From 6b7c9facd3c511f6feaf36611072be856e842f55 Mon Sep 17 00:00:00 2001
From: Ben Hitchcock <ben@zensoft.com.au>
Date: Sun, 4 Jan 2015 22:46:01 +0800
Subject: [PATCH 01/16] First draft of better horizon mode

---
 src/main/config/config.c |  1 +
 src/main/flight/flight.c | 21 ++++++++++++++++++++-
 src/main/flight/flight.h |  1 +
 src/main/io/serial_cli.c |  1 +
 src/main/io/serial_msp.c |  4 ++--
 5 files changed, 25 insertions(+), 3 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 938613caaf..ad55a40972 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -159,6 +159,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D_f[YAW] = 0.05f;
     pidProfile->A_level = 5.0f;
     pidProfile->H_level = 3.0f;
+    pidProfile->H_sensitivity = 10.0f;
 }
 
 #ifdef GPS
diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index 22ee35fc93..b55ef9cd80 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -101,9 +101,28 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
     float delta, deltaSum;
     float dT;
     int axis;
+    float horizonLevelStrength = 1;
 
     dT = (float)cycleTime * 0.000001f;
 
+    if (FLIGHT_MODE(HORIZON_MODE)) {
+
+        if(abs(rcCommand[FD_ROLL]) > abs(rcCommand[FD_PITCH])){
+            axis = FD_ROLL;
+        }
+        else {
+            axis = FD_PITCH;
+        }
+
+        // Progressively turn off the horizon self level strength as the stick is banged over
+        horizonLevelStrength = (float)(500 - abs(rcCommand[axis])) / 500;  // 1 at centre stick, 0 = max stick deflection
+        if(pidProfile->H_sensitivity == 0){
+            horizonLevelStrength = 0;
+        } else {
+            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (10 / pidProfile->H_sensitivity)) + 1, 0, 1);
+        }
+    }
+
     // ----------PID controller----------
     for (axis = 0; axis < 3; axis++) {
         // -----Get the desired angle rate depending on flight mode
@@ -134,7 +153,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
                 AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
                 if (FLIGHT_MODE(HORIZON_MODE)) {
                     // mix up angle error to desired AngleRate to add a little auto-level feel
-                    AngleRate += errorAngle * pidProfile->H_level;
+                    AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength;
                 }
             }
         }
diff --git a/src/main/flight/flight.h b/src/main/flight/flight.h
index a6fadf55f6..6461ce21e8 100644
--- a/src/main/flight/flight.h
+++ b/src/main/flight/flight.h
@@ -42,6 +42,7 @@ typedef struct pidProfile_s {
     float D_f[3];
     float A_level;
     float H_level;
+    float H_sensitivity;
 } pidProfile_t;
 
 typedef enum {
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 2628ba93a7..b1a3156300 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -392,6 +392,7 @@ const clivalue_t valueTable[] = {
 
     { "level_horizon",              VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, 0, 10 },
     { "level_angle",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, 0, 10 },
+    { "sensitivity_horizon",        VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, 0, 250 },
 
     { "p_alt",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], 0, 200 },
     { "i_alt",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], 0, 200 },
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index b43409bf54..5c2d834eed 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -846,7 +846,7 @@ static bool processOutCommand(uint8_t cmdMSP)
                 if (i == PIDLEVEL) {
                     serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 250));
                     serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 250));
-                    serialize8(0);
+                    serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity * 10.0f), 0, 250));
                 } else {
                     serialize8(currentProfile->pidProfile.P8[i]);
                     serialize8(currentProfile->pidProfile.I8[i]);
@@ -1165,7 +1165,7 @@ static bool processInCommand(void)
                 if (i == PIDLEVEL) {
                     currentProfile->pidProfile.A_level = (float)read8() / 10.0f;
                     currentProfile->pidProfile.H_level = (float)read8() / 10.0f;
-                    read8();
+                    currentProfile->pidProfile.H_sensitivity = (float)read8() / 10.0f;
                 } else {
                     currentProfile->pidProfile.P8[i] = read8();
                     currentProfile->pidProfile.I8[i] = read8();

From 69d94c81e141d69cdd24583d6562df2013acea39 Mon Sep 17 00:00:00 2001
From: Ben Hitchcock <ben@zensoft.com.au>
Date: Wed, 7 Jan 2015 21:54:13 +0800
Subject: [PATCH 02/16] Second draft of the tuneup.

 This uses ints for the sensitivity instead of mapping floats back and forth.
 Also the stick position is read directly, without the RC_Rate affecting this value.
---
 src/main/config/config.c  |  2 +-
 src/main/flight/flight.c  | 15 ++++++++++-----
 src/main/flight/flight.h  |  2 +-
 src/main/io/rc_controls.h |  2 +-
 src/main/io/serial_cli.c  |  2 +-
 src/main/io/serial_msp.c  |  4 ++--
 src/main/mw.c             |  5 +++++
 src/main/mw.h             |  2 ++
 8 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index ad55a40972..75794acf54 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -159,7 +159,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D_f[YAW] = 0.05f;
     pidProfile->A_level = 5.0f;
     pidProfile->H_level = 3.0f;
-    pidProfile->H_sensitivity = 10.0f;
+    pidProfile->H_sensitivity = 75;
 }
 
 #ifdef GPS
diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index b55ef9cd80..b9737f6e1d 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -96,6 +96,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
 {
     float RateError, errorAngle, AngleRate, gyroRate;
     float ITerm,PTerm,DTerm;
+    int32_t stickPosAil, stickPosEle, mostDeflectedPos;
     static float lastGyroRate[3];
     static float delta1[3], delta2[3];
     float delta, deltaSum;
@@ -107,19 +108,23 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
 
     if (FLIGHT_MODE(HORIZON_MODE)) {
 
-        if(abs(rcCommand[FD_ROLL]) > abs(rcCommand[FD_PITCH])){
-            axis = FD_ROLL;
+        // Figure out the raw stick positions
+        stickPosAil = getRcStickPosition(FD_ROLL);
+        stickPosEle = getRcStickPosition(FD_PITCH);
+
+        if(abs(stickPosAil) > abs(stickPosEle)){
+            mostDeflectedPos = abs(stickPosAil);
         }
         else {
-            axis = FD_PITCH;
+            mostDeflectedPos = abs(stickPosEle);
         }
 
         // Progressively turn off the horizon self level strength as the stick is banged over
-        horizonLevelStrength = (float)(500 - abs(rcCommand[axis])) / 500;  // 1 at centre stick, 0 = max stick deflection
+        horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500;  // 1 at centre stick, 0 = max stick deflection
         if(pidProfile->H_sensitivity == 0){
             horizonLevelStrength = 0;
         } else {
-            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (10 / pidProfile->H_sensitivity)) + 1, 0, 1);
+            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->H_sensitivity)) + 1, 0, 1);
         }
     }
 
diff --git a/src/main/flight/flight.h b/src/main/flight/flight.h
index 6461ce21e8..6e23355c97 100644
--- a/src/main/flight/flight.h
+++ b/src/main/flight/flight.h
@@ -42,7 +42,7 @@ typedef struct pidProfile_s {
     float D_f[3];
     float A_level;
     float H_level;
-    float H_sensitivity;
+    uint8_t H_sensitivity;
 } pidProfile_t;
 
 typedef enum {
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index 745acd4682..54a8e8f772 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -140,7 +140,7 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
 
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
-
+int32_t getRcStickPosition(int32_t axis);
 
 typedef enum {
     ADJUSTMENT_NONE = 0,
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index b1a3156300..81eef513d6 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -392,7 +392,7 @@ const clivalue_t valueTable[] = {
 
     { "level_horizon",              VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, 0, 10 },
     { "level_angle",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, 0, 10 },
-    { "sensitivity_horizon",        VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, 0, 250 },
+    { "sensitivity_horizon",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, 0, 250 },
 
     { "p_alt",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], 0, 200 },
     { "i_alt",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], 0, 200 },
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 5c2d834eed..e17a599ed3 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -846,7 +846,7 @@ static bool processOutCommand(uint8_t cmdMSP)
                 if (i == PIDLEVEL) {
                     serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 250));
                     serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 250));
-                    serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity * 10.0f), 0, 250));
+                    serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity), 0, 250));
                 } else {
                     serialize8(currentProfile->pidProfile.P8[i]);
                     serialize8(currentProfile->pidProfile.I8[i]);
@@ -1165,7 +1165,7 @@ static bool processInCommand(void)
                 if (i == PIDLEVEL) {
                     currentProfile->pidProfile.A_level = (float)read8() / 10.0f;
                     currentProfile->pidProfile.H_level = (float)read8() / 10.0f;
-                    currentProfile->pidProfile.H_sensitivity = (float)read8() / 10.0f;
+                    currentProfile->pidProfile.H_sensitivity = read8();
                 } else {
                     currentProfile->pidProfile.P8[i] = read8();
                     currentProfile->pidProfile.I8[i] = read8();
diff --git a/src/main/mw.c b/src/main/mw.c
index 54defd191e..ef4b04fe94 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -338,6 +338,11 @@ void mwArm(void)
     }
 }
 
+int32_t getRcStickPosition(int32_t axis) {
+
+    return min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
+}
+
 // Automatic ACC Offset Calibration
 bool AccInflightCalibrationArmed = false;
 bool AccInflightCalibrationMeasurementDone = false;
diff --git a/src/main/mw.h b/src/main/mw.h
index aebee40bee..941efe8b37 100644
--- a/src/main/mw.h
+++ b/src/main/mw.h
@@ -22,3 +22,5 @@ void handleInflightCalibrationStickPosition();
 
 void mwDisarm(void);
 void mwArm(void);
+
+int32_t getRcStickPosition(int32_t axis);
\ No newline at end of file

From 22afc54228b23484910801ded620b277d34b5e6c Mon Sep 17 00:00:00 2001
From: Ben Hitchcock <ben@zensoft.com.au>
Date: Wed, 7 Jan 2015 22:04:21 +0800
Subject: [PATCH 03/16] Removing misplaced function definition

---
 src/main/io/rc_controls.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index 54a8e8f772..745acd4682 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -140,7 +140,7 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch);
 
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
-int32_t getRcStickPosition(int32_t axis);
+
 
 typedef enum {
     ADJUSTMENT_NONE = 0,

From 2b1e8c12fc5776ba3582b1dc7481e46a0c833276 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Wed, 14 Jan 2015 15:14:25 +1300
Subject: [PATCH 04/16] Add Blackbox logging for autotune events

---
 src/main/blackbox/blackbox.c           |  51 ++++++++--
 src/main/blackbox/blackbox.h           |   7 +-
 src/main/blackbox/blackbox_fielddefs.h |  35 +++++++
 src/main/flight/autotune.c             | 130 +++++++++++++++++++------
 4 files changed, 183 insertions(+), 40 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 43f9fba6fd..49406c4b7f 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -74,7 +74,6 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
-#include "blackbox_fielddefs.h"
 #include "blackbox.h"
 
 #define BLACKBOX_BAUDRATE 115200
@@ -1125,10 +1124,49 @@ static int blackboxWriteSysinfo(int xmitIndex)
     return xmitIndex + 1;
 }
 
+/**
+ * Write the given event to the log immediately
+ */
+void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
+{
+    if (blackboxState != BLACKBOX_STATE_RUNNING)
+        return;
+
+    //Shared header for event frames
+    blackboxWrite('E');
+    blackboxWrite(event);
+
+    //Now serialize the data for this specific frame type
+    switch (event) {
+        case FLIGHT_LOG_EVENT_SYNC_BEEP:
+            writeUnsignedVB(data->syncBeep.time);
+        break;
+        case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START:
+            blackboxWrite(data->autotuneCycleStart.phase);
+            blackboxWrite(data->autotuneCycleStart.cycle);
+            blackboxWrite(data->autotuneCycleStart.p);
+            blackboxWrite(data->autotuneCycleStart.i);
+            blackboxWrite(data->autotuneCycleStart.d);
+        break;
+        case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT:
+            blackboxWrite(data->autotuneCycleResult.overshot);
+            blackboxWrite(data->autotuneCycleStart.p);
+            blackboxWrite(data->autotuneCycleStart.i);
+            blackboxWrite(data->autotuneCycleStart.d);
+        break;
+        case FLIGHT_LOG_EVENT_LOG_END:
+            blackboxPrint("That's all folks!");
+            blackboxWrite(0);
+        break;
+    }
+}
+
 // Beep the buzzer and write the current time to the log as a synchronization point
 static void blackboxPlaySyncBeep()
 {
-    uint32_t now = micros();
+    flightLogEvent_syncBeep_t eventData;
+
+    eventData.time = micros();
 
     /*
      * The regular beep routines aren't going to work for us, because they queue up the beep to be executed later.
@@ -1139,10 +1177,7 @@ static void blackboxPlaySyncBeep()
     // Have the regular beeper code turn off the beep for us eventually, since that's not timing-sensitive
     queueConfirmationBeep(1);
 
-    blackboxWrite('E');
-    blackboxWrite(FLIGHT_LOG_EVENT_SYNC_BEEP);
-
-    writeUnsignedVB(now);
+    blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
 }
 
 void handleBlackbox(void)
@@ -1203,9 +1238,9 @@ void handleBlackbox(void)
                 headerXmitIndex = result;
         break;
         case BLACKBOX_STATE_PRERUN:
-            blackboxPlaySyncBeep();
-
             blackboxSetState(BLACKBOX_STATE_RUNNING);
+
+            blackboxPlaySyncBeep();
         break;
         case BLACKBOX_STATE_RUNNING:
             // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 5d30671bbf..b971feec59 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -17,9 +17,12 @@
 
 #pragma once
 
-#include "common/axis.h"
 #include <stdint.h>
 
+#include "common/axis.h"
+#include "flight/mixer.h"
+#include "blackbox/blackbox_fielddefs.h"
+
 typedef struct blackboxValues_t {
     uint32_t time;
 
@@ -41,6 +44,8 @@ typedef struct blackboxValues_t {
 #endif
 } blackboxValues_t;
 
+void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
+
 void initBlackbox(void);
 void handleBlackbox(void);
 void startBlackbox(void);
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 87db8ecbbb..458c87caf6 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -96,5 +96,40 @@ typedef enum FlightLogFieldSign {
 
 typedef enum FlightLogEvent {
     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
+    FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10,
+    FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT = 11,
     FLIGHT_LOG_EVENT_LOG_END = 255
 } FlightLogEvent;
+
+typedef struct flightLogEvent_syncBeep_t {
+    uint32_t time;
+} flightLogEvent_syncBeep_t;
+
+typedef struct flightLogEvent_autotuneCycleStart_t {
+    uint8_t phase;
+    uint8_t cycle;
+    uint8_t p;
+    uint8_t i;
+    uint8_t d;
+} flightLogEvent_autotuneCycleStart_t;
+
+typedef struct flightLogEvent_autotuneCycleResult_t {
+    uint8_t overshot;
+    uint8_t p;
+    uint8_t i;
+    uint8_t d;
+} flightLogEvent_autotuneCycleResult_t;
+
+typedef union flightLogEventData_t
+{
+    flightLogEvent_syncBeep_t syncBeep;
+    flightLogEvent_autotuneCycleStart_t autotuneCycleStart;
+    flightLogEvent_autotuneCycleResult_t autotuneCycleResult;
+
+} flightLogEventData_t;
+
+typedef struct flightLogEvent_t
+{
+    FlightLogEvent event;
+    flightLogEventData_t data;
+} flightLogEvent_t;
diff --git a/src/main/flight/autotune.c b/src/main/flight/autotune.c
index 5ba9664f66..7ecf5a80bf 100644
--- a/src/main/flight/autotune.c
+++ b/src/main/flight/autotune.c
@@ -31,6 +31,9 @@
 
 #include "flight/flight.h"
 
+#include "config/config.h"
+#include "blackbox/blackbox.h"
+
 extern int16_t debug[4];
 
 /*
@@ -97,6 +100,12 @@ typedef enum {
     PHASE_SAVE_OR_RESTORE_PIDS,
 } autotunePhase_e;
 
+typedef enum {
+    CYCLE_TUNE_I = 0,
+    CYCLE_TUNE_PD,
+    CYCLE_TUNE_PD2
+} autotuneCycle_e;
+
 static const pidIndex_e angleIndexToPidIndexMap[] = {
     PIDROLL,
     PIDPITCH
@@ -112,7 +121,7 @@ static pidProfile_t pidBackup;
 static uint8_t pidController;
 static uint8_t pidIndex;
 static bool rising;
-static uint8_t cycleCount; // TODO can we replace this with an enum to improve readability.
+static autotuneCycle_e cycle;
 static uint32_t timeoutAt;
 static angle_index_t autoTuneAngleIndex;
 static autotunePhase_e phase = PHASE_IDLE;
@@ -140,10 +149,33 @@ bool isAutotuneIdle(void)
     return phase == PHASE_IDLE;
 }
 
+#ifdef BLACKBOX
+
+static void autotuneLogCycleStart()
+{
+    if (feature(FEATURE_BLACKBOX)) {
+        flightLogEvent_autotuneCycleStart_t eventData;
+
+        eventData.phase = phase;
+        eventData.cycle = cycle;
+        eventData.p = pid.p * MULTIWII_P_MULTIPLIER;
+        eventData.i = pid.i * MULTIWII_I_MULTIPLIER;
+        eventData.d = pid.d;
+
+        blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START, (flightLogEventData_t*)&eventData);
+    }
+}
+
+#endif
+
 static void startNewCycle(void)
 {
     rising = !rising;
     secondPeakAngle = firstPeakAngle = 0;
+
+#ifdef BLACKBOX
+    autotuneLogCycleStart();
+#endif
 }
 
 static void updatePidIndex(void)
@@ -155,8 +187,7 @@ static void updateTargetAngle(void)
 {
     if (rising) {
         targetAngle = AUTOTUNE_TARGET_ANGLE;
-    }
-    else  {
+    } else {
         targetAngle = -AUTOTUNE_TARGET_ANGLE;
     }
 
@@ -210,30 +241,48 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
             debug[3] = DEGREES_TO_DECIDEGREES(secondPeakAngle);
 
         } else if (secondPeakAngle > 0) {
-            if (cycleCount == 0) {
-                // when checking the I value, we would like to overshoot the target position by half of the max oscillation.
-                if (currentAngle - targetAngle < AUTOTUNE_MAX_OSCILLATION_ANGLE / 2) {
-                    pid.i *= AUTOTUNE_INCREASE_MULTIPLIER;
-                } else {
-                    pid.i *= AUTOTUNE_DECREASE_MULTIPLIER;
-                    if (pid.i < AUTOTUNE_MINIMUM_I_VALUE) {
-                        pid.i = AUTOTUNE_MINIMUM_I_VALUE;
+            switch (cycle) {
+                case CYCLE_TUNE_I:
+                    // when checking the I value, we would like to overshoot the target position by half of the max oscillation.
+                    if (currentAngle - targetAngle < AUTOTUNE_MAX_OSCILLATION_ANGLE / 2) {
+                        pid.i *= AUTOTUNE_INCREASE_MULTIPLIER;
+                    } else {
+                        pid.i *= AUTOTUNE_DECREASE_MULTIPLIER;
+                        if (pid.i < AUTOTUNE_MINIMUM_I_VALUE) {
+                            pid.i = AUTOTUNE_MINIMUM_I_VALUE;
+                        }
                     }
-                }
 
-                // go back to checking P and D
-                cycleCount = 1;
-                pidProfile->I8[pidIndex] = 0;
-                startNewCycle();
-            } else {
-                // we are checking P and D values
-                // set up to look for the 2nd peak
-                firstPeakAngle = currentAngle;
-                timeoutAt = millis() + AUTOTUNE_SETTLING_DELAY_MS;
+#ifdef BLACKBOX
+                    if (feature(FEATURE_BLACKBOX)) {
+                        flightLogEvent_autotuneCycleResult_t eventData;
+
+                        eventData.overshot = currentAngle - targetAngle < AUTOTUNE_MAX_OSCILLATION_ANGLE / 2 ? 0 : 1;
+                        eventData.p = pidProfile->P8[pidIndex];
+                        eventData.i = pidProfile->I8[pidIndex];
+                        eventData.d = pidProfile->D8[pidIndex];
+
+                        blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT, (flightLogEventData_t*)&eventData);
+                    }
+#endif
+
+                    // go back to checking P and D
+                    cycle = CYCLE_TUNE_PD;
+                    pidProfile->I8[pidIndex] = 0;
+                    startNewCycle();
+                    break;
+
+                case CYCLE_TUNE_PD:
+                case CYCLE_TUNE_PD2:
+                    // we are checking P and D values
+                    // set up to look for the 2nd peak
+                    firstPeakAngle = currentAngle;
+                    timeoutAt = millis() + AUTOTUNE_SETTLING_DELAY_MS;
+                    break;
             }
         }
     } else {
-        // we saw the first peak. looking for the second
+        // We saw the first peak while tuning PD, looking for the second
 
         if (currentAngle < firstPeakAngle) {
             firstPeakAngle = currentAngle;
@@ -266,8 +315,8 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
                     pid.d *= AUTOTUNE_INCREASE_MULTIPLIER;
                 }
 #else
-				pid.p *= AUTOTUNE_DECREASE_MULTIPLIER;
-				pid.d *= AUTOTUNE_INCREASE_MULTIPLIER;
+                pid.p *= AUTOTUNE_DECREASE_MULTIPLIER;
+                pid.d *= AUTOTUNE_INCREASE_MULTIPLIER;
 #endif
             } else {
                 // undershot
@@ -286,15 +335,30 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
             pidProfile->P8[pidIndex] = pid.p * MULTIWII_P_MULTIPLIER;
             pidProfile->D8[pidIndex] = pid.d;
 
-            // switch to the other direction and start a new cycle
-            startNewCycle();
+#ifdef BLACKBOX
+            if (feature(FEATURE_BLACKBOX)) {
+                flightLogEvent_autotuneCycleResult_t eventData;
 
-            if (++cycleCount == 3) {
-                // switch to testing I value
-                cycleCount = 0;
+                eventData.overshot = secondPeakAngle > targetAngleAtPeak ? 1 : 0;
+                eventData.p = pidProfile->P8[pidIndex];
+                eventData.i = pidProfile->I8[pidIndex];
+                eventData.d = pidProfile->D8[pidIndex];
 
-                pidProfile->I8[pidIndex] = pid.i  * MULTIWII_I_MULTIPLIER;
+                blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT, (flightLogEventData_t*)&eventData);
             }
+#endif
+
+            if (cycle == CYCLE_TUNE_PD2) {
+                // switch to testing I value
+                cycle = CYCLE_TUNE_I;
+                
+                pidProfile->I8[pidIndex] = pid.i * MULTIWII_I_MULTIPLIER;
+            } else {
+                cycle = CYCLE_TUNE_PD2;
+            }
+
+            // switch to the other direction for the new cycle
+            startNewCycle();
         }
     }
 
@@ -344,7 +408,7 @@ void autotuneBeginNextPhase(pidProfile_t *pidProfileToTune, uint8_t pidControlle
     }
 
     rising = true;
-    cycleCount = 1;
+    cycle = CYCLE_TUNE_PD;
     secondPeakAngle = firstPeakAngle = 0;
 
     pidProfile = pidProfileToTune;
@@ -360,6 +424,10 @@ void autotuneBeginNextPhase(pidProfile_t *pidProfileToTune, uint8_t pidControlle
 
     pidProfile->D8[pidIndex] = pid.d;
     pidProfile->I8[pidIndex] = 0;
+
+#ifdef BLACKBOX
+    autotuneLogCycleStart();
+#endif
 }
 
 void autotuneEndPhase(void)

From bf886968471a519413143dabeae8722f32242d74 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Wed, 14 Jan 2015 14:24:20 +0000
Subject: [PATCH 05/16] Update unit tests to correctly use C/C++ where
 appropriate.  Cleanup makefile by using additional whitespace.

---
 src/test/Makefile                        | 161 ++++++++++++++++++-----
 src/test/unit/flight_imu_unittest.cc     |   2 +
 src/test/unit/gps_conversion_unittest.cc |   5 +-
 src/test/unit/ledstrip_unittest.cc       |  53 +++++---
 src/test/unit/ws2811_unittest.cc         |  12 +-
 5 files changed, 173 insertions(+), 60 deletions(-)

diff --git a/src/test/Makefile b/src/test/Makefile
index 4dd0cf1ab0..37685498be 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -87,118 +87,209 @@ $(OBJECT_DIR)/gtest_main.a : $(OBJECT_DIR)/gtest-all.o $(OBJECT_DIR)/gtest_main.
 # includes in test dir must override includes in user dir
 TEST_INCLUDE_DIRS := $(TEST_DIR) \
 	$(USER_INCLUDE_DIR)
-	
 
 TEST_CFLAGS	 = $(addprefix -I,$(TEST_INCLUDE_DIRS))
 
+$(OBJECT_DIR)/common/maths.o : \
+	$(USER_DIR)/common/maths.c \
+	$(USER_DIR)/common/maths.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
+
 
 $(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
 
-$(OBJECT_DIR)/battery_unittest.o : $(TEST_DIR)/battery_unittest.cc \
-                     $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/battery_unittest.o : \
+	$(TEST_DIR)/battery_unittest.cc \
+	$(USER_DIR)/sensors/battery.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/battery_unittest.cc -o $@
 
-battery_unittest : $(OBJECT_DIR)/sensors/battery.o $(OBJECT_DIR)/battery_unittest.o $(OBJECT_DIR)/gtest_main.a
+battery_unittest : \
+	$(OBJECT_DIR)/sensors/battery.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/battery_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
+$(OBJECT_DIR)/flight/imu.o : \
+	$(USER_DIR)/flight/imu.c \
+	$(USER_DIR)/flight/imu.h \
+	$(GTEST_HEADERS)
 
-
-$(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
 
-$(OBJECT_DIR)/flight_imu_unittest.o : $(TEST_DIR)/flight_imu_unittest.cc \
-                     $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/flight_imu_unittest.o : \
+	$(TEST_DIR)/flight_imu_unittest.cc \
+	$(USER_DIR)/flight/imu.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
 
-flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight/altitudehold.o $(OBJECT_DIR)/flight_imu_unittest.o $(OBJECT_DIR)/gtest_main.a
+flight_imu_unittest : \
+	$(OBJECT_DIR)/flight/imu.o \
+	$(OBJECT_DIR)/flight/altitudehold.o \
+	$(OBJECT_DIR)/flight_imu_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
-$(OBJECT_DIR)/flight/altitudehold.o : $(USER_DIR)/flight/altitudehold.c $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/flight/altitudehold.o : \
+	$(USER_DIR)/flight/altitudehold.c \
+	$(USER_DIR)/flight/altitudehold.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
 
-$(OBJECT_DIR)/altitude_hold_unittest.o : $(TEST_DIR)/altitude_hold_unittest.cc \
-                     $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/altitude_hold_unittest.o : \
+	$(TEST_DIR)/altitude_hold_unittest.cc \
+	$(USER_DIR)/flight/altitudehold.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
 
-altitude_hold_unittest : $(OBJECT_DIR)/flight/altitudehold.o $(OBJECT_DIR)/altitude_hold_unittest.o $(OBJECT_DIR)/gtest_main.a
+altitude_hold_unittest : \
+	$(OBJECT_DIR)/flight/altitudehold.o \
+	$(OBJECT_DIR)/altitude_hold_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
+$(OBJECT_DIR)/flight/gps_conversion.o : \
+	$(USER_DIR)/flight/gps_conversion.c \
+	$(USER_DIR)/flight/gps_conversion.h \
+	$(GTEST_HEADERS)
 
-$(OBJECT_DIR)/flight/gps_conversion.o : $(USER_DIR)/flight/gps_conversion.c $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
 
-$(OBJECT_DIR)/gps_conversion_unittest.o : $(TEST_DIR)/gps_conversion_unittest.cc \
-                     $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/gps_conversion_unittest.o : \
+	$(TEST_DIR)/gps_conversion_unittest.cc \
+	$(USER_DIR)/flight/gps_conversion.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
 
-gps_conversion_unittest : $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gps_conversion_unittest.o $(OBJECT_DIR)/gtest_main.a
+gps_conversion_unittest : \
+	$(OBJECT_DIR)/flight/gps_conversion.o \
+	$(OBJECT_DIR)/gps_conversion_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
-$(OBJECT_DIR)/telemetry/hott.o : $(USER_DIR)/telemetry/hott.c $(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/telemetry/hott.o : \
+	$(USER_DIR)/telemetry/hott.c \
+	$(USER_DIR)/telemetry/hott.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
 
-$(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc \
-                     $(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/telemetry_hott_unittest.o : \
+	$(TEST_DIR)/telemetry_hott_unittest.cc \
+	$(USER_DIR)/telemetry/hott.h \
+	$(GTEST_HEADERS)
+	
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
 
-telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
+telemetry_hott_unittest : \
+	$(OBJECT_DIR)/telemetry/hott.o \
+	$(OBJECT_DIR)/telemetry_hott_unittest.o \
+	$(OBJECT_DIR)/flight/gps_conversion.o \
+	$(OBJECT_DIR)/gtest_main.a
+
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
-$(OBJECT_DIR)/io/rc_controls.o : $(USER_DIR)/io/rc_controls.c $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/io/rc_controls.o : \
+	$(USER_DIR)/io/rc_controls.c \
+	$(USER_DIR)/io/rc_controls.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
 
-$(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \
-                     $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/rc_controls_unittest.o : \
+	$(TEST_DIR)/rc_controls_unittest.cc \
+	$(USER_DIR)/io/rc_controls.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
 
-rc_controls_unittest :$(OBJECT_DIR)/io/rc_controls.o $(OBJECT_DIR)/rc_controls_unittest.o $(OBJECT_DIR)/gtest_main.a
+rc_controls_unittest : \
+	$(OBJECT_DIR)/io/rc_controls.o \
+	$(OBJECT_DIR)/rc_controls_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
-$(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/io/ledstrip.o : \
+	$(USER_DIR)/io/ledstrip.c \
+	$(USER_DIR)/io/ledstrip.h \
+	$(GTEST_HEADERS)
+	
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
+	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
+
+$(OBJECT_DIR)/ledstrip_unittest.o : \
+	$(TEST_DIR)/ledstrip_unittest.cc \
+	$(USER_DIR)/io/ledstrip.h \
+	$(GTEST_HEADERS)
 
-$(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \
-                     $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
+
+ledstrip_unittest : \
+	$(OBJECT_DIR)/io/ledstrip.o \
+	$(OBJECT_DIR)/ledstrip_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
 
-ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
-$(OBJECT_DIR)/drivers/light_ws2811strip.o : $(USER_DIR)/drivers/light_ws2811strip.c $(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/drivers/light_ws2811strip.o : \
+	$(USER_DIR)/drivers/light_ws2811strip.c \
+	$(USER_DIR)/drivers/light_ws2811strip.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
 
-$(OBJECT_DIR)/ws2811_unittest.o : $(TEST_DIR)/ws2811_unittest.cc \
-                     $(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS)
+$(OBJECT_DIR)/ws2811_unittest.o : \
+	$(TEST_DIR)/ws2811_unittest.cc \
+	$(USER_DIR)/drivers/light_ws2811strip.h \
+	$(GTEST_HEADERS)
+
 	@mkdir -p $(dir $@)
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
 
-ws2811_unittest :$(OBJECT_DIR)/drivers/light_ws2811strip.o $(OBJECT_DIR)/ws2811_unittest.o $(OBJECT_DIR)/gtest_main.a
+ws2811_unittest : \
+	$(OBJECT_DIR)/drivers/light_ws2811strip.o \
+	$(OBJECT_DIR)/ws2811_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc
index 83ac36b331..67425aa63d 100644
--- a/src/test/unit/flight_imu_unittest.cc
+++ b/src/test/unit/flight_imu_unittest.cc
@@ -27,7 +27,9 @@ extern "C" {
     #include "flight/flight.h"
 
     #include "sensors/sensors.h"
+    #include "drivers/sensor.h"
     #include "drivers/accgyro.h"
+    #include "drivers/compass.h"
     #include "sensors/gyro.h"
     #include "sensors/compass.h"
     #include "sensors/acceleration.h"
diff --git a/src/test/unit/gps_conversion_unittest.cc b/src/test/unit/gps_conversion_unittest.cc
index 15c04d912c..f75085b5b3 100644
--- a/src/test/unit/gps_conversion_unittest.cc
+++ b/src/test/unit/gps_conversion_unittest.cc
@@ -18,7 +18,10 @@
 #include <stdint.h>
 
 #include <limits.h>
-#include "flight/gps_conversion.h"
+
+extern "C" {
+    #include "flight/gps_conversion.h"
+}
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
diff --git a/src/test/unit/ledstrip_unittest.cc b/src/test/unit/ledstrip_unittest.cc
index 082d7ffdc6..067b8983df 100644
--- a/src/test/unit/ledstrip_unittest.cc
+++ b/src/test/unit/ledstrip_unittest.cc
@@ -19,37 +19,40 @@
 
 #include <limits.h>
 
-#include "build_config.h"
+extern "C" {
+    #include "build_config.h"
 
-#include "common/color.h"
-#include "common/axis.h"
-#include "flight/flight.h"
+    #include "common/color.h"
+    #include "common/axis.h"
+    #include "flight/flight.h"
 
-#include "sensors/battery.h"
-#include "config/runtime_config.h"
-#include "config/config.h"
+    #include "sensors/battery.h"
+    #include "config/runtime_config.h"
+    #include "config/config.h"
 
-#include "rx/rx.h"
-
-#include "drivers/light_ws2811strip.h"
-#include "io/ledstrip.h"
+    #include "rx/rx.h"
 
+    #include "drivers/light_ws2811strip.h"
+    #include "io/ledstrip.h"
+}
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
 
-extern ledConfig_t *ledConfigs;
-extern uint8_t highestYValueForNorth;
-extern uint8_t lowestYValueForSouth;
-extern uint8_t highestXValueForWest;
-extern uint8_t lowestXValueForEast;
-extern uint8_t ledGridWidth;
-extern uint8_t ledGridHeight;
+extern "C" {
+    extern ledConfig_t *ledConfigs;
+    extern uint8_t highestYValueForNorth;
+    extern uint8_t lowestYValueForSouth;
+    extern uint8_t highestXValueForWest;
+    extern uint8_t lowestXValueForEast;
+    extern uint8_t ledGridWidth;
+    extern uint8_t ledGridHeight;
 
-void determineLedStripDimensions(void);
-void determineOrientationLimits(void);
+    void determineLedStripDimensions(void);
+    void determineOrientationLimits(void);
 
-ledConfig_t systemLedConfigs[MAX_LED_STRIP_LENGTH];
+    ledConfig_t systemLedConfigs[MAX_LED_STRIP_LENGTH];
+}
 
 TEST(LedStripTest, parseLedStripConfig)
 {
@@ -336,12 +339,18 @@ TEST(ColorTest, parseColor)
     }
 }
 
+extern "C" {
+
 uint8_t armingFlags = 0;
 uint16_t flightModeFlags = 0;
 int16_t rcCommand[4];
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 
+batteryState_e calculateBatteryState(void) {
+    return BATTERY_OK;
+}
 
+void ws2811LedStripInit(void) {}
 void ws2811UpdateStrip(void) {}
 
 void setLedValue(uint16_t index, const uint8_t value) {
@@ -399,3 +408,5 @@ int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax) {
 
     return 0;
 }
+
+}
diff --git a/src/test/unit/ws2811_unittest.cc b/src/test/unit/ws2811_unittest.cc
index 5606155a24..da13b9d8ef 100644
--- a/src/test/unit/ws2811_unittest.cc
+++ b/src/test/unit/ws2811_unittest.cc
@@ -19,19 +19,23 @@
 
 #include <limits.h>
 
-#include "build_config.h"
+extern "C" {
+    #include "build_config.h"
 
-#include "common/color.h"
+    #include "common/color.h"
 
-#include "drivers/light_ws2811strip.h"
+    #include "drivers/light_ws2811strip.h"
+}
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
 
+extern "C" {
 STATIC_UNIT_TESTED extern uint16_t dmaBufferOffset;
 
 STATIC_UNIT_TESTED void fastUpdateLEDDMABuffer(rgbColor24bpp_t *color);
 STATIC_UNIT_TESTED void updateLEDDMABuffer(uint8_t componentValue);
+}
 
 TEST(WS2812, updateDMABuffer) {
     // given
@@ -86,6 +90,7 @@ TEST(WS2812, updateDMABuffer) {
     byteIndex++;
 }
 
+extern "C" {
 rgbColor24bpp_t* hsvToRgb24(const hsvColor_t *c) {
     UNUSED(c);
     return NULL;
@@ -93,3 +98,4 @@ rgbColor24bpp_t* hsvToRgb24(const hsvColor_t *c) {
 
 void ws2811LedStripHardwareInit(void) {}
 void ws2811LedStripDMAEnable(void) {}
+}

From 30b928c0bcda86c9ce279d31e919c601e2bd5dee Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Wed, 14 Jan 2015 15:09:00 +0000
Subject: [PATCH 06/16] Cleanup unit test compiler flags.  Fix compiler
 warnings in unit test and related code.

---
 src/main/io/ledstrip.c                   |  6 +-
 src/main/io/ledstrip.h                   |  2 +-
 src/test/Makefile                        | 74 ++++++++++++++----------
 src/test/unit/gps_conversion_unittest.cc |  2 +-
 src/test/unit/ledstrip_unittest.cc       |  2 +-
 src/test/unit/platform.h                 |  1 +
 src/test/unit/ws2811_unittest.cc         |  2 +-
 7 files changed, 51 insertions(+), 38 deletions(-)

diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 5c6b3880e0..07c3f1518d 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -185,6 +185,7 @@ static const modeColorIndexes_t angleModeColors = {
         COLOR_ORANGE
 };
 
+#ifdef MAG
 static const modeColorIndexes_t magModeColors = {
         COLOR_MINT_GREEN,
         COLOR_DARK_VIOLET,
@@ -193,6 +194,7 @@ static const modeColorIndexes_t magModeColors = {
         COLOR_BLUE,
         COLOR_ORANGE
 };
+#endif
 
 static const modeColorIndexes_t baroModeColors = {
         COLOR_LIGHT_BLUE,
@@ -788,9 +790,9 @@ void updateLedStrip(void)
     ws2811UpdateStrip();
 }
 
-bool parseColor(uint8_t index, char *colorConfig)
+bool parseColor(uint8_t index, const char *colorConfig)
 {
-    char *remainingCharacters = colorConfig;
+    const char *remainingCharacters = colorConfig;
 
     hsvColor_t *color = &colors[index];
 
diff --git a/src/main/io/ledstrip.h b/src/main/io/ledstrip.h
index c7fad4f1fa..83776b7c21 100644
--- a/src/main/io/ledstrip.h
+++ b/src/main/io/ledstrip.h
@@ -69,7 +69,7 @@ void updateLedStrip(void);
 void applyDefaultLedStripConfig(ledConfig_t *ledConfig);
 void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSize);
 
-bool parseColor(uint8_t index, char *colorConfig);
+bool parseColor(uint8_t index, const char *colorConfig);
 void applyDefaultColors(hsvColor_t *colors, uint8_t colorCount);
 
 void ledStripEnable(void);
diff --git a/src/test/Makefile b/src/test/Makefile
index 37685498be..8e376ea51b 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -23,13 +23,23 @@ USER_INCLUDE_DIR = $(USER_DIR)
 
 OBJECT_DIR = ../../obj/test
 
-# 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.
-CPPFLAGS += -isystem $(GTEST_DIR)/inc
+COMMON_FLAGS = \
+	-g \
+	-Wall \
+	-Wextra \
+	-pthread \
+	-ggdb3 \
+	-O0 \
+	-DUNIT_TEST \
+	-isystem $(GTEST_DIR)/inc
+
+# Flags passed to the C compiler.
+C_FLAGS = $(COMMON_FLAGS) \
+	-std=gnu99
 
 # Flags passed to the C++ compiler.
-CXXFLAGS += -g -Wall -Wextra -pthread -ggdb3 -O0 -DUNIT_TEST
+CXX_FLAGS = $(COMMON_FLAGS) \
+	-std=gnu++98
 
 # All tests produced by this Makefile.  Remember to add new tests you
 # created to the list.
@@ -66,12 +76,12 @@ GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/inc/gtest/*.h $(GTEST_HEADERS)
 # compiles fast and for ordinary users its source rarely changes.
 $(OBJECT_DIR)/gtest-all.o : $(GTEST_SRCS_)
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
+	$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -c \
             $(GTEST_DIR)/src/gtest-all.cc -o $@
 
 $(OBJECT_DIR)/gtest_main.o : $(GTEST_SRCS_)
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
+	$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -c \
             $(GTEST_DIR)/src/gtest_main.cc -o $@
 
 $(OBJECT_DIR)/gtest.a : $(OBJECT_DIR)/gtest-all.o
@@ -96,12 +106,12 @@ $(OBJECT_DIR)/common/maths.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
 
 
 $(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
 
 $(OBJECT_DIR)/battery_unittest.o : \
 	$(TEST_DIR)/battery_unittest.cc \
@@ -109,7 +119,7 @@ $(OBJECT_DIR)/battery_unittest.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/battery_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/battery_unittest.cc -o $@
 
 battery_unittest : \
 	$(OBJECT_DIR)/sensors/battery.o \
@@ -117,7 +127,7 @@ battery_unittest : \
 	$(OBJECT_DIR)/battery_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/flight/imu.o : \
 	$(USER_DIR)/flight/imu.c \
@@ -125,7 +135,7 @@ $(OBJECT_DIR)/flight/imu.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
 
 $(OBJECT_DIR)/flight_imu_unittest.o : \
 	$(TEST_DIR)/flight_imu_unittest.cc \
@@ -133,7 +143,7 @@ $(OBJECT_DIR)/flight_imu_unittest.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
 
 flight_imu_unittest : \
 	$(OBJECT_DIR)/flight/imu.o \
@@ -141,7 +151,7 @@ flight_imu_unittest : \
 	$(OBJECT_DIR)/flight_imu_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -151,7 +161,7 @@ $(OBJECT_DIR)/flight/altitudehold.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
 
 $(OBJECT_DIR)/altitude_hold_unittest.o : \
 	$(TEST_DIR)/altitude_hold_unittest.cc \
@@ -159,14 +169,14 @@ $(OBJECT_DIR)/altitude_hold_unittest.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
 
 altitude_hold_unittest : \
 	$(OBJECT_DIR)/flight/altitudehold.o \
 	$(OBJECT_DIR)/altitude_hold_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 $(OBJECT_DIR)/flight/gps_conversion.o : \
@@ -175,7 +185,7 @@ $(OBJECT_DIR)/flight/gps_conversion.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
 
 $(OBJECT_DIR)/gps_conversion_unittest.o : \
 	$(TEST_DIR)/gps_conversion_unittest.cc \
@@ -183,14 +193,14 @@ $(OBJECT_DIR)/gps_conversion_unittest.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
 
 gps_conversion_unittest : \
 	$(OBJECT_DIR)/flight/gps_conversion.o \
 	$(OBJECT_DIR)/gps_conversion_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -200,7 +210,7 @@ $(OBJECT_DIR)/telemetry/hott.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
 
 $(OBJECT_DIR)/telemetry_hott_unittest.o : \
 	$(TEST_DIR)/telemetry_hott_unittest.cc \
@@ -208,7 +218,7 @@ $(OBJECT_DIR)/telemetry_hott_unittest.o : \
 	$(GTEST_HEADERS)
 	
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
 
 telemetry_hott_unittest : \
 	$(OBJECT_DIR)/telemetry/hott.o \
@@ -216,7 +226,7 @@ telemetry_hott_unittest : \
 	$(OBJECT_DIR)/flight/gps_conversion.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -226,7 +236,7 @@ $(OBJECT_DIR)/io/rc_controls.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
 
 $(OBJECT_DIR)/rc_controls_unittest.o : \
 	$(TEST_DIR)/rc_controls_unittest.cc \
@@ -234,14 +244,14 @@ $(OBJECT_DIR)/rc_controls_unittest.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
 
 rc_controls_unittest : \
 	$(OBJECT_DIR)/io/rc_controls.o \
 	$(OBJECT_DIR)/rc_controls_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 $(OBJECT_DIR)/io/ledstrip.o : \
@@ -250,7 +260,7 @@ $(OBJECT_DIR)/io/ledstrip.o : \
 	$(GTEST_HEADERS)
 	
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
 
 $(OBJECT_DIR)/ledstrip_unittest.o : \
 	$(TEST_DIR)/ledstrip_unittest.cc \
@@ -258,14 +268,14 @@ $(OBJECT_DIR)/ledstrip_unittest.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
 
 ledstrip_unittest : \
 	$(OBJECT_DIR)/io/ledstrip.o \
 	$(OBJECT_DIR)/ledstrip_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
 
@@ -275,7 +285,7 @@ $(OBJECT_DIR)/drivers/light_ws2811strip.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
 
 $(OBJECT_DIR)/ws2811_unittest.o : \
 	$(TEST_DIR)/ws2811_unittest.cc \
@@ -283,13 +293,13 @@ $(OBJECT_DIR)/ws2811_unittest.o : \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
 
 ws2811_unittest : \
 	$(OBJECT_DIR)/drivers/light_ws2811strip.o \
 	$(OBJECT_DIR)/ws2811_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 
 
diff --git a/src/test/unit/gps_conversion_unittest.cc b/src/test/unit/gps_conversion_unittest.cc
index f75085b5b3..8f0c20e25d 100644
--- a/src/test/unit/gps_conversion_unittest.cc
+++ b/src/test/unit/gps_conversion_unittest.cc
@@ -36,7 +36,7 @@ TEST(GpsConversionTest, GPSCoordToDegrees_BadString)
 }
 
 typedef struct gpsConversionExpectation_s {
-    char *coord;
+    const char *coord;
     uint32_t degrees;
 } gpsConversionExpectation_t;
 
diff --git a/src/test/unit/ledstrip_unittest.cc b/src/test/unit/ledstrip_unittest.cc
index 067b8983df..04c2a53869 100644
--- a/src/test/unit/ledstrip_unittest.cc
+++ b/src/test/unit/ledstrip_unittest.cc
@@ -315,7 +315,7 @@ TEST(ColorTest, parseColor)
             { 333,  22,   1 }
     };
 
-    char *testColors[TEST_COLOR_COUNT] = {
+    const char *testColors[TEST_COLOR_COUNT] = {
             "0,0,0",
             "1,1,1",
             "359,255,255",
diff --git a/src/test/unit/platform.h b/src/test/unit/platform.h
index 2f72a23e2e..39c8093167 100644
--- a/src/test/unit/platform.h
+++ b/src/test/unit/platform.h
@@ -17,6 +17,7 @@
 
 #pragma once
 
+#define MAG
 #define BARO
 #define GPS
 #define TELEMETRY
diff --git a/src/test/unit/ws2811_unittest.cc b/src/test/unit/ws2811_unittest.cc
index da13b9d8ef..59a6dad759 100644
--- a/src/test/unit/ws2811_unittest.cc
+++ b/src/test/unit/ws2811_unittest.cc
@@ -39,7 +39,7 @@ STATIC_UNIT_TESTED void updateLEDDMABuffer(uint8_t componentValue);
 
 TEST(WS2812, updateDMABuffer) {
     // given
-    rgbColor24bpp_t color1 = {0xFF,0xAA,0x55};
+    rgbColor24bpp_t color1 = { .raw = {0xFF,0xAA,0x55} };
 
     // and
     dmaBufferOffset = 0;

From 138fd963a784a8509104d1da98b6dc6a7a41864e Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 15 Jan 2015 10:38:48 +0000
Subject: [PATCH 07/16] Removing known issues and todo list, the issue tracker
 is now used instead.

---
 docs/development/Development.md | 21 ++-------------------
 1 file changed, 2 insertions(+), 19 deletions(-)

diff --git a/docs/development/Development.md b/docs/development/Development.md
index fddd58020c..a450c35789 100755
--- a/docs/development/Development.md
+++ b/docs/development/Development.md
@@ -16,6 +16,8 @@ This project could really do with some functional tests which test the behaviour
 
 All pull requests to add/improve the testability of the code or testing methods are highly sought!
 
+Note: Tests are written in C++ and linked with with firmware's C code.
+
 ##General principals
 
 1. Name everything well.
@@ -48,22 +50,3 @@ You can run them on the command line to execute the tests and to see the test re
 You can also step-debug the tests in eclipse and you can use the GoogleTest test runner to make building and re-running the tests simple.
 
 The tests are currently always compiled with debugging information enabled, there may be additional warnings, if you see any warnings please attempt to fix them and submit pull requests with the fixes.
-
-
-##TODO
-
-* Test OpenLRSNG's RSSI PWM on AUX5-8.
-* Add support for UART3/4 on STM32F3.
-* Cleanup validateAndFixConfig and pwm_mapping.c to use some kind of feature/timer/io pin mapping to remove #ifdef
-* Split RX config into RC config and RX config.
-* Enabling/disabling features should not take effect until reboot since.  Main loop executes and uses new flags as they are set in the cli but
-appropriate init methods will not have been called which results in undefined behaviour and could damage connected devices - this is a legacy
-problem from baseflight.
-* Solve all the naze rev4/5 HSE_VALUE == 8000000/1200000 checking, the checks should only apply to the naze32 target.  See system_stm32f10x.c/SetSysClock().
-
-##Known Issues
-
-* Softserial RX on STM32F3 does not work. TX is fine.
-* Dynamic throttle PID does not work with new pid controller.
-* Autotune does not work yet with with new pid controller.
-

From 947bb0d9184dadff2dc0023c650b0ceda67f7836 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 15 Jan 2015 10:48:54 +0000
Subject: [PATCH 08/16] Minor code size reduction.  Adding some const
 correctness.

---
 src/main/common/printf.c         |  6 +++---
 src/main/common/printf.h         |  6 +++---
 src/main/common/typeconversion.c |  2 +-
 src/main/common/typeconversion.h |  2 +-
 src/main/io/display.c            | 10 +++++++---
 5 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/src/main/common/printf.c b/src/main/common/printf.c
index e558ff8620..46e5b3902c 100644
--- a/src/main/common/printf.c
+++ b/src/main/common/printf.c
@@ -69,7 +69,7 @@ static void putchw(void *putp, putcf putf, int n, char z, char *bf)
         putf(putp, ch);
 }
 
-void tfp_format(void *putp, putcf putf, char *fmt, va_list va)
+void tfp_format(void *putp, putcf putf, const char *fmt, va_list va)
 {
     char bf[12];
 
@@ -154,7 +154,7 @@ void init_printf(void *putp, void (*putf) (void *, char))
     stdout_putp = putp;
 }
 
-void tfp_printf(char *fmt, ...)
+void tfp_printf(const char *fmt, ...)
 {
     va_list va;
     va_start(va, fmt);
@@ -168,7 +168,7 @@ static void putcp(void *p, char c)
     *(*((char **) p))++ = c;
 }
 
-void tfp_sprintf(char *s, char *fmt, ...)
+void tfp_sprintf(char *s, const char *fmt, ...)
 {
     va_list va;
 
diff --git a/src/main/common/printf.h b/src/main/common/printf.h
index 410c867a52..bcb78bcbb7 100644
--- a/src/main/common/printf.h
+++ b/src/main/common/printf.h
@@ -107,10 +107,10 @@ regs Kusti, 23.10.2004
 
 void init_printf(void *putp, void (*putf) (void *, char));
 
-void tfp_printf(char *fmt, ...);
-void tfp_sprintf(char *s, char *fmt, ...);
+void tfp_printf(const char *fmt, ...);
+void tfp_sprintf(char *s, const char *fmt, ...);
 
-void tfp_format(void *putp, void (*putf) (void *, char), char *fmt, va_list va);
+void tfp_format(void *putp, void (*putf) (void *, char), const char *fmt, va_list va);
 
 #define printf tfp_printf
 #define sprintf tfp_sprintf
diff --git a/src/main/common/typeconversion.c b/src/main/common/typeconversion.c
index 2b94ef5fe3..e3e788d35d 100644
--- a/src/main/common/typeconversion.c
+++ b/src/main/common/typeconversion.c
@@ -90,7 +90,7 @@ int a2d(char ch)
         return -1;
 }
 
-char a2i(char ch, char **src, int base, int *nump)
+char a2i(char ch, const char **src, int base, int *nump)
 {
     char *p = *src;
     int num = 0;
diff --git a/src/main/common/typeconversion.h b/src/main/common/typeconversion.h
index 659c8b8341..62b437875b 100644
--- a/src/main/common/typeconversion.h
+++ b/src/main/common/typeconversion.h
@@ -20,7 +20,7 @@ void uli2a(unsigned long int num, unsigned int base, int uc, char *bf);
 void li2a(long num, char *bf);
 void ui2a(unsigned int num, unsigned int base, int uc, char *bf);
 void i2a(int num, char *bf);
-char a2i(char ch, char **src, int base, int *nump);
+char a2i(char ch, const char **src, int base, int *nump);
 char *ftoa(float x, char *floatString);
 float fastA2F(const char *p);
 
diff --git a/src/main/io/display.c b/src/main/io/display.c
index 691dc546f8..001615e874 100644
--- a/src/main/io/display.c
+++ b/src/main/io/display.c
@@ -378,24 +378,28 @@ void showBatteryPage(void)
 void showSensorsPage(void)
 {
     uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
+    static const char *format = "%c = %5d %5d %5d";
 
     i2c_OLED_set_line(rowIndex++);
     i2c_OLED_send_string("        X     Y     Z");
+
     if (sensors(SENSOR_ACC)) {
-        tfp_sprintf(lineBuffer, "A = %5d %5d %5d", accSmooth[X], accSmooth[Y], accSmooth[Z]);
+        tfp_sprintf(lineBuffer, format, 'A', accSmooth[X], accSmooth[Y], accSmooth[Z]);
         padLineBuffer();
         i2c_OLED_set_line(rowIndex++);
         i2c_OLED_send_string(lineBuffer);
     }
+
     if (sensors(SENSOR_GYRO)) {
-        tfp_sprintf(lineBuffer, "G = %5d %5d %5d", gyroADC[X], gyroADC[Y], gyroADC[Z]);
+        tfp_sprintf(lineBuffer, format, 'G', gyroADC[X], gyroADC[Y], gyroADC[Z]);
         padLineBuffer();
         i2c_OLED_set_line(rowIndex++);
         i2c_OLED_send_string(lineBuffer);
     }
+
 #ifdef MAG
     if (sensors(SENSOR_MAG)) {
-        tfp_sprintf(lineBuffer, "M = %5d %5d %5d", magADC[X], magADC[Y], magADC[Z]);
+        tfp_sprintf(lineBuffer, format, 'M', magADC[X], magADC[Y], magADC[Z]);
         padLineBuffer();
         i2c_OLED_set_line(rowIndex++);
         i2c_OLED_send_string(lineBuffer);

From ad65722f0e311b2b94b357e19357e3eb6454f647 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 15 Jan 2015 16:53:14 +0000
Subject: [PATCH 09/16] Code size reduction when led animation is disabled.

---
 src/main/io/ledstrip.c | 47 ++++++++++++++++++++++++++----------------
 1 file changed, 29 insertions(+), 18 deletions(-)

diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 07c3f1518d..75eadc25da 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -50,14 +50,26 @@
 static bool ledStripInitialised = false;
 static failsafe_t* failsafe;
 
+//#define USE_LED_ANIMATION
+
+// timers
+#ifdef USE_LED_ANIMATION
+static uint32_t nextAnimationUpdateAt = 0;
+#endif
+
+static uint32_t nextIndicatorFlashAt = 0;
+static uint32_t nextWarningFlashAt = 0;
+
+#define LED_STRIP_20HZ ((1000 * 1000) / 20)
+#define LED_STRIP_10HZ ((1000 * 1000) / 10)
+#define LED_STRIP_5HZ ((1000 * 1000) / 5)
+
 #if MAX_LED_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH
 #error "Led strip length must match driver"
 #endif
 
 hsvColor_t *colors;
 
-//#define USE_LED_ANIMATION
-
 //                          H    S    V
 #define LED_BLACK        {  0,   0,   0}
 #define LED_WHITE        {  0, 255, 255}
@@ -438,15 +450,6 @@ void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSiz
     sprintf(ledConfigBuffer, "%u,%u:%s:%s", GET_LED_X(ledConfig), GET_LED_Y(ledConfig), directions, functions);
 }
 
-// timers
-uint32_t nextAnimationUpdateAt = 0;
-uint32_t nextIndicatorFlashAt = 0;
-uint32_t nextWarningFlashAt = 0;
-
-#define LED_STRIP_20HZ ((1000 * 1000) / 20)
-#define LED_STRIP_10HZ ((1000 * 1000) / 10)
-#define LED_STRIP_5HZ ((1000 * 1000) / 5)
-
 void applyDirectionalModeColor(const uint8_t ledIndex, const ledConfig_t *ledConfig, const modeColorIndexes_t *modeColors)
 {
     // apply up/down colors regardless of quadrant.
@@ -688,6 +691,7 @@ void applyLedThrottleLayer()
     }
 }
 
+#ifdef USE_LED_ANIMATION
 static uint8_t frameCounter = 0;
 
 static uint8_t previousRow;
@@ -705,7 +709,6 @@ static void updateLedAnimationState(void)
     frameCounter = (frameCounter + 1) % animationFrames;
 }
 
-#ifdef USE_LED_ANIMATION
 static void applyLedAnimationLayer(void)
 {
     const ledConfig_t *ledConfig;
@@ -740,11 +743,18 @@ void updateLedStrip(void)
 
     uint32_t now = micros();
 
-    bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
-    bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
-    bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
-
-    if (!(warningFlashNow || indicatorFlashNow || animationUpdateNow)) {
+    bool indicatorFlashNow = indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
+    bool warningFlashNow =warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
+#ifdef USE_LED_ANIMATION
+    bool animationUpdateNow = animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
+#endif
+    if (!(
+            indicatorFlashNow ||
+            warningFlashNow
+#ifdef USE_LED_ANIMATION
+            || animationUpdateNow
+#endif
+    )) {
         return;
     }
 
@@ -779,14 +789,15 @@ void updateLedStrip(void)
 
     applyLedIndicatorLayer(indicatorFlashState);
 
+#ifdef USE_LED_ANIMATION
     if (animationUpdateNow) {
         nextAnimationUpdateAt = now + LED_STRIP_20HZ;
         updateLedAnimationState();
     }
 
-#ifdef USE_LED_ANIMATION
     applyLedAnimationLayer();
 #endif
+
     ws2811UpdateStrip();
 }
 

From a0969755fdfdabefcab52f3b2e7972c91ebcb392 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 15 Jan 2015 16:55:03 +0000
Subject: [PATCH 10/16] Move gui screenshot to new Screenshots folder.

---
 docs/Configuration.md                      |   2 +-
 docs/{ => Screenshots}/cleanflight-gui.png | Bin
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename docs/{ => Screenshots}/cleanflight-gui.png (100%)

diff --git a/docs/Configuration.md b/docs/Configuration.md
index 66ad1c39df..1fdda5de42 100644
--- a/docs/Configuration.md
+++ b/docs/Configuration.md
@@ -15,7 +15,7 @@ __Due to ongoing development, the fact that the GUI cannot yet backup all your s
 
 ## GUI
 
-![Cleanflight Gui](cleanflight-gui.png)
+![Cleanflight Gui](Screenshots/cleanflight-gui.png)
 
 The GUI tool is the preferred way of configuration.  The GUI tool also includes a terminal which
 can be used to interact with the CLI.
diff --git a/docs/cleanflight-gui.png b/docs/Screenshots/cleanflight-gui.png
similarity index 100%
rename from docs/cleanflight-gui.png
rename to docs/Screenshots/cleanflight-gui.png

From d2e6742917a7a1b9b2e913d124286551f65eea19 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 15 Jan 2015 16:55:37 +0000
Subject: [PATCH 11/16] Fix typo in Configuration.md

---
 docs/Configuration.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Configuration.md b/docs/Configuration.md
index 1fdda5de42..9e187766ca 100644
--- a/docs/Configuration.md
+++ b/docs/Configuration.md
@@ -1,6 +1,6 @@
 # Configuration
 
-Cleanflight is configured primarilty using the Cleanflight Configurator GUI.
+Cleanflight is configured primarily using the Cleanflight Configurator GUI.
 
 Both the command line interface and GUI are accessible by connecting to a serial port on the target,
 be it a USB virtual serial port, physical hardware UART port or a SoftSerial port.

From a61f7eeddfe57595bb4f83dfba47c0b36c4a2810 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 16 Jan 2015 10:45:01 +1300
Subject: [PATCH 12/16] Clean shutdown of blackbox (allows us to write "log
 completed" event)

---
 src/main/blackbox/blackbox.c           | 104 +++++++++++++++++++++----
 src/main/blackbox/blackbox.h           |   7 +-
 src/main/blackbox/blackbox_fielddefs.h |  35 +++++++++
 src/main/mw.c                          |   3 -
 4 files changed, 130 insertions(+), 19 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 028f54c903..447f791f19 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -74,7 +74,6 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
-#include "blackbox_fielddefs.h"
 #include "blackbox.h"
 
 #define BLACKBOX_BAUDRATE 115200
@@ -83,6 +82,9 @@
 
 #define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
 
+#define STATIC_ASSERT(condition, name ) \
+    typedef char assert_failed_ ## name [(condition) ? 1 : -1 ]
+
 // Some macros to make writing FLIGHT_LOG_FIELD_* constants shorter:
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)
@@ -235,7 +237,8 @@ typedef enum BlackboxState {
     BLACKBOX_STATE_SEND_GPS_G_HEADERS,
     BLACKBOX_STATE_SEND_SYSINFO,
     BLACKBOX_STATE_PRERUN,
-    BLACKBOX_STATE_RUNNING
+    BLACKBOX_STATE_RUNNING,
+    BLACKBOX_STATE_SHUTTING_DOWN
 } BlackboxState;
 
 typedef struct gpsState_t {
@@ -267,8 +270,11 @@ static struct {
     } u;
 } xmitState;
 
+// Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
 static uint32_t blackboxConditionCache;
 
+STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER, too_many_flight_log_conditions);
+
 static uint32_t blackboxIteration;
 static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
 
@@ -671,6 +677,9 @@ static void blackboxSetState(BlackboxState newState)
             blackboxPFrameIndex = 0;
             blackboxIFrameIndex = 0;
         break;
+        case BLACKBOX_STATE_SHUTTING_DOWN:
+            xmitState.u.startTime = millis();
+        break;
         default:
             ;
     }
@@ -894,6 +903,14 @@ static void releaseBlackboxPort(void)
     serialSetBaudRate(blackboxPort, previousBaudRate);
 
     endSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
+
+    /*
+     * Normally this would be handled by mw.c, but since we take an unknown amount
+     * of time to shut down asynchronously, we're the only ones that know when to call it.
+     */
+    if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
+        mspAllocateSerialPorts(&masterConfig.serialConfig);
+    }
 }
 
 void startBlackbox(void)
@@ -931,10 +948,18 @@ void startBlackbox(void)
 
 void finishBlackbox(void)
 {
-    if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED) {
-        blackboxSetState(BLACKBOX_STATE_STOPPED);
-        
+    if (blackboxState == BLACKBOX_STATE_RUNNING) {
+        blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
+
+        blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
+    } else if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED
+            && blackboxState != BLACKBOX_STATE_SHUTTING_DOWN) {
+        /*
+         * We're shutting down in the middle of transmitting headers, so we can't log a "log completed" event.
+         * Just give the port back and stop immediately.
+         */
         releaseBlackboxPort();
+        blackboxSetState(BLACKBOX_STATE_STOPPED);
     }
 }
 
@@ -1141,7 +1166,6 @@ static bool blackboxWriteSysinfo()
             blackboxPrintf("H P interval:%d/%d\n", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
 
             xmitState.u.serialBudget -= strlen("H P interval:%d/%d\n");
-
         break;
         case 5:
             blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
@@ -1163,10 +1187,10 @@ static bool blackboxWriteSysinfo()
             blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
 
             xmitState.u.serialBudget -= strlen("H gyro.scale:0x%x\n") + 6;
-           break;
+        break;
         case 9:
             blackboxPrintf("H acc_1G:%u\n", acc_1G);
-
+            
             xmitState.u.serialBudget -= strlen("H acc_1G:%u\n");
         break;
         case 10:
@@ -1193,10 +1217,49 @@ static bool blackboxWriteSysinfo()
     return false;
 }
 
+/**
+ * Write the given event to the log immediately
+ */
+void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
+{
+    if (blackboxState != BLACKBOX_STATE_RUNNING)
+        return;
+
+    //Shared header for event frames
+    blackboxWrite('E');
+    blackboxWrite(event);
+
+    //Now serialize the data for this specific frame type
+    switch (event) {
+        case FLIGHT_LOG_EVENT_SYNC_BEEP:
+            writeUnsignedVB(data->syncBeep.time);
+        break;
+        case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START:
+            blackboxWrite(data->autotuneCycleStart.phase);
+            blackboxWrite(data->autotuneCycleStart.cycle);
+            blackboxWrite(data->autotuneCycleStart.p);
+            blackboxWrite(data->autotuneCycleStart.i);
+            blackboxWrite(data->autotuneCycleStart.d);
+        break;
+        case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT:
+            blackboxWrite(data->autotuneCycleResult.overshot);
+            blackboxWrite(data->autotuneCycleStart.p);
+            blackboxWrite(data->autotuneCycleStart.i);
+            blackboxWrite(data->autotuneCycleStart.d);
+        break;
+        case FLIGHT_LOG_EVENT_LOG_END:
+            blackboxPrint("End of log");
+            blackboxWrite(0);
+        break;
+    }
+}
+
 // Beep the buzzer and write the current time to the log as a synchronization point
 static void blackboxPlaySyncBeep()
 {
-    uint32_t now = micros();
+    flightLogEvent_syncBeep_t eventData;
+
+    eventData.time = micros();
 
     /*
      * The regular beep routines aren't going to work for us, because they queue up the beep to be executed later.
@@ -1207,10 +1270,7 @@ static void blackboxPlaySyncBeep()
     // Have the regular beeper code turn off the beep for us eventually, since that's not timing-sensitive
     queueConfirmationBeep(1);
 
-    blackboxWrite('E');
-    blackboxWrite(FLIGHT_LOG_EVENT_SYNC_BEEP);
-
-    writeUnsignedVB(now);
+    blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
 }
 
 void handleBlackbox(void)
@@ -1269,9 +1329,9 @@ void handleBlackbox(void)
                 blackboxSetState(BLACKBOX_STATE_PRERUN);
         break;
         case BLACKBOX_STATE_PRERUN:
-            blackboxPlaySyncBeep();
-
             blackboxSetState(BLACKBOX_STATE_RUNNING);
+
+            blackboxPlaySyncBeep();
         break;
         case BLACKBOX_STATE_RUNNING:
             // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
@@ -1317,6 +1377,20 @@ void handleBlackbox(void)
                 blackboxIFrameIndex++;
             }
         break;
+        case BLACKBOX_STATE_SHUTTING_DOWN:
+            //On entry of this state, startTime is set
+
+            /*
+             * Wait for the log we've transmitted to make its way to the logger before we release the serial port,
+             * since releasing the port clears the Tx buffer.
+             *
+             * Don't wait longer than it could possibly take if something funky happens.
+             */
+            if (millis() > xmitState.u.startTime + 200 || isSerialTransmitBufferEmpty(blackboxPort)) {
+                releaseBlackboxPort();
+                blackboxSetState(BLACKBOX_STATE_STOPPED);
+            }
+        break;
         default:
         break;
     }
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 5d30671bbf..b971feec59 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -17,9 +17,12 @@
 
 #pragma once
 
-#include "common/axis.h"
 #include <stdint.h>
 
+#include "common/axis.h"
+#include "flight/mixer.h"
+#include "blackbox/blackbox_fielddefs.h"
+
 typedef struct blackboxValues_t {
     uint32_t time;
 
@@ -41,6 +44,8 @@ typedef struct blackboxValues_t {
 #endif
 } blackboxValues_t;
 
+void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
+
 void initBlackbox(void);
 void handleBlackbox(void);
 void startBlackbox(void);
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 1763561092..84f0ee1195 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -93,5 +93,40 @@ typedef enum FlightLogFieldSign {
 
 typedef enum FlightLogEvent {
     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
+    FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10,
+    FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT = 11,
     FLIGHT_LOG_EVENT_LOG_END = 255
 } FlightLogEvent;
+
+typedef struct flightLogEvent_syncBeep_t {
+    uint32_t time;
+} flightLogEvent_syncBeep_t;
+
+typedef struct flightLogEvent_autotuneCycleStart_t {
+    uint8_t phase;
+    uint8_t cycle;
+    uint8_t p;
+    uint8_t i;
+    uint8_t d;
+} flightLogEvent_autotuneCycleStart_t;
+
+typedef struct flightLogEvent_autotuneCycleResult_t {
+    uint8_t overshot;
+    uint8_t p;
+    uint8_t i;
+    uint8_t d;
+} flightLogEvent_autotuneCycleResult_t;
+
+typedef union flightLogEventData_t
+{
+    flightLogEvent_syncBeep_t syncBeep;
+    flightLogEvent_autotuneCycleStart_t autotuneCycleStart;
+    flightLogEvent_autotuneCycleResult_t autotuneCycleResult;
+
+} flightLogEventData_t;
+
+typedef struct flightLogEvent_t
+{
+    FlightLogEvent event;
+    flightLogEventData_t data;
+} flightLogEvent_t;
diff --git a/src/main/mw.c b/src/main/mw.c
index fff9470b8d..c3b221b3b1 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -311,9 +311,6 @@ void mwDisarm(void)
 #ifdef BLACKBOX
         if (feature(FEATURE_BLACKBOX)) {
             finishBlackbox();
-            if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
-                mspAllocateSerialPorts(&masterConfig.serialConfig);
-            }
         }
 #endif
     }

From 5de6fee787c1a7afe183e6de7b7c1d71139c0b87 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 15 Jan 2015 23:48:27 +0000
Subject: [PATCH 13/16] Minor const correctness.

---
 src/main/common/typeconversion.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/common/typeconversion.c b/src/main/common/typeconversion.c
index e3e788d35d..7df5bb1370 100644
--- a/src/main/common/typeconversion.c
+++ b/src/main/common/typeconversion.c
@@ -92,7 +92,7 @@ int a2d(char ch)
 
 char a2i(char ch, const char **src, int base, int *nump)
 {
-    char *p = *src;
+    const char *p = *src;
     int num = 0;
     int digit;
     while ((digit = a2d(ch)) >= 0) {

From 8caff86006c7a2ff9b2b7456f565790581999d2b Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Fri, 16 Jan 2015 00:09:02 +0000
Subject: [PATCH 14/16] Update MSP_SET_LED_STRIP_CONFIG.  Each LED must be sent
 one at a time since sending 32 leds needs a packet larger than the MSP
 receiver buffer allows.

---
 src/main/io/serial_msp.c | 30 ++++++++++++++----------------
 1 file changed, 14 insertions(+), 16 deletions(-)

diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 8943c4453d..3860c85c6a 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1442,28 +1442,26 @@ static bool processInCommand(void)
 
     case MSP_SET_LED_STRIP_CONFIG:
         {
-            uint8_t ledCount = currentPort->dataSize / 6;
-            if (ledCount != MAX_LED_STRIP_LENGTH) {
+            i = read8();
+            if (i >= MAX_LED_STRIP_LENGTH || currentPort->dataSize != 7) {
                 headSerialError(0);
                 break;
             }
-            for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
-                ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
-                uint16_t mask;
-                // currently we're storing directions and functions in a uint16 (flags)
-                // the msp uses 2 x uint16_t to cater for future expansion
-                mask = read16();
-                ledConfig->flags = (mask << LED_DIRECTION_BIT_OFFSET) & LED_DIRECTION_MASK;
+            ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
+            uint16_t mask;
+            // currently we're storing directions and functions in a uint16 (flags)
+            // the msp uses 2 x uint16_t to cater for future expansion
+            mask = read16();
+            ledConfig->flags = (mask << LED_DIRECTION_BIT_OFFSET) & LED_DIRECTION_MASK;
 
-                mask = read16();
-                ledConfig->flags |= (mask << LED_FUNCTION_BIT_OFFSET) & LED_FUNCTION_MASK;
+            mask = read16();
+            ledConfig->flags |= (mask << LED_FUNCTION_BIT_OFFSET) & LED_FUNCTION_MASK;
 
-                mask = read8();
-                ledConfig->xy = CALCULATE_LED_X(mask);
+            mask = read8();
+            ledConfig->xy = CALCULATE_LED_X(mask);
 
-                mask = read8();
-                ledConfig->xy |= CALCULATE_LED_Y(mask);
-            }
+            mask = read8();
+            ledConfig->xy |= CALCULATE_LED_Y(mask);
         }
         break;
 #endif

From d8fa66244670cc2b40da8eeb98074ebb5939ae85 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Fri, 16 Jan 2015 00:42:15 +0000
Subject: [PATCH 15/16] Shorten SBus frame timeout. Fixes #361.

See 5401092afaabf3b19391c3da8d3fb3fc211df889.
---
 src/main/rx/sbus.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c
index 71c543c4ab..6df723db07 100644
--- a/src/main/rx/sbus.c
+++ b/src/main/rx/sbus.c
@@ -121,7 +121,7 @@ static void sbusDataReceive(uint16_t c)
 
     static uint8_t sbusFramePosition = 0;
     static uint32_t sbusTimeoutAt = 0;
-    uint32_t now = millis();
+    uint32_t now = micros();
 
     if ((int32_t)(sbusTimeoutAt - now) < 0) {
         sbusFramePosition = 0;

From b64c71264cd14b0229cafdaf5f05bac3786aabaf Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Fri, 16 Jan 2015 01:00:40 +0000
Subject: [PATCH 16/16] Renaming getRcStickPosition to getRcStickDeflection and
 moving to rc_controls.c.

---
 src/main/flight/flight.c  | 18 +++++++++++-------
 src/main/io/rc_controls.c |  4 ++++
 src/main/io/rc_controls.h |  2 ++
 src/main/mw.c             | 11 ++++-------
 src/main/mw.h             |  2 --
 5 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index 18577217ea..dbc049b3d3 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -57,10 +57,10 @@ static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
 static int32_t errorAngleI[2] = { 0, 0 };
 
 static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
+        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
 
 typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);            // pid controller function prototype
+        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);            // pid controller function prototype
 
 pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
 
@@ -97,7 +97,7 @@ bool shouldAutotune(void)
 #endif
 
 static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
+        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 {
     float RateError, errorAngle, AngleRate, gyroRate;
     float ITerm,PTerm,DTerm;
@@ -114,8 +114,8 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
     if (FLIGHT_MODE(HORIZON_MODE)) {
 
         // Figure out the raw stick positions
-        stickPosAil = getRcStickPosition(FD_ROLL);
-        stickPosEle = getRcStickPosition(FD_PITCH);
+        stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
+        stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
 
         if(abs(stickPosAil) > abs(stickPosEle)){
             mostDeflectedPos = abs(stickPosAil);
@@ -205,8 +205,10 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
 }
 
 static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
-        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
+        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 {
+    UNUSED(rxConfig);
+
     int axis, prop;
     int32_t error, errorAngle;
     int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
@@ -288,8 +290,10 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
 #define GYRO_I_MAX 256
 
 static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
-        rollAndPitchTrims_t *angleTrim)
+        rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 {
+    UNUSED(rxConfig);
+
     int32_t errorAngle;
     int axis;
     int32_t delta, deltaSum;
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index 66db651275..9bd4560085 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -517,6 +517,10 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
     }
 }
 
+int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
+    return min(abs(rcData[axis] - midrc), 500);
+}
+
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse)
 {
     uint8_t index;
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index 745acd4682..8441ea90f1 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -214,3 +214,5 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
 void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
 
 bool isUsingSticksForArming(void);
+
+int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
diff --git a/src/main/mw.c b/src/main/mw.c
index fbc9cfd7e6..9b2a45e0a6 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -97,7 +97,8 @@ static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the m
 extern uint8_t dynP8[3], dynI8[3], dynD8[3];
 extern failsafe_t *failsafe;
 
-typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *accelerometerTrims);
+typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
+        uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);            // pid controller function prototype
 
 extern pidControllerFuncPtr pid_controller;
 
@@ -355,11 +356,6 @@ void mwArm(void)
     }
 }
 
-int32_t getRcStickPosition(int32_t axis) {
-
-    return min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
-}
-
 // Automatic ACC Offset Calibration
 bool AccInflightCalibrationArmed = false;
 bool AccInflightCalibrationMeasurementDone = false;
@@ -714,7 +710,8 @@ void loop(void)
             &currentProfile->pidProfile,
             currentControlRateProfile,
             masterConfig.max_angle_inclination,
-            &currentProfile->accelerometerTrims
+            &currentProfile->accelerometerTrims,
+            &masterConfig.rxConfig
         );
 
         mixTable();
diff --git a/src/main/mw.h b/src/main/mw.h
index 941efe8b37..aebee40bee 100644
--- a/src/main/mw.h
+++ b/src/main/mw.h
@@ -22,5 +22,3 @@ void handleInflightCalibrationStickPosition();
 
 void mwDisarm(void);
 void mwArm(void);
-
-int32_t getRcStickPosition(int32_t axis);
\ No newline at end of file