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

Conflicts: src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp src/modules/navigator/geofence.cpp src/modules/navigator/mission.cpp
2026-06-08 02:17:07 +08:00 · 2014-09-28 12:36:26 +02:00
parent d113fcfc54 8a18cfa386
commit 3efffb68e7
49 changed files with 2558 additions and 736 deletions
@@ -0,0 +1,41 @@
+The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
+to be made under the same license. Any exception to this general rule is listed below.
+
+	/****************************************************************************
+	 *
+	 *   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
+	 * 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.
+	 *
+	 ****************************************************************************/
+
+
+  - PX4 middleware: BSD 3-clause
+  - PX4 flight control stack: BSD 3-clause
+  - NuttX operating system: BSD 3-clause
+  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.
@@ -0,0 +1,10 @@
+## PX4 Aerial Middleware and Flight Control Stack ##
+
+*   Official Website: http://px4.io
+*   License: BSD 3-clause (see LICENSE.md)
+*   Supported airframes:
+  * Multicopters
+  * Fixed wing
+*   Binaries (always up-to-date from master):
+  * [Downloads](https://pixhawk.org/downloads)
+*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)
@@ -27,8 +27,6 @@ MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
@@ -42,7 +40,6 @@ MODULES		+= modules/sensors
 # System commands
 #
 MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/mixer
 MODULES		+= systemcmds/param
 MODULES		+= systemcmds/perf
@@ -54,6 +54,9 @@ MODULES		+= lib/conversion
 #
 LIBRARIES	+= lib/mathlib/CMSIS

+MODULES 	+= modules/unit_test
+MODULES		+= modules/mavlink/mavlink_tests
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
@@ -238,7 +238,7 @@ void TECS::_update_height_demand(float demand, float state)
 	_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
 	_hgt_dem_adj_last = _hgt_dem_adj;

-	_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p;
+	_hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
 	// Limit height rate of change
 	if (_hgt_rate_dem > _maxClimbRate) {
 		_hgt_rate_dem = _maxClimbRate;
@@ -47,6 +47,7 @@ public:
 		_rollComp(0.0f),
 		_spdWeight(0.5f),
 		_heightrate_p(0.0f),
+		_heightrate_ff(0.0f),
 		_speedrate_p(0.0f),
 		_throttle_dem(0.0f),
 		_pitch_dem(0.0f),
@@ -220,6 +221,10 @@ public:
 		_heightrate_p = heightrate_p;
 	}

+	void set_heightrate_ff(float heightrate_ff) {
+		_heightrate_ff = heightrate_ff;
+	}
+
 	void set_speedrate_p(float speedrate_p) {
 		_speedrate_p = speedrate_p;
 	}
@@ -256,6 +261,7 @@ private:
 	float _rollComp;
 	float _spdWeight;
 	float _heightrate_p;
+	float _heightrate_ff;
 	float _speedrate_p;

 	// throttle demand in the range from 0.0 to 1.0
@@ -52,7 +52,8 @@ CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
 	state(LAUNCHDETECTION_RES_NONE),
 	thresholdAccel(this, "A"),
 	thresholdTime(this, "T"),
-	motorDelay(this, "MDEL")
+	motorDelay(this, "MDEL"),
+	pitchMaxPreThrottle(this, "PMAX")
 {

 }
@@ -118,4 +119,14 @@ void CatapultLaunchMethod::reset()
 	state = LAUNCHDETECTION_RES_NONE;
 }

+float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault) {
+	/* If motor is turned on do not impose the extra limit on maximum pitch */
+	if (state == LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
+		return pitchMaxDefault;
+	} else {
+		return pitchMaxPreThrottle.get();
+	}
+
+}
+
 }
@@ -59,6 +59,7 @@ public:
 	void update(float accel_x);
 	LaunchDetectionResult getLaunchDetected() const;
 	void reset();
+	float getPitchMax(float pitchMaxDefault);

 private:
 	hrt_abstime last_timestamp;
@@ -70,6 +71,9 @@ private:
 	control::BlockParamFloat thresholdAccel;
 	control::BlockParamFloat thresholdTime;
 	control::BlockParamFloat motorDelay;
+	control::BlockParamFloat pitchMaxPreThrottle; /**< Upper pitch limit before throttle is turned on.
+						       Can be used to make sure that the AC does not climb
+						       too much while attached to a bungee */

 };

@@ -105,4 +105,24 @@ LaunchDetectionResult LaunchDetector::getLaunchDetected()
 	return LAUNCHDETECTION_RES_NONE;
 }

+float LaunchDetector::getPitchMax(float pitchMaxDefault) {
+	if (!launchdetection_on.get()) {
+		return pitchMaxDefault;
+	}
+
+	/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
+	 * otherwise use the default limit */
+	if (activeLaunchDetectionMethodIndex < 0) {
+		if (sizeof(launchMethods)/sizeof(LaunchMethod) > 1) {
+			return pitchMaxDefault;
+		} else {
+			return launchMethods[0]->getPitchMax(pitchMaxDefault);
+		}
+	} else {
+		return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
+	}
+
+}
+
+
 }
@@ -64,6 +64,9 @@ public:

 	float getThrottlePreTakeoff() {return throttlePreTakeoff.get(); }

+	/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
+	float getPitchMax(float pitchMaxDefault);
+
 //	virtual bool getLaunchDetected();
 protected:
 private:
@@ -62,6 +62,9 @@ public:
 	virtual LaunchDetectionResult getLaunchDetected() const = 0;
 	virtual void reset() = 0;

+	/* Returns a upper pitch limit if required, otherwise returns pitchMaxDefault */
+	virtual float getPitchMax(float pitchMaxDefault) = 0;
+
 protected:
 private:
 };
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
 /**
 * Motor delay
 *
- * Delay between starting attitude control and powering up the thorttle (giving throttle control to the controller)
+ * Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
 * Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate
 *
 * @unit seconds
@@ -88,6 +88,20 @@ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
 * @group Launch detection
 */
 PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
+
+/**
+ * Maximum pitch before the throttle is powered up (during motor delay phase)
+ *
+ * This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
+ * This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
+ *
+ * @unit deg
+ * @min 0
+ * @max 45
+ * @group Launch detection
+ */
+PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f);
+
 /**
 * Throttle setting while detecting launch.
 *
@@ -58,6 +58,7 @@
 #include <drivers/drv_accel.h>
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
+#include <drivers/drv_range_finder.h>
 #ifdef SENSOR_COMBINED_SUB
 #include <uORB/topics/sensor_combined.h>
 #endif
@@ -96,7 +97,10 @@ extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]);

 __EXPORT uint32_t millis();

+__EXPORT uint64_t getMicros();
+
 static uint64_t IMUmsec = 0;
+static uint64_t IMUusec = 0;
 static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;

 uint32_t millis()
@@ -104,6 +108,11 @@ uint32_t millis()
 	return IMUmsec;
 }

+uint64_t getMicros()
+{
+	return IMUusec;
+}
+
 class FixedwingEstimator
 {
 public:
@@ -171,6 +180,7 @@ private:
 #else
 	int		_sensor_combined_sub;
 #endif
+	int		_distance_sub;			/**< distance measurement */
 	int		_airspeed_sub;			/**< airspeed subscription */
 	int		_baro_sub;			/**< barometer subscription */
 	int		_gps_sub;			/**< GPS subscription */
@@ -196,7 +206,8 @@ private:
 	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
 	struct vehicle_local_position_s			_local_pos;		/**< local vehicle position */
 	struct vehicle_gps_position_s			_gps;			/**< GPS position */
-	struct wind_estimate_s				_wind;			/**< Wind estimate */
+	struct wind_estimate_s				_wind;			/**< wind estimate */
+	struct range_finder_report			_distance;		/**< distance estimate */

 	struct gyro_scale				_gyro_offsets;
 	struct accel_scale				_accel_offsets;
@@ -226,6 +237,7 @@ private:
 	hrt_abstime					_filter_start_time;
 	hrt_abstime					_last_sensor_timestamp;
 	hrt_abstime					_last_run;
+	hrt_abstime					_distance_last_valid;
 	bool						_gyro_valid;
 	bool						_accel_valid;
 	bool						_mag_valid;
@@ -342,6 +354,7 @@ FixedwingEstimator::FixedwingEstimator() :
 #else
 	_sensor_combined_sub(-1),
 #endif
+	_distance_sub(-1),
 	_airspeed_sub(-1),
 	_baro_sub(-1),
 	_gps_sub(-1),
@@ -399,6 +412,7 @@ FixedwingEstimator::FixedwingEstimator() :
 	_filter_start_time(0),
 	_last_sensor_timestamp(0),
 	_last_run(0),
+	_distance_last_valid(0),
 	_gyro_valid(false),
 	_accel_valid(false),
 	_mag_valid(false),
@@ -549,6 +563,7 @@ FixedwingEstimator::parameters_update()
 		_ekf->gyroProcessNoise = _parameters.gyro_pnoise;
        	_ekf->accelProcessNoise = _parameters.acc_pnoise;
 		_ekf->airspeedMeasurementSigma = _parameters.eas_noise;
+		_ekf->rngFinderPitch = 0.0f; // XXX base on SENS_BOARD_Y_OFF
 	}

 	return OK;
@@ -704,6 +719,7 @@ FixedwingEstimator::task_main()
 	/*
 	 * do subscriptions
 	 */
+	_distance_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
@@ -753,6 +769,7 @@ FixedwingEstimator::task_main()
 	bool newHgtData = false;
 	bool newAdsData = false;
 	bool newDataMag = false;
+	bool newRangeData = false;

 	float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m)

@@ -850,7 +867,8 @@ FixedwingEstimator::task_main()
 			}

 			_last_sensor_timestamp = _gyro.timestamp;
-			IMUmsec = _gyro.timestamp / 1e3f;
+			IMUmsec = _gyro.timestamp / 1e3;
+			IMUusec = _gyro.timestamp;

 			float deltaT = (_gyro.timestamp - _last_run) / 1e6f;
 			_last_run = _gyro.timestamp;
@@ -914,7 +932,8 @@ FixedwingEstimator::task_main()

 			// Copy gyro and accel
 			_last_sensor_timestamp = _sensor_combined.timestamp;
-			IMUmsec = _sensor_combined.timestamp / 1e3f;
+			IMUmsec = _sensor_combined.timestamp / 1e3;
+			IMUusec = _sensor_combined.timestamp;

 			float deltaT = (_sensor_combined.timestamp - _last_run) / 1e6f;

@@ -994,8 +1013,6 @@ FixedwingEstimator::task_main()

 			if (gps_updated) {

-				last_gps = _gps.timestamp_position;
-
 				orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
 				perf_count(_perf_gps);

@@ -1008,11 +1025,17 @@ FixedwingEstimator::task_main()
 					_gps_start_time = hrt_absolute_time();

 					/* check if we had a GPS outage for a long time */
-					if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
+					float gps_elapsed = hrt_elapsed_time(&last_gps) / 1e6f;
+
+					const float pos_reset_threshold = 5.0f; // seconds
+
+					/* timeout of 5 seconds */
+					if (gps_elapsed > pos_reset_threshold) {
 						_ekf->ResetPosition();
 						_ekf->ResetVelocity();
 						_ekf->ResetStoredStates();
 					}
+					_ekf->updateDtGpsFilt(math::constrain((_gps.timestamp_position - last_gps) / 1e6f, 0.01f, pos_reset_threshold));

 					/* fuse GPS updates */

@@ -1044,6 +1067,8 @@ FixedwingEstimator::task_main()

 					newDataGps = true;

+					last_gps = _gps.timestamp_position;
+
 				}

 			}
@@ -1052,8 +1077,15 @@ FixedwingEstimator::task_main()
 			orb_check(_baro_sub, &baro_updated);

 			if (baro_updated) {
+
+				hrt_abstime baro_last = _baro.timestamp;
+
 				orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);

+				float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
+
+				_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1));
+
 				_ekf->baroHgt = _baro.altitude;

 				if (!_baro_init) {
@@ -1114,6 +1146,19 @@ FixedwingEstimator::task_main()
 				newDataMag = false;
 			}

+			orb_check(_distance_sub, &newRangeData);
+
+			if (newRangeData) {
+				orb_copy(ORB_ID(sensor_range_finder), _distance_sub, &_distance);
+
+				if (_distance.valid) {
+					_ekf->rngMea = _distance.distance;
+					_distance_last_valid = _distance.timestamp;
+				} else {
+					newRangeData = false;
+				}
+			}
+
 			/*
 			 *    CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY
 			 */
@@ -1197,6 +1242,7 @@ FixedwingEstimator::task_main()
 				} else if (_ekf->statesInitialised) {

 					// We're apparently initialized in this case now
+					// check (and reset the filter as needed)
 					int check = check_filter_state();

 					if (check) {
@@ -1206,21 +1252,7 @@ FixedwingEstimator::task_main()

 					// Run the strapdown INS equations every IMU update
 					_ekf->UpdateStrapdownEquationsNED();
-	#if 0
-					// debug code - could be tunred into a filter mnitoring/watchdog function
-					float tempQuat[4];

-					for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
-
-					quat2eul(eulerEst, tempQuat);
-
-					for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
-
-					if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
-
-					if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
-
-	#endif
 					// store the predicted states for subsequent use by measurement fusion
 					_ekf->StoreStates(IMUmsec);
 					// Check if on ground - status is used by covariance prediction
@@ -1334,6 +1366,13 @@ FixedwingEstimator::task_main()
 						_ekf->fuseVtasData = false;
 					}

+					if (newRangeData) {
+						_ekf->fuseRngData = true;
+						_ekf->useRangeFinder = true;
+						_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f));
+						_ekf->GroundEKF();
+					}
+

 					// Output results
 					math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
@@ -1447,6 +1486,10 @@ FixedwingEstimator::task_main()
 							_global_pos.vel_d = _local_pos.vz;
 						}

+						/* terrain altitude */
+						_global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1];
+						_global_pos.terrain_alt_valid = (_distance_last_valid > 0) &&
+						(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);

 						_global_pos.yaw = _local_pos.yaw;

@@ -1467,8 +1510,10 @@ FixedwingEstimator::task_main()

 						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
 							_wind.timestamp = _global_pos.timestamp;
-							_wind.windspeed_north = _ekf->states[14];
-							_wind.windspeed_east = _ekf->states[15];
+							_wind.windspeed_north = _ekf->windSpdFiltNorth;
+							_wind.windspeed_east = _ekf->windSpdFiltEast;
+							// XXX we need to do something smart about the covariance here
+							// but we default to the estimate covariance for now
 							_wind.covariance_north = _ekf->P[14][14];
 							_wind.covariance_east = _ekf->P[15][15];

@@ -80,6 +80,14 @@ public:
        airspeedMeasurementSigma = 1.4f;
        gyroProcessNoise = 1.4544411e-2f;
        accelProcessNoise = 0.5f;
+
+        gndHgtSigma  = 0.1f; // terrain gradient 1-sigma
+        R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2
+        flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check
+        auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter
+        rngInnovGate = 10.0f; // number of standard deviations applied to the rnage finder innovation consistency check
+        minFlowRng = 0.01f; //minimum range between ground and flow sensor
+        moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate
    }

    struct mag_state_struct {
@@ -116,13 +124,16 @@ public:
    float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
    uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored

+    // Times
+    uint64_t lastVelPosFusion;  // the time of the last velocity fusion, in the standard time unit of the filter
+
    float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
    float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
    float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
    float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
    float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
    float statesAtRngTime[n_states]; // filter states at the effective measurement time
-    float statesAtOptFlowTime[n_states]; // States at the effective optical flow measurement time
+    float statesAtFlowTime[n_states]; // States at the effective optical flow measurement time

    Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
    Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
@@ -140,7 +151,16 @@ public:
    Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
    Vector3f dVelIMU;
    Vector3f dAngIMU;
-    float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
+    float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec), this may have significant jitter
+    float dtIMUfilt; // average time between IMU measurements (sec)
+    float dtVelPos; // time lapsed since the last position / velocity fusion (seconds), this may have significant jitter
+    float dtVelPosFilt; // average time between position / velocity fusion steps
+    float dtHgtFilt; // average time between height measurement updates
+    float dtGpsFilt; // average time between gps measurement updates
+    float windSpdFiltNorth; // average wind speed north component
+    float windSpdFiltEast; // average wind speed east component
+    float windSpdFiltAltitude; // the last altitude used to filter wind speed
+    float windSpdFiltClimb; // filtered climb rate
    uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
    float innovVelPos[6]; // innovation output
    float varInnovVelPos[6]; // innovation variance output
@@ -192,7 +212,8 @@ public:

    bool inhibitWindStates; // true when wind states and covariances are to remain constant
    bool inhibitMagStates;  // true when magnetic field states and covariances are to remain constant
-    bool inhibitGndHgtState; // true when the terrain ground height offset state and covariances are to remain constant
+    bool inhibitGndState; // true when the terrain ground height offset state and covariances are to remain constant
+    bool inhibitScaleState; // true when the focal length scale factor state and covariances are to remain constant

    bool onGround;    ///< boolean true when the flight vehicle is on the ground (not flying)
    bool staticMode;    ///< boolean true if no position feedback is fused
@@ -211,6 +232,30 @@ public:

    unsigned storeIndex;

+    // Optical Flow error estimation
+    float storedOmega[3][data_buffer_size]; // angular rate vector stored for the last 50 time steps used by optical flow eror estimators
+
+    // Two state EKF used to estimate focal length scale factor and terrain position
+    float Popt[2][2];                       // state covariance matrix
+    float flowStates[2];                    // flow states [scale factor, terrain position]
+    float prevPosN;                         // north position at last measurement
+    float prevPosE;                         // east position at last measurement
+    float auxFlowObsInnov[2];               // optical flow observation innovations from focal length scale factor estimator
+    float auxFlowObsInnovVar[2];            // innovation variance for optical flow observations from focal length scale factor estimator
+    float fScaleFactorVar;                  // optical flow sensor focal length scale factor variance
+    Mat3f Tnb_flow;                         // Transformation matrix from nav to body at the time fo the optical flow measurement
+    float R_LOS;                            // Optical flow observation noise variance (rad/sec)^2
+    float auxFlowTestRatio[2];              // ratio of X and Y flow observation innovations to fault threshold
+    float auxRngTestRatio;                  // ratio of range observation innovations to fault threshold
+    float flowInnovGate;                    // number of standard deviations used for the innovation consistency check
+    float auxFlowInnovGate;                 // number of standard deviations applied to the optical flow innovation consistency check
+    float rngInnovGate;                     // number of standard deviations used for the innovation consistency check
+    float minFlowRng;                       // minimum range over which to fuse optical flow measurements
+    float moCompR_LOS;                      // scaler from sensor gyro rate to uncertainty in LOS rate
+
+void updateDtGpsFilt(float dt);
+
+void updateDtHgtFilt(float dt);

 void  UpdateStrapdownEquationsNED();

@@ -226,6 +271,8 @@ void FuseRangeFinder();

 void FuseOptFlow();

+void GroundEKF();
+
 void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);

 void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
@@ -268,6 +315,10 @@ static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);

 static float sq(float valIn);

+static float maxf(float valIn1, float valIn2);
+
+static float min(float valIn1, float valIn2);
+
 void OnGroundCheck();

 void CovarianceInit();
@@ -300,6 +351,8 @@ void InitializeDynamic(float (&initvelNED)[3], float declination);

 protected:

+void updateDtVelPosFilt(float dt);
+
 bool FilterHealthy();

 bool GyroOffsetsDiverged();
@@ -314,3 +367,5 @@ void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, fl

 uint32_t millis();

+uint64_t getMicros();
+
@@ -63,6 +63,7 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/pid/pid.h>
@@ -124,6 +125,7 @@ private:
 	int 		_params_sub;			/**< notification of parameter updates */
 	int 		_manual_sub;			/**< notification of manual control updates */
 	int		_global_pos_sub;		/**< global position subscription */
+	int		_vehicle_status_sub;		/**< vehicle status subscription */

 	orb_advert_t	_rate_sp_pub;			/**< rate setpoint publication */
 	orb_advert_t	_attitude_sp_pub;		/**< attitude setpoint point */
@@ -139,6 +141,7 @@ private:
 	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
 	struct actuator_controls_s			_actuators_airframe;	/**< actuator control inputs */
 	struct vehicle_global_position_s		_global_pos;		/**< global position */
+	struct vehicle_status_s				_vehicle_status;	/**< vehicle status */

 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
@@ -275,6 +278,11 @@ private:
 	 */
 	void		global_pos_poll();

+	/**
+	 * Check for vehicle status updates.
+	 */
+	void		vehicle_status_poll();
+
 	/**
 	 * Shim for calling task_main from task_create.
 	 */
@@ -313,6 +321,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_params_sub(-1),
 	_manual_sub(-1),
 	_global_pos_sub(-1),
+	_vehicle_status_sub(-1),

 /* publications */
 	_rate_sp_pub(-1),
@@ -338,6 +347,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_actuators = {};
 	_actuators_airframe = {};
 	_global_pos = {};
+	_vehicle_status = {};


 	_parameter_handles.tconst = param_find("FW_ATT_TC");
@@ -560,6 +570,18 @@ FixedwingAttitudeControl::global_pos_poll()
 	}
 }

+void
+FixedwingAttitudeControl::vehicle_status_poll()
+{
+	/* check if there is new status information */
+	bool vehicle_status_updated;
+	orb_check(_vehicle_status_sub, &vehicle_status_updated);
+
+	if (vehicle_status_updated) {
+		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
+	}
+}
+
 void
 FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
 {
@@ -585,6 +607,7 @@ FixedwingAttitudeControl::task_main()
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));

 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);
@@ -599,6 +622,7 @@ FixedwingAttitudeControl::task_main()
 	vehicle_accel_poll();
 	vehicle_control_mode_poll();
 	vehicle_manual_poll();
+	vehicle_status_poll();

 	/* wakeup source(s) */
 	struct pollfd fds[2];
@@ -667,6 +691,8 @@ FixedwingAttitudeControl::task_main()

 			global_pos_poll();

+			vehicle_status_poll();
+
 			/* lock integrator until control is started */
 			bool lock_integrator;

@@ -786,6 +812,13 @@ FixedwingAttitudeControl::task_main()
 					}
 				}

+				/* If the aircraft is on ground reset the integrators */
+				if (_vehicle_status.condition_landed) {
+					_roll_ctrl.reset_integrator();
+					_pitch_ctrl.reset_integrator();
+					_yaw_ctrl.reset_integrator();
+				}
+
 				/* Prepare speed_body_u and speed_body_w */
 				float speed_body_u = 0.0f;
 				float speed_body_v = 0.0f;
@@ -213,6 +213,7 @@ private:
 		float max_climb_rate;
 		float climbout_diff;
 		float heightrate_p;
+		float heightrate_ff;
 		float speedrate_p;
 		float throttle_damp;
 		float integrator_gain;
@@ -258,6 +259,7 @@ private:
 		param_t max_climb_rate;
 		param_t climbout_diff;
 		param_t heightrate_p;
+		param_t heightrate_ff;
 		param_t speedrate_p;
 		param_t throttle_damp;
 		param_t integrator_gain;
@@ -388,7 +390,8 @@ private:
 			bool climbout_mode, float climbout_pitch_min_rad,
 			float altitude,
 			const math::Vector<3> &ground_speed,
-			tecs_mode mode = TECS_MODE_NORMAL);
+			tecs_mode mode = TECS_MODE_NORMAL,
+			bool pitch_max_special = false);

 };

@@ -503,6 +506,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.speed_weight = 			param_find("FW_T_SPDWEIGHT");
 	_parameter_handles.pitch_damping = 			param_find("FW_T_PTCH_DAMP");
 	_parameter_handles.heightrate_p =			param_find("FW_T_HRATE_P");
+	_parameter_handles.heightrate_ff =			param_find("FW_T_HRATE_FF");
 	_parameter_handles.speedrate_p =			param_find("FW_T_SRATE_P");

 	/* fetch initial parameter values */
@@ -572,6 +576,7 @@ FixedwingPositionControl::parameters_update()
 	param_get(_parameter_handles.climbout_diff, &(_parameters.climbout_diff));

 	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
+	param_get(_parameter_handles.heightrate_ff, &(_parameters.heightrate_ff));
 	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));

 	param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
@@ -609,6 +614,7 @@ FixedwingPositionControl::parameters_update()
 	_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
 	_tecs.set_max_climb_rate(_parameters.max_climb_rate);
 	_tecs.set_heightrate_p(_parameters.heightrate_p);
+	_tecs.set_heightrate_ff(_parameters.heightrate_ff);
 	_tecs.set_speedrate_p(_parameters.speedrate_p);

 	/* sanity check parameters */
@@ -1135,7 +1141,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS ?
 					launchDetector.getThrottlePreTakeoff() : _parameters.throttle_max;

-				/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
+				/* select maximum pitch: the launchdetector may impose another limit for the pitch
+				 * depending on the state of the launch */
+				float takeoff_pitch_max_deg = launchDetector.getPitchMax(_parameters.pitch_limit_max);
+				float takeoff_pitch_max_rad = math::radians(takeoff_pitch_max_deg);
+
+				/* apply minimum pitch and limit roll if target altitude is not within climbout_diff
+				 * meters */
 				if (_parameters.climbout_diff > 0.001f && altitude_error > _parameters.climbout_diff) {

 					/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
@@ -1143,7 +1155,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							calculate_target_airspeed(1.3f * _parameters.airspeed_min),
 							eas2tas,
 							math::radians(_parameters.pitch_limit_min),
-							math::radians(_parameters.pitch_limit_max),
+							takeoff_pitch_max_rad,
 							_parameters.throttle_min, takeoff_throttle,
 							_parameters.throttle_cruise,
 							true,
@@ -1151,7 +1163,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							math::radians(10.0f)),
 							_global_pos.alt,
 							ground_speed,
-							TECS_MODE_TAKEOFF);
+							TECS_MODE_TAKEOFF,
+							takeoff_pitch_max_deg != _parameters.pitch_limit_max);

 					/* limit roll motion to ensure enough lift */
 					_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f),
@@ -1222,8 +1235,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		_att_sp.thrust = 0.0f;
 	} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
 			launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
-		 /* making sure again that the correct thrust is used,
-		 * without depending on library calls */
+		/* Copy thrust and pitch values from tecs
+		 * making sure again that the correct thrust is used,
+		 * without depending on library calls for safety reasons */
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
 	} else {
 		/* Copy thrust and pitch values from tecs */
@@ -1415,7 +1429,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		bool climbout_mode, float climbout_pitch_min_rad,
 		float altitude,
 		const math::Vector<3> &ground_speed,
-		tecs_mode mode)
+		tecs_mode mode, bool pitch_max_special)
 {
 	if (_mTecs.getEnabled()) {
 		/* Using mtecs library: prepare arguments for mtecs call */
@@ -1435,6 +1449,14 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		} else {
 			limitOverride.disablePitchMinOverride();
 		}
+
+		if (pitch_max_special) {
+			/* Use the maximum pitch from the argument */
+			limitOverride.enablePitchMaxOverride(M_RAD_TO_DEG_F * pitch_max_rad);
+		} else {
+			/* use pitch max set by MT param */
+			limitOverride.disablePitchMaxOverride();
+		}
 		_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
 				limitOverride);
 	} else {
@@ -131,8 +131,8 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
 /**
 * Throttle limit max
 *
- * This is the maximum throttle % that can be used by the controller. 
- * For overpowered aircraft, this should be reduced to a value that 
+ * This is the maximum throttle % that can be used by the controller.
+ * For overpowered aircraft, this should be reduced to a value that
 * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
 *
 * @group L1 Control
@@ -142,10 +142,10 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
 /**
 * Throttle limit min
 *
- * This is the minimum throttle % that can be used by the controller. 
- * For electric aircraft this will normally be set to zero, but can be set 
- * to a small non-zero value if a folding prop is fitted to prevent the 
- * prop from folding and unfolding repeatedly in-flight or to provide 
+ * This is the minimum throttle % that can be used by the controller.
+ * For electric aircraft this will normally be set to zero, but can be set
+ * to a small non-zero value if a folding prop is fitted to prevent the
+ * prop from folding and unfolding repeatedly in-flight or to provide
 * some aerodynamic drag from a turning prop to improve the descent rate.
 *
 * For aircraft with internal combustion engine this parameter should be set
@@ -158,7 +158,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 /**
 * Throttle limit value before flare
 *
- * This throttle value will be set as throttle limit at FW_LND_TLALT, 
+ * This throttle value will be set as throttle limit at FW_LND_TLALT,
 * before arcraft will flare.
 *
 * @group L1 Control
@@ -180,17 +180,17 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
 /**
 * Maximum climb rate
 *
- * This is the best climb rate that the aircraft can achieve with 
- * the throttle set to THR_MAX and the airspeed set to the 
- * default value. For electric aircraft make sure this number can be 
- * achieved towards the end of flight when the battery voltage has reduced. 
- * The setting of this parameter can be checked by commanding a positive 
- * altitude change of 100m in loiter, RTL or guided mode. If the throttle 
- * required to climb is close to THR_MAX and the aircraft is maintaining 
- * airspeed, then this parameter is set correctly. If the airspeed starts 
- * to reduce, then the parameter is set to high, and if the throttle 
- * demand required to climb and maintain speed is noticeably less than 
- * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or 
+ * This is the best climb rate that the aircraft can achieve with
+ * the throttle set to THR_MAX and the airspeed set to the
+ * default value. For electric aircraft make sure this number can be
+ * achieved towards the end of flight when the battery voltage has reduced.
+ * The setting of this parameter can be checked by commanding a positive
+ * altitude change of 100m in loiter, RTL or guided mode. If the throttle
+ * required to climb is close to THR_MAX and the aircraft is maintaining
+ * airspeed, then this parameter is set correctly. If the airspeed starts
+ * to reduce, then the parameter is set to high, and if the throttle
+ * demand required to climb and maintain speed is noticeably less than
+ * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
 * FW_THR_MAX reduced.
 *
 * @group L1 Control
@@ -200,8 +200,8 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
 /**
 * Minimum descent rate
 *
- * This is the sink rate of the aircraft with the throttle 
- * set to THR_MIN and flown at the same airspeed as used 
+ * This is the sink rate of the aircraft with the throttle
+ * set to THR_MIN and flown at the same airspeed as used
 * to measure FW_T_CLMB_MAX.
 *
 * @group Fixed Wing TECS
@@ -211,10 +211,10 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
 /**
 * Maximum descent rate
 *
- * This sets the maximum descent rate that the controller will use. 
- * If this value is too large, the aircraft can over-speed on descent. 
- * This should be set to a value that can be achieved without 
- * exceeding the lower pitch angle limit and without over-speeding 
+ * This sets the maximum descent rate that the controller will use.
+ * If this value is too large, the aircraft can over-speed on descent.
+ * This should be set to a value that can be achieved without
+ * exceeding the lower pitch angle limit and without over-speeding
 * the aircraft.
 *
 * @group Fixed Wing TECS
@@ -224,7 +224,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 /**
 * TECS time constant
 *
- * This is the time constant of the TECS control algorithm (in seconds). 
+ * This is the time constant of the TECS control algorithm (in seconds).
 * Smaller values make it faster to respond, larger values make it slower
 * to respond.
 *
@@ -235,7 +235,7 @@ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
 /**
 * TECS Throttle time constant
 *
- * This is the time constant of the TECS throttle control algorithm (in seconds). 
+ * This is the time constant of the TECS throttle control algorithm (in seconds).
 * Smaller values make it faster to respond, larger values make it slower
 * to respond.
 *
@@ -246,7 +246,7 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
 /**
 * Throttle damping factor
 *
- * This is the damping gain for the throttle demand loop. 
+ * This is the damping gain for the throttle demand loop.
 * Increase to add damping to correct for oscillations in speed and height.
 *
 * @group Fixed Wing TECS
@@ -256,9 +256,9 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
 /**
 * Integrator gain
 *
- * This is the integrator gain on the control loop. 
- * Increasing this gain increases the speed at which speed 
- * and height offsets are trimmed out, but reduces damping and 
+ * This is the integrator gain on the control loop.
+ * Increasing this gain increases the speed at which speed
+ * and height offsets are trimmed out, but reduces damping and
 * increases overshoot.
 *
 * @group Fixed Wing TECS
@@ -269,9 +269,9 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
 * Maximum vertical acceleration
 *
 * This is the maximum vertical acceleration (in metres/second square)
- * either up or down that the controller will use to correct speed 
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) 
- * allows for reasonably aggressive pitch changes if required to recover 
+ * either up or down that the controller will use to correct speed
+ * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
+ * allows for reasonably aggressive pitch changes if required to recover
 * from under-speed conditions.
 *
 * @group Fixed Wing TECS
@@ -281,10 +281,10 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 /**
 * Complementary filter "omega" parameter for height
 *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse vertical acceleration and barometric height to obtain 
- * an estimate of height rate and height. Increasing this frequency weights 
- * the solution more towards use of the barometer, whilst reducing it weights 
+ * This is the cross-over frequency (in radians/second) of the complementary
+ * filter used to fuse vertical acceleration and barometric height to obtain
+ * an estimate of height rate and height. Increasing this frequency weights
+ * the solution more towards use of the barometer, whilst reducing it weights
 * the solution more towards use of the accelerometer data.
 *
 * @group Fixed Wing TECS
@@ -294,10 +294,10 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
 /**
 * Complementary filter "omega" parameter for speed
 *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse longitudinal acceleration and airspeed to obtain an 
+ * This is the cross-over frequency (in radians/second) of the complementary
+ * filter used to fuse longitudinal acceleration and airspeed to obtain an
 * improved airspeed estimate. Increasing this frequency weights the solution
- * more towards use of the arispeed sensor, whilst reducing it weights the 
+ * more towards use of the arispeed sensor, whilst reducing it weights the
 * solution more towards use of the accelerometer data.
 *
 * @group Fixed Wing TECS
@@ -307,13 +307,13 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
 /**
 * Roll -> Throttle feedforward
 *
- * Increasing this gain turn increases the amount of throttle that will 
- * be used to compensate for the additional drag created by turning. 
- * Ideally this should be set to  approximately 10 x the extra sink rate 
- * in m/s created by a 45 degree bank turn. Increase this gain if 
- * the aircraft initially loses energy in turns and reduce if the 
- * aircraft initially gains energy in turns. Efficient high aspect-ratio 
- * aircraft (eg powered sailplanes) can use a lower value, whereas 
+ * Increasing this gain turn increases the amount of throttle that will
+ * be used to compensate for the additional drag created by turning.
+ * Ideally this should be set to  approximately 10 x the extra sink rate
+ * in m/s created by a 45 degree bank turn. Increase this gain if
+ * the aircraft initially loses energy in turns and reduce if the
+ * aircraft initially gains energy in turns. Efficient high aspect-ratio
+ * aircraft (eg powered sailplanes) can use a lower value, whereas
 * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
 *
 * @group Fixed Wing TECS
@@ -323,15 +323,15 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
 /**
 * Speed <--> Altitude priority
 *
- * This parameter adjusts the amount of weighting that the pitch control 
- * applies to speed vs height errors. Setting it to 0.0 will cause the 
- * pitch control to control height and ignore speed errors. This will 
- * normally improve height accuracy but give larger airspeed errors. 
- * Setting it to 2.0 will cause the pitch control loop to control speed 
- * and ignore height errors. This will normally reduce airspeed errors, 
- * but give larger height errors. The default value of 1.0 allows the pitch 
- * control to simultaneously control height and speed. 
- * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
+ * This parameter adjusts the amount of weighting that the pitch control
+ * applies to speed vs height errors. Setting it to 0.0 will cause the
+ * pitch control to control height and ignore speed errors. This will
+ * normally improve height accuracy but give larger airspeed errors.
+ * Setting it to 2.0 will cause the pitch control loop to control speed
+ * and ignore height errors. This will normally reduce airspeed errors,
+ * but give larger height errors. The default value of 1.0 allows the pitch
+ * control to simultaneously control height and speed.
+ * Note to Glider Pilots - set this parameter to 2.0 (The glider will
 * adjust its pitch angle to maintain airspeed, ignoring changes in height).
 *
 * @group Fixed Wing TECS
@@ -341,9 +341,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
 /**
 * Pitch damping factor
 *
- * This is the damping gain for the pitch demand loop. Increase to add 
- * damping to correct for oscillations in height. The default value of 0.0 
- * will work well provided the pitch to servo controller has been tuned 
+ * This is the damping gain for the pitch demand loop. Increase to add
+ * damping to correct for oscillations in height. The default value of 0.0
+ * will work well provided the pitch to servo controller has been tuned
 * properly.
 *
 * @group Fixed Wing TECS
@@ -357,6 +357,13 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
 */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);

+/**
+ * Height rate FF factor
+ *
+ * @group Fixed Wing TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
+
 /**
 * Speed rate P factor
 *
@@ -33,17 +33,8 @@

 #pragma once

-/**
- * @file mavlink_ftp.h
- *
- * MAVLink remote file server.
- *
- * A limited number of requests (currently 2) may be outstanding at a time.
- * Additional messages will be discarded.
- *
- * Messages consist of a fixed header, followed by a data area.
- *
- */
+/// @file mavlink_ftp.h
+///     @author px4dev, Don Gagne <don@thegagnes.com>
 
 #include <dirent.h>
 #include <queue.h>
@@ -54,183 +45,128 @@
 #include "mavlink_messages.h"
 #include "mavlink_main.h"

+class MavlinkFtpTest;
+
+/// @brief MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message.
+/// A limited number of requests (kRequestQueueSize) may be outstanding at a time. Additional messages will be discarded.
 class MavlinkFTP
 {
 public:
+	/// @brief Returns the one Mavlink FTP server in the system.
+	static MavlinkFTP* get_server(void);
+    
+	/// @brief Contructor is only public so unit test code can new objects.
 	MavlinkFTP();
+	
+	/// @brief Adds the specified message to the work queue.
+	void handle_message(Mavlink* mavlink, mavlink_message_t *msg);
+    
+	typedef void (*ReceiveMessageFunc_t)(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest);
+	
+	/// @brief Sets up the server to run in unit test mode.
+	///	@param rcvmsgFunc Function which will be called to handle outgoing mavlink messages.
+	///	@param ftp_test MavlinkFtpTest object which the function is associated with
+	void set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, MavlinkFtpTest *ftp_test);

-	static MavlinkFTP	*getServer();
-
-	// static interface
-	void			handle_message(Mavlink* mavlink,
-					mavlink_message_t *msg);
-
-private:
-
-	static const unsigned	kRequestQueueSize = 2;
-
-	static MavlinkFTP	*_server;
-
-	/// @brief Trying to pack structures across differing compilers is questionable for Clients, so we pad the
-	/// structure ourselves to 32 bit alignment which should get us what we want.
-	struct RequestHeader
+	/// @brief This is the payload which is in mavlink_file_transfer_protocol_t.payload. We pad the structure ourselves to
+	/// 32 bit alignment to avoid usage of any pack pragmas.
+	struct PayloadHeader
        {
-		uint16_t	seqNumber;  ///< sequence number for message
-		uint8_t		session;    ///< Session id for read and write commands
-		uint8_t		opcode;     ///< Command opcode
-		uint8_t		size;       ///< Size of data
-		uint8_t		padding[3];
-		uint32_t	crc32;      ///< CRC for entire Request structure, with crc32 and padding set to 0
-		uint32_t	offset;     ///< Offsets for List and Read commands
-		uint8_t		data[];
+		uint16_t	seqNumber;	///< sequence number for message
+		uint8_t		session;	///< Session id for read and write commands
+		uint8_t		opcode;		///< Command opcode
+		uint8_t		size;		///< Size of data
+		uint8_t		req_opcode;	///< Request opcode returned in kRspAck, kRspNak message
+		uint8_t		padding[2];	///< 32 bit aligment padding
+		uint32_t	offset;		///< Offsets for List and Read commands
+		uint8_t		data[];		///< command data, varies by Opcode
        };
-
+	
+	/// @brief Command opcodes
 	enum Opcode : uint8_t
 	{
-		kCmdNone,	// ignored, always acked
-		kCmdTerminate,	// releases sessionID, closes file
-		kCmdReset,	// terminates all sessions
-		kCmdList,	// list files in <path> from <offset>
-		kCmdOpen,	// opens <path> for reading, returns <session>
-		kCmdRead,	// reads <size> bytes from <offset> in <session>
-		kCmdCreate,	// creates <path> for writing, returns <session>
-		kCmdWrite,	// appends <size> bytes at <offset> in <session>
-		kCmdRemove,	// remove file (only if created by server?)
-
-		kRspAck,
-		kRspNak
+		kCmdNone,		///< ignored, always acked
+		kCmdTerminateSession,	///< Terminates open Read session
+		kCmdResetSessions,	///< Terminates all open Read sessions
+		kCmdListDirectory,	///< List files in <path> from <offset>
+		kCmdOpenFile,		///< Opens file at <path> for reading, returns <session>
+		kCmdReadFile,		///< Reads <size> bytes from <offset> in <session>
+		kCmdCreateFile,		///< Creates file at <path> for writing, returns <session>
+		kCmdWriteFile,		///< Appends <size> bytes to file in <session>
+		kCmdRemoveFile,		///< Remove file at <path>
+		kCmdCreateDirectory,	///< Creates directory at <path>
+		kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
+		
+		kRspAck = 128,		///< Ack response
+		kRspNak			///< Nak response
 	};
-
+	
+	/// @brief Error codes returned in Nak response PayloadHeader.data[0].
 	enum ErrorCode : uint8_t
-	{
+        {
 		kErrNone,
-		kErrNoRequest,
-		kErrNoSession,
-		kErrSequence,
-		kErrNotDir,
-		kErrNotFile,
-		kErrEOF,
-		kErrNotAppend,
-		kErrTooBig,
-		kErrIO,
-		kErrPerm
-	};
-
-    int _findUnusedSession(void);
-    bool _validSession(unsigned index);
-
-    static const unsigned kMaxSession = 2;
-    int	_session_fds[kMaxSession];
-
-	class Request
+		kErrFail,			///< Unknown failure
+		kErrFailErrno,			///< Command failed, errno sent back in PayloadHeader.data[1]
+		kErrInvalidDataSize,		///< PayloadHeader.size is invalid
+		kErrInvalidSession,		///< Session is not currently open
+		kErrNoSessionsAvailable,	///< All available Sessions in use
+		kErrEOF,			///< Offset past end of file for List and Read commands
+		kErrUnknownCommand		///< Unknown command opcode
+        };
+	
+private:
+	/// @brief Unit of work which is queued to work_queue
+	struct Request
 	{
-	public:
-		union {
-			dq_entry_t	entry;
-			work_s		work;
-		};
-
-		bool		decode(Mavlink *mavlink, mavlink_message_t *fromMessage) {
-			if (fromMessage->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
-				_systemId = fromMessage->sysid;
-				_mavlink = mavlink;
-				mavlink_msg_file_transfer_protocol_decode(fromMessage, &_message);
-				return _message.target_system == _mavlink->get_system_id();
-			}
-			return false;
-		}
-
-		void		reply() {
-
-			// XXX the proper way would be an IOCTL / uORB call, rather than exploiting the
-			// flat memory architecture, as we're operating between threads here.
-			mavlink_message_t msg;
-			msg.checksum = 0;
-			unsigned len = mavlink_msg_file_transfer_protocol_pack_chan(_mavlink->get_system_id(),		// Sender system id
-										    _mavlink->get_component_id(),	// Sender component id
-										    _mavlink->get_channel(),		// Channel to send on
-										    &msg,				// Message to pack payload into
-										    0,					// Target network
-										    _systemId,				// Target system id
-										    0,					// Target component id
-										    rawData());				// Payload to pack into message
-
-			_mavlink->lockMessageBufferMutex();
-			bool success = _mavlink->message_buffer_write(&msg, len);
-			_mavlink->unlockMessageBufferMutex();
-
-			if (!success) {
-				warnx("FTP TX ERR");
-			}
-#ifdef MAVLINK_FTP_DEBUG
-			else {
-				warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
-				      _mavlink->get_system_id(),
-				      _mavlink->get_component_id(),
-				      _mavlink->get_channel(),
-				      len,
-				      msg.checksum);
-			}
-#endif
-		}
-
-		uint8_t		*rawData() { return &_message.payload[0]; }
-		RequestHeader 	*header()  { return reinterpret_cast<RequestHeader *>(&_message.payload[0]); }
-		uint8_t         *requestData() { return &(header()->data[0]); }
-		unsigned	dataSize() { return header()->size + sizeof(RequestHeader); }
-		mavlink_channel_t channel() { return _mavlink->get_channel(); }
-
-		char		*dataAsCString();
-
-	private:
-		Mavlink			*_mavlink;
-		mavlink_file_transfer_protocol_t _message;
-		uint8_t _systemId;
+		work_s	work;			///< work queue entry
+		Mavlink	*mavlink;		///< Mavlink to reply to
+		uint8_t serverSystemId;		///< System ID to send from
+		uint8_t serverComponentId;	///< Component ID to send from
+		uint8_t serverChannel;		///< Channel to send to
+		uint8_t targetSystemId;		///< System ID to target reply to

+		mavlink_file_transfer_protocol_t message;	///< Protocol message
 	};
+	
+	Request		*_get_request(void);
+	void		_return_request(Request *req);
+	void		_lock_request_queue(void);
+	void		_unlock_request_queue(void);
+	
+	char		*_data_as_cstring(PayloadHeader* payload);
+	
+	static void	_worker_trampoline(void *arg);
+	void		_process_request(Request *req);
+	void		_reply(Request *req);

-	static const char	kDirentFile = 'F';
-	static const char	kDirentDir = 'D';
-	static const char	kDirentUnknown = 'U';
-	static const uint8_t	kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(RequestHeader);
+	ErrorCode	_workList(PayloadHeader *payload);
+	ErrorCode	_workOpen(PayloadHeader *payload, bool create);
+	ErrorCode	_workRead(PayloadHeader *payload);
+	ErrorCode	_workWrite(PayloadHeader *payload);
+	ErrorCode	_workTerminate(PayloadHeader *payload);
+	ErrorCode	_workReset(PayloadHeader* payload);
+	ErrorCode	_workRemoveDirectory(PayloadHeader *payload);
+	ErrorCode	_workCreateDirectory(PayloadHeader *payload);
+	ErrorCode	_workRemoveFile(PayloadHeader *payload);

-	/// Request worker; runs on the low-priority work queue to service
-	/// remote requests.
-	///
-	static void		_workerTrampoline(void *arg);
-	void			_worker(Request *req);
-
-	/// Reply to a request (XXX should be a Request method)
-	///
-	void			_reply(Request *req);
-
-	ErrorCode		_workList(Request *req);
-	ErrorCode		_workOpen(Request *req, bool create);
-	ErrorCode		_workRead(Request *req);
-	ErrorCode		_workWrite(Request *req);
-	ErrorCode		_workRemove(Request *req);
-	ErrorCode		_workTerminate(Request *req);
-	ErrorCode		_workReset();
-
-	// work freelist
-	Request			_workBufs[kRequestQueueSize];
-	dq_queue_t		_workFree;
-	sem_t			_lock;
-
-	void			_qLock() { do {} while (sem_wait(&_lock) != 0); }
-	void			_qUnlock() { sem_post(&_lock); }
-
-	void			_qFree(Request *req) {
-		_qLock();
-		dq_addlast(&req->entry, &_workFree);
-		_qUnlock();
-	}
-
-	Request			*_dqFree() {
-		_qLock();
-		auto req = reinterpret_cast<Request *>(dq_remfirst(&_workFree));
-		_qUnlock();
-		return req;
-	}
-    
+	static const unsigned	kRequestQueueSize = 2;			///< Max number of queued requests
+	Request			_request_bufs[kRequestQueueSize];	///< Request buffers which hold work
+	dq_queue_t		_request_queue;				///< Queue of available Request buffers
+	sem_t			_request_queue_sem;			///< Semaphore for locking access to _request_queue
+	
+	int _find_unused_session(void);
+	bool _valid_session(unsigned index);
+	
+	static const char	kDirentFile = 'F';	///< Identifies File returned from List command
+	static const char	kDirentDir = 'D';	///< Identifies Directory returned from List command
+	static const char	kDirentSkip = 'S';	///< Identifies Skipped entry from List command
+	
+	/// @brief Maximum data size in RequestHeader::data
+	static const uint8_t	kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(PayloadHeader);
+	
+	static const unsigned kMaxSession = 2;	///< Max number of active sessions
+	int	_session_fds[kMaxSession];	///< Session file descriptors, 0 for empty slot
+	
+	ReceiveMessageFunc_t _utRcvMsgFunc;	///< Unit test override for mavlink message sending
+	MavlinkFtpTest *_ftp_test;		///< Additional parameter to _utRcvMsgFunc;
 };
@@ -798,10 +798,10 @@ int
 MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
 {
 	if (mission_item->altitude_is_relative) {
-		mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
+		mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;

 	} else {
-		mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
+		mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
 	}

 	switch (mission_item->nav_cmd) {
@@ -123,7 +123,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 {

 	// make sure the FTP server is started
-	(void)MavlinkFTP::getServer();
+	(void)MavlinkFTP::get_server();
 }

 MavlinkReceiver::~MavlinkReceiver()
@@ -175,7 +175,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		break;

 	case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
-		MavlinkFTP::getServer()->handle_message(_mavlink, msg);
+		MavlinkFTP::get_server()->handle_message(_mavlink, msg);
 		break;

 	default:
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   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 mavlink_ftp_test.h
+///	@author Don Gagne <don@thegagnes.com>
+
+#pragma once
+
+#include <unit_test/unit_test.h>
+#include "../mavlink_bridge_header.h"
+#include "../mavlink_ftp.h"
+
+class MavlinkFtpTest : public UnitTest
+{
+public:
+	MavlinkFtpTest();
+	virtual ~MavlinkFtpTest();
+	
+	virtual void init(void);
+	virtual void cleanup(void);
+	
+	virtual void runTests(void);
+	
+	static void receive_message(const mavlink_message_t *msg, MavlinkFtpTest* ftpTest);
+	
+	static const uint8_t serverSystemId = 50;	///< System ID for server
+	static const uint8_t serverComponentId = 1;	///< Component ID for server
+	static const uint8_t serverChannel = 0;		///< Channel to send to
+	
+	static const uint8_t clientSystemId = 1;	///< System ID for client
+	static const uint8_t clientComponentId = 0;	///< Component ID for client
+	
+	// We don't want any of these
+	MavlinkFtpTest(const MavlinkFtpTest&);
+	MavlinkFtpTest& operator=(const MavlinkFtpTest&);
+	
+private:
+	bool _ack_test(void);
+	bool _bad_opcode_test(void);
+	bool _bad_datasize_test(void);
+	bool _list_test(void);
+	bool _list_eof_test(void);
+	bool _open_badfile_test(void);
+	bool _open_terminate_test(void);
+	bool _terminate_badsession_test(void);
+	bool _read_test(void);
+	bool _read_badsession_test(void);
+	bool _removedirectory_test(void);
+	bool _createdirectory_test(void);
+	bool _removefile_test(void);
+	
+	void _receive_message(const mavlink_message_t *msg);
+	void _setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, uint8_t size, const uint8_t *data, mavlink_message_t *msg);
+	bool _decode_message(const mavlink_message_t *msg, mavlink_file_transfer_protocol_t *ftp_msg, MavlinkFTP::PayloadHeader **payload);
+	bool _send_receive_msg(MavlinkFTP::PayloadHeader	*payload_header,
+                           uint8_t				size,
+                           const uint8_t			*data,
+                           mavlink_file_transfer_protocol_t	*ftp_msg_reply,
+                           MavlinkFTP::PayloadHeader		**payload_reply);
+	void _cleanup_microsd(void);
+	
+	MavlinkFTP *_ftp_server;
+    
+	mavlink_message_t _reply_msg;
+    
+	uint16_t _lastOutgoingSeqNumber;
+	
+	struct ReadTestCase {
+		const char	*file;
+		const uint16_t	length;
+	};
+	static const ReadTestCase _rgReadTestCases[];
+	
+	static const char _unittest_microsd_dir[];
+	static const char _unittest_microsd_file[];
+};
+
@@ -0,0 +1,7 @@
+import sys
+print 'Arguments: file - ' + sys.argv[1] + ', length - ' + sys.argv[2]
+file = open(sys.argv[1], 'w')
+for i in range(int(sys.argv[2])):
+	b = bytearray([i & 0xFF])
+	file.write(b)
+file.close()
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   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 mavlink_ftp_tests.cpp
+ */
+
+#include <systemlib/err.h>
+
+#include "mavlink_ftp_test.h"
+
+extern "C" __EXPORT int mavlink_tests_main(int argc, char *argv[]);
+
+int mavlink_tests_main(int argc, char *argv[])
+{
+	MavlinkFtpTest* test = new MavlinkFtpTest;
+	
+	test->runTests();
+	test->printResults();
+
+	return 0;
+}
@@ -0,0 +1,48 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# System state machine tests.
+#
+
+MODULE_COMMAND		= mavlink_tests
+SRCS			= mavlink_tests.cpp \
+			mavlink_ftp_test.cpp \
+			../mavlink_ftp.cpp \
+			../mavlink.c
+
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MODULE_STACKSIZE = 5000
+
+EXTRACXXFLAGS	= -Weffc++ -DMAVLINK_FTP_UNIT_TEST
@@ -36,12 +36,14 @@
 * Helper class to access missions
 *
 * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
 */

 #include <sys/types.h>
 #include <string.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <float.h>

 #include <drivers/drv_hrt.h>

@@ -49,6 +51,7 @@
 #include <mavlink/mavlink_log.h>
 #include <systemlib/err.h>
 #include <geo/geo.h>
+#include <lib/mathlib/mathlib.h>

 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
@@ -62,6 +65,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_param_onboard_enabled(this, "MIS_ONBOARD_EN", false),
 	_param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false),
 	_param_dist_1wp(this, "MIS_DIST_1WP", false),
+	_param_altmode(this, "MIS_ALTMODE", false),
 	_onboard_mission({0}),
 	_offboard_mission({0}),
 	_current_onboard_mission_index(-1),
@@ -70,7 +74,11 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_takeoff(false),
 	_mission_type(MISSION_TYPE_NONE),
 	_inited(false),
-	_dist_1wp_ok(false)
+	_dist_1wp_ok(false),
+	_missionFeasiblityChecker(),
+	_min_current_sp_distance_xy(FLT_MAX),
+	_mission_item_previous_alt(NAN),
+	_distance_current_previous(0.0f)
 {
 	/* load initial params */
 	updateParams();
@@ -142,6 +150,8 @@ Mission::on_active()
 		advance_mission();
 		set_mission_items();

+	} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
+		altitude_sp_foh_update();
 	} else {
 		/* if waypoint position reached allow loiter on the setpoint */
 		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
@@ -200,7 +210,7 @@ Mission::update_offboard_mission()
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
 		dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);

-		missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
+		_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
 				_navigator->get_home_position()->alt);

@@ -311,11 +321,19 @@ Mission::set_mission_items()
 	/* make sure param is up to date */
 	updateParams();

+	/* reset the altitude foh logic, if altitude foh is enabled (param) a new foh element starts now */
+	altitude_sp_foh_reset();
+
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

 	/* set previous position setpoint to current */
 	set_previous_pos_setpoint();

+	/* Copy previous mission item altitude (can be extended to a copy of the full mission item if needed) */
+	if (pos_sp_triplet->previous.valid) {
+		_mission_item_previous_alt = _mission_item.altitude;
+	}
+
 	/* get home distance state */
 	bool home_dist_ok = check_dist_1wp();
 	/* the home dist check provides user feedback, so we initialize it to this */
@@ -444,9 +462,75 @@ Mission::set_mission_items()
 		}
 	}

+	/* Save the distance between the current sp and the previous one */
+	if (pos_sp_triplet->current.valid && pos_sp_triplet->previous.valid) {
+		_distance_current_previous = get_distance_to_next_waypoint(pos_sp_triplet->current.lat,
+				pos_sp_triplet->current.lon,
+				pos_sp_triplet->previous.lat,
+				pos_sp_triplet->previous.lon);
+	}
+
 	_navigator->set_position_setpoint_triplet_updated();
 }

+void
+Mission::altitude_sp_foh_update()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	/* Don't change setpoint if last and current waypoint are not valid */
+	if (!pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid ||
+			!isfinite(_mission_item_previous_alt)) {
+		return;
+	}
+
+	/* Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one */
+	if (_distance_current_previous - _mission_item.acceptance_radius < 0.0f) {
+		return;
+	}
+
+	/* Don't do FOH for landing and takeoff waypoints, the ground may be near
+	 * and the FW controller has a custom landing logic */
+	if (_mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
+		return;
+	}
+
+
+	/* Calculate distance to current waypoint */
+	float d_current = get_distance_to_next_waypoint(_mission_item.lat, _mission_item.lon,
+			_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
+
+	/* Save distance to waypoint if it is the smallest ever achieved, however make sure that
+	 * _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp */
+	_min_current_sp_distance_xy = math::min(math::min(d_current, _min_current_sp_distance_xy),
+			_distance_current_previous);
+
+	/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
+	 * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
+	if (_min_current_sp_distance_xy < _mission_item.acceptance_radius) {
+		pos_sp_triplet->current.alt = _mission_item.altitude;
+	} else {
+		/* update the altitude sp of the 'current' item in the sp triplet, but do not update the altitude sp
+		* of the mission item as it is used to check if the mission item is reached
+		* The setpoint is set linearly and such that the system reaches the current altitude at the acceptance
+		* radius around the current waypoint
+		**/
+		float delta_alt = (_mission_item.altitude - _mission_item_previous_alt);
+		float grad = -delta_alt/(_distance_current_previous - _mission_item.acceptance_radius);
+		float a = _mission_item_previous_alt - grad * _distance_current_previous;
+		pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
+
+	}
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+void
+Mission::altitude_sp_foh_reset()
+{
+	_min_current_sp_distance_xy = FLT_MAX;
+}
+
 bool
 Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item)
 {
@@ -36,6 +36,7 @@
 * Navigator mode to access missions
 *
 * @author Julian Oes <julian@oes.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
 */

 #ifndef NAVIGATOR_MISSION_H
@@ -75,6 +76,11 @@ public:

 	virtual void on_active();

+	enum mission_altitude_mode {
+		MISSION_ALTMODE_ZOH = 0,
+		MISSION_ALTMODE_FOH = 1
+	};
+
 private:
 	/**
 	 * Update onboard mission topic
@@ -102,6 +108,16 @@ private:
 	 */
 	void set_mission_items();

+	/**
+	 * Updates the altitude sp to follow a foh
+	 */
+	void altitude_sp_foh_update();
+
+	/**
+	 * Resets the altitude sp foh logic
+	 */
+	void altitude_sp_foh_reset();
+
 	/**
 	 * Read current or next mission item from the dataman and watch out for DO_JUMPS
 	 * @return true if successful
@@ -131,6 +147,7 @@ private:
 	control::BlockParamInt _param_onboard_enabled;
 	control::BlockParamFloat _param_takeoff_alt;
 	control::BlockParamFloat _param_dist_1wp;
+	control::BlockParamInt _param_altmode;

 	struct mission_s _onboard_mission;
 	struct mission_s _offboard_mission;
@@ -149,7 +166,13 @@ private:
 	bool _inited;
 	bool _dist_1wp_ok;

-	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+	MissionFeasibilityChecker _missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+
+	float _min_current_sp_distance_xy; /**< minimum distance which was achieved to the current waypoint  */
+	float _mission_item_previous_alt; /**< holds the altitude of the previous mission item,
+					    can be replaced by a full copy of the previous mission item if needed*/
+	float _distance_current_previous; /**< distance from previous to current sp in pos_sp_triplet,
+					    only use if current and previous are valid */
 };

 #endif
@@ -113,6 +113,19 @@ MissionBlock::is_mission_item_reached()
 			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
 				_waypoint_position_reached = true;
 			}
+		} else if (!_navigator->get_vstatus()->is_rotary_wing &&
+			(_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
+			_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+			_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT)) {
+			/* Loiter mission item on a non rotary wing: the aircraft is going to circle the
+			 * coordinates with a radius equal to the loiter_radius field. It is not flying
+			 * through the waypoint center.
+			 * Therefore the item is marked as reached once the system reaches the loiter
+			 * radius (+ some margin). Time inside and turn count is handled elsewhere.
+			 */
+			if (dist >= 0.0f && dist <= _mission_item.loiter_radius * 1.2f) {
+				_waypoint_position_reached = true;
+			}
 		} else {
 			/* for normal mission items used their acceptance radius */
 			if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
@@ -84,7 +84,12 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {

-	return  (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
+	/* Perform checks and issue feedback to the user for all checks */
+	bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
+	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
+
+	/* Mission is only marked as feasible if all checks return true */
+	return (resGeofence && resHomeAltitude);
 }

 bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
@@ -93,7 +98,13 @@ bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_curre
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);

-	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
+	/* Perform checks and issue feedback to the user for all checks */
+	bool resLanding = checkFixedWingLanding(dm_current, nMissionItems);
+	bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
+	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
+
+	/* Mission is only marked as feasible if all checks return true */
+	return (resLanding && resGeofence && resHomeAltitude);
 }

 bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
@@ -216,9 +227,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 		}
 	}

-
-//	float slope_alt = wp_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_distance)/_flare_constant) - _H1_virt;
-	return false;
+	/* No landing waypoints or no waypoints */
+	return true;
 }

 void MissionFeasibilityChecker::updateNavigationCapabilities()
@@ -82,3 +82,16 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
 * @group Mission
 */
 PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
+
+/**
+ * Altitude setpoint mode
+ *
+ * 0: the system will follow a zero order hold altitude setpoint
+ * 1: the system will follow a first order hold altitude setpoint
+ * values follow the definition in enum mission_altitude_mode
+ *
+ * @min 0
+ * @max 1
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MIS_ALTMODE, 0);
@@ -1432,6 +1432,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
 			log_msg.body.log_GPOS.eph = buf.global_pos.eph;
 			log_msg.body.log_GPOS.epv = buf.global_pos.epv;
+			if (buf.global_pos.terrain_alt_valid) {
+				log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt;
+			} else {
+				log_msg.body.log_GPOS.terrain_alt = -1.0f;
+			}
 			LOGBUFFER_WRITE_AND_COUNT(GPOS);
 		}

@@ -1464,7 +1469,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
 			LOGBUFFER_WRITE_AND_COUNT(VICN);
 		}
-		
+
 		/* --- VISION POSITION --- */
 		if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
 			log_msg.msg_type = LOG_VISN_MSG;
@@ -220,6 +220,7 @@ struct log_GPOS_s {
 	float vel_d;
 	float eph;
 	float epv;
+	float terrain_alt;
 };

 /* --- GPSP - GLOBAL POSITION SETPOINT --- */
@@ -449,7 +450,7 @@ static const struct log_format_s log_formats[] = {
 	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(GPOS, "LLffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
+	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, "HBBBHHHHHHfH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
@@ -130,6 +130,9 @@

 #include <nuttx/config.h>
 #include "drivers/drv_mixer.h"
+
+#include <uORB/topics/multirotor_motor_limits.h>
+
 #include "mixer_load.h"

 /**
@@ -531,6 +534,9 @@ private:
 	float				_yaw_scale;
 	float				_idle_speed;

+	orb_advert_t			_limits_pub;
+	multirotor_motor_limits_s 	_limits;
+
 	unsigned			_rotor_count;
 	const Rotor			*_rotors;

@@ -36,7 +36,8 @@
 *
 * Multi-rotor mixers.
 */
-
+#include <uORB/uORB.h>
+#include <uORB/topics/multirotor_motor_limits.h>
 #include <nuttx/config.h>

 #include <sys/types.h>
@@ -302,6 +303,11 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	float		min_out = 0.0f;
 	float		max_out = 0.0f;

+	_limits.roll_pitch = false;
+	_limits.yaw = false;
+	_limits.throttle_upper = false;
+	_limits.throttle_lower = false;
+
 	/* perform initial mix pass yielding unbounded outputs, ignore yaw */
 	for (unsigned i = 0; i < _rotor_count; i++) {
 		float out = roll * _rotors[i].roll_scale +
@@ -311,6 +317,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		/* limit yaw if it causes outputs clipping */
 		if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
 			yaw = -out / _rotors[i].yaw_scale;
+			_limits.yaw = true;
 		}

 		/* calculate min and max output values */
@@ -332,6 +339,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 		for (unsigned i = 0; i < _rotor_count; i++) {
 			outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust;
 		}
+		_limits.roll_pitch = true;

 	} else {
 		/* roll/pitch mixed without limiting, add yaw control */
@@ -344,6 +352,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	float scale_out;
 	if (max_out > 1.0f) {
 		scale_out = 1.0f / max_out;
+		_limits.throttle_upper = true;

 	} else {
 		scale_out = 1.0f;
@@ -351,9 +360,20 @@ MultirotorMixer::mix(float *outputs, unsigned space)

 	/* scale outputs to range _idle_speed..1, and do final limiting */
 	for (unsigned i = 0; i < _rotor_count; i++) {
+		if (outputs[i] < _idle_speed) {
+			_limits.throttle_lower = true;
+		}
 		outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f);
 	}

+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+        /* publish/advertise motor limits if running on FMU */
+        if (_limits_pub > 0) {
+            orb_publish(ORB_ID(multirotor_motor_limits), _limits_pub, &_limits);
+        } else {
+            _limits_pub = orb_advertise(ORB_ID(multirotor_motor_limits), &_limits);
+        }
+#endif
 	return _rotor_count;
 }

@@ -322,7 +322,8 @@ param_get_value_ptr(param_t param)
 			v = &param_info_base[param].val;
 		}

-		if (param_type(param) == PARAM_TYPE_STRUCT) {
+		if (param_type(param) >= PARAM_TYPE_STRUCT
+				&& param_type(param) <= PARAM_TYPE_STRUCT_MAX) {
 			result = v->p;

 		} else {
@@ -307,7 +307,7 @@ __EXPORT int 		param_load_default(void);
 	struct param_info_s __param__##_name = {	\
 		#_name,					\
 		PARAM_TYPE_STRUCT + sizeof(_default),	\
-		.val.p = &_default;			\
+		.val.p = &_default			\
 	}

 /**
@@ -192,6 +192,9 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);

+#include "topics/multirotor_motor_limits.h"
+ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s);
+
 #include "topics/telemetry_status.h"
 ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file multirotor_motor_limits.h
+ *
+ * Definition of multirotor_motor_limits  topic
+ */
+
+#ifndef MULTIROTOR_MOTOR_LIMITS_H_
+#define MULTIROTOR_MOTOR_LIMITS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Motor limits
+ */
+struct multirotor_motor_limits_s {
+        uint8_t roll_pitch	: 1; // roll/pitch limit reached
+        uint8_t yaw		: 1; // yaw limit reached
+        uint8_t throttle_lower	: 1; // lower throttle limit reached
+        uint8_t throttle_upper	: 1; // upper throttle limit reached
+        uint8_t reserved	: 4;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(multirotor_motor_limits);
+
+#endif
@@ -72,6 +72,8 @@ struct vehicle_global_position_s {
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
 	float eph;			/**< Standard deviation of position estimate horizontally */
 	float epv;			/**< Standard deviation of position vertically */
+	float terrain_alt;		/**< Terrain altitude in m, WGS84 */
+	bool terrain_alt_valid;		/**< Terrain altitude estimate is valid */
 };

 /**
@@ -43,8 +43,6 @@
 #include <systemlib/err.h>
 #include <mathlib/mathlib.h>

-#define MM_PER_CM 			10	// Millimeters per centimeter
-
 const char *const UavcanGnssBridge::NAME = "gnss";

 UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
@@ -95,9 +93,9 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 	auto report = ::vehicle_gps_position_s();

 	report.timestamp_position = hrt_absolute_time();
-	report.lat = msg.lat_1e7;
-	report.lon = msg.lon_1e7;
-	report.alt = msg.alt_1e2 * MM_PER_CM;	// Convert from centimeter (1e2) to millimeters (1e3)
+	report.lat = msg.latitude_deg_1e8 / 10;
+	report.lon = msg.longitude_deg_1e8 / 10;
+	report.alt = msg.height_msl_mm;

 	report.timestamp_variance = report.timestamp_position;

@@ -56,3 +56,8 @@ void UnitTest::printAssert(const char* msg, const char* test, const char* file,
 {
    warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
 }
+
+void UnitTest::printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line)
+{
+	warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
+}
@@ -52,11 +52,15 @@ INLINE_GLOBAL(const char*, mu_last_test)

 	UnitTest();
    virtual ~UnitTest();
+	
+	virtual void init(void) { };
+	virtual void cleanup(void) { };

    virtual void runTests(void) = 0;
    void printResults(void);
    
    void printAssert(const char* msg, const char* test, const char* file, int line);
+	void printCompare(const char* msg, const char *v1_text, int v1, const char *v2_text, int v2, const char* file, int line);
    
 #define ut_assert(message, test)                                \
    do {                                                        \
@@ -68,10 +72,23 @@ INLINE_GLOBAL(const char*, mu_last_test)
        }                                                       \
    } while (0)
    
+#define ut_compare(message, v1, v2)							\
+	do {										\
+		int _v1 = v1;								\
+		int _v2 = v2;								\
+		if (_v1 != _v2) {							\
+			printCompare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__);	\
+			return false;							\
+		} else {								\
+			mu_assertion()++;						\
+		}									\
+	} while (0)
+    
 #define ut_run_test(test)                       \
    do {                                        \
        warnx("RUNNING TEST: %s", #test);       \
        mu_tests_run()++;                       \
+	init();					\
        if (!test()) {                          \
            warnx("TEST FAILED: %s", #test);    \
            mu_tests_failed()++;                \
@@ -79,6 +96,7 @@ INLINE_GLOBAL(const char*, mu_last_test)
            warnx("TEST PASSED: %s", #test);    \
            mu_tests_passed()++;                \
        }                                       \
+	cleanup();				\
    } while (0)

 };