_data.pitch) * _rate_setpoint;
 
-	/* Transform estimation to body angular rates */
-	float yaw_bodyrate = -sinf(roll) * pitch_rate + cosf(roll)*cosf(pitch) * yaw_rate; //jacobian
+	/* Transform estimation to body angular rates (jacobian) */
+	float yaw_bodyrate = -sinf(ctl_data.roll) * ctl_data.pitch_rate +
+		cosf(ctl_data.roll)*cosf(ctl_data.pitch) * ctl_data.yaw_rate;
 
 	/* Calculate body angular rate error */
 	_rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error
 
-	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
 
 	float id = _rate_error * dt;
 
@@ -173,14 +174,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler * ctl_data.scaler;  //scaler is proportional to 1/airspeed
 	//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
 
 
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }
-
-void ECL_YawController::reset_integrator()
-{
-	_integrator = 0.0f;
-}
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index a360c14b89..37c03705ef 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -50,79 +50,27 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <systemlib/perf_counter.h>
 
-class __EXPORT ECL_YawController //XXX: create controller superclass
+#include "ecl_controller.h"
+
+class __EXPORT ECL_YawController :
+	public ECL_Controller
 {
 public:
 	ECL_YawController();
 
 	~ECL_YawController();
 
-	float control_attitude(float roll, float pitch,
-			float speed_body_u, float speed_body_v, float speed_body_w,
-			float roll_rate_setpoint, float pitch_rate_setpoint);
-
-	float control_bodyrate(	float roll, float pitch,
-			float pitch_rate, float yaw_rate,
-			float pitch_rate_setpoint,
-			float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator);
-
-	void reset_integrator();
-
-	void set_k_p(float k_p) {
-			_k_p = k_p;
-	}
-
-	void set_k_i(float k_i) {
-		_k_i = k_i;
-	}
-
-	void set_k_ff(float k_ff) {
-		_k_ff = k_ff;
-	}
-
-	void set_integrator_max(float max) {
-		_integrator_max = max;
-	}
-
-	void set_max_rate(float max_rate) {
-		_max_rate = max_rate;
-	}
+	float control_attitude(const struct ECL_ControlData &ctl_data);
+	float control_bodyrate(const struct ECL_ControlData &ctl_data);
 
+	/* Additional setters */
 	void set_coordinated_min_speed(float coordinated_min_speed) {
 		_coordinated_min_speed = coordinated_min_speed;
 	}
 
-
-	float get_rate_error() {
-		return _rate_error;
-	}
-
-	float get_desired_rate() {
-		return _rate_setpoint;
-	}
-
-	float get_desired_bodyrate() {
-		return _bodyrate_setpoint;
-	}
-
-private:
-	uint64_t _last_run;
-	float _k_p;
-	float _k_i;
-	float _k_ff;
-	float _integrator_max;
-	float _max_rate;
-	float  _roll_ff;
-	float _last_output;
-	float _integrator;
-	float _rate_error;
-	float _rate_setpoint;
-	float _bodyrate_setpoint;
+protected:
 	float _coordinated_min_speed;
-	perf_counter_t _nonfinite_input_perf;
-
 };
 
 #endif // ECL_YAW_CONTROLLER_H
diff --git a/src/lib/ecl/module.mk b/src/lib/ecl/module.mk
index 93a5b511f9..03974c9503 100644
--- a/src/lib/ecl/module.mk
+++ b/src/lib/ecl/module.mk
@@ -35,7 +35,8 @@
 # Estimation and Control Library
 #
 
-SRCS		 = 	attitude_fw/ecl_pitch_controller.cpp \
+SRCS		 = 	attitude_fw/ecl_controller.cpp \
+			attitude_fw/ecl_pitch_controller.cpp \
 			attitude_fw/ecl_roll_controller.cpp \
 			attitude_fw/ecl_yaw_controller.cpp \
 			l1/ecl_l1_pos_controller.cpp
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 260b25a480..d2e993ba95 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -933,19 +933,38 @@ FixedwingAttitudeControl::task_main()
 					}
 				}
 
+				/* Prepare data for attitude controllers */
+				struct ECL_ControlData control_input = {};
+				control_input.roll = _att.roll;
+				control_input.pitch = _att.pitch;
+				control_input.yaw = _att.yaw;
+				control_input.roll_rate = _att.rollspeed;
+				control_input.pitch_rate = _att.pitchspeed;
+				control_input.yaw_rate = _att.yawspeed;
+				control_input.speed_body_u = speed_body_u;
+				control_input.speed_body_v = speed_body_v;
+				control_input.speed_body_w = speed_body_w;
+				control_input.roll_setpoint = roll_sp;
+				control_input.pitch_setpoint = pitch_sp;
+				control_input.airspeed_min = _parameters.airspeed_min;
+				control_input.airspeed_max = _parameters.airspeed_max;
+				control_input.airspeed = airspeed;
+				control_input.scaler = airspeed_scaling;
+				control_input.lock_integrator = lock_integrator;
+
 				/* Run attitude controllers */
 				if (isfinite(roll_sp) && isfinite(pitch_sp)) {
-					_roll_ctrl.control_attitude(roll_sp, _att.roll);
-					_pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed);
-					_yaw_ctrl.control_attitude(_att.roll, _att.pitch,
-							speed_body_u, speed_body_v, speed_body_w,
-							_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
+					_roll_ctrl.control_attitude(control_input);
+					_pitch_ctrl.control_attitude(control_input);
+					_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
+
+					/* Update input data for rate controllers */
+					control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
+					control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
+					control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();
 
 					/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
-					float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
-							_att.rollspeed, _att.yawspeed,
-							_yaw_ctrl.get_desired_rate(),
-							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
+					float roll_u = _roll_ctrl.control_bodyrate(control_input);
 					_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
 					if (!isfinite(roll_u)) {
 						_roll_ctrl.reset_integrator();
@@ -956,10 +975,7 @@ FixedwingAttitudeControl::task_main()
 						}
 					}
 
-					float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
-							_att.pitchspeed, _att.yawspeed,
-							_yaw_ctrl.get_desired_rate(),
-							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
+					float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
 					_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
 					if (!isfinite(pitch_u)) {
 						_pitch_ctrl.reset_integrator();
@@ -980,10 +996,7 @@ FixedwingAttitudeControl::task_main()
 						}
 					}
 
-					float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
-							_att.pitchspeed, _att.yawspeed,
-							_pitch_ctrl.get_desired_rate(),
-							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
+					float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
 					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
 
 					/* add in manual rudder control */

From 78cde98ea89dfab02e27c4e36536dc1e827dfce5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 6 Jan 2015 18:22:44 +0100
Subject: [PATCH 12/12] GPS driver: Add missing wall clock setup for MTK GPS
 modules

---
 src/drivers/gps/mtk.cpp | 22 +++++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index c0c47073bc..c112f65a8b 100644
--- a/src/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
@@ -264,7 +264,7 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 	_gps_position->satellites_used = packet.satellites;
 
 	/* convert time and date information to unix timestamp */
-	struct tm timeinfo; //TODO: test this conversion
+	struct tm timeinfo;
 	uint32_t timeinfo_conversion_temp;
 
 	timeinfo.tm_mday = packet.date * 1e-4;
@@ -280,8 +280,24 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 	timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
 	time_t epoch = mktime(&timeinfo);
 
-	_gps_position->time_utc_usec = epoch * 1e6; //TODO: test this
-	_gps_position->time_utc_usec += timeinfo_conversion_temp * 1e3;
+	if (epoch > GPS_EPOCH_SECS) {
+		// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
+		// and control its drift. Since we rely on the HRT for our monotonic
+		// clock, updating it from time to time is safe.
+
+		timespec ts;
+		ts.tv_sec = epoch;
+		ts.tv_nsec = timeinfo_conversion_temp * 1000000ULL;
+		if (clock_settime(CLOCK_REALTIME, &ts)) {
+			warn("failed setting clock");
+		}
+
+		_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+		_gps_position->time_utc_usec += timeinfo_conversion_temp * 1000ULL;
+	} else {
+		_gps_position->time_utc_usec = 0;
+	}
+
 	_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
 
 	// Position and velocity update always at the same time