Merge branch 'multiwii-master'

Conflicts:
	src/board.h
	src/buzzer.c
	src/config.c
	src/drivers/serial_common.h
	src/drivers/system_common.c
	src/drv_gpio.h
	src/drv_pwm.c
	src/drv_timer.c
	src/drv_uart.c
	src/flight_imu.c
	src/mw.c
	src/rx_sbus.c
	src/sensors.c
	src/serial_cli.c

src/config.c

@@ -92,7 +92,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 }
 
 void resetGpsProfile(gpsProfile_t *gpsProfile)
-{
+{
     gpsProfile->gps_wp_radius = 200;
     gpsProfile->gps_lpf = 20;
     gpsProfile->nav_slew_rate = 30;
@@ -103,7 +103,7 @@ void resetGpsProfile(gpsProfile_t *gpsProfile)
 }
 
 void resetBarometerConfig(barometerConfig_t *barometerConfig)
-{
+{
     barometerConfig->baro_sample_count = 21;
     barometerConfig->baro_noise_lpf = 0.6f;
     barometerConfig->baro_cf_vel = 0.985f;

src/flight_imu.c

@@ -456,7 +456,7 @@ int getEstimatedAltitude(void)
 
     // set vario
     vario = applyDeadband(vel_tmp, 5);
-
+
     BaroPID = calculateBaroPid(vel_tmp, accZ_tmp, accZ_old);
 
     accZ_old = accZ_tmp;

src/mw.c

@@ -205,7 +205,7 @@ void annexCode(void)
         // TODO MCU temp
     }
 }
-
+
 static void mwArm(void)
 {
     if (isGyroCalibrationComplete() && f.ACC_CALIBRATED) {

src/rx_sbus.c

@@ -94,23 +94,24 @@ static void sbusDataReceive(uint16_t c)
 
 bool sbusFrameComplete(void)
 {
-    if (sbusFrameDone) {
+    if (!sbusFrameDone) {
-        if (!((sbus.in[22] >> 3) & 0x0001)) { // failsave flag
+        return false;
-            sbusChannelData[0] = sbus.msg.chan0;
-            sbusChannelData[1] = sbus.msg.chan1;
-            sbusChannelData[2] = sbus.msg.chan2;
-            sbusChannelData[3] = sbus.msg.chan3;
-            sbusChannelData[4] = sbus.msg.chan4;
-            sbusChannelData[5] = sbus.msg.chan5;
-            sbusChannelData[6] = sbus.msg.chan6;
-            sbusChannelData[7] = sbus.msg.chan7;
-            // need more channels? No problem. Add them.
-            sbusFrameDone = false;
-            return true;
-        }
-        sbusFrameDone = false;
     }
-    return false;
+    sbusFrameDone = false;
+    if ((sbus.in[22] >> 3) & 0x0001) {
+        // internal failsafe enabled and rx failsafe flag set
+        return false;
+    }
+    sbusChannelData[0] = sbus.msg.chan0;
+    sbusChannelData[1] = sbus.msg.chan1;
+    sbusChannelData[2] = sbus.msg.chan2;
+    sbusChannelData[3] = sbus.msg.chan3;
+    sbusChannelData[4] = sbus.msg.chan4;
+    sbusChannelData[5] = sbus.msg.chan5;
+    sbusChannelData[6] = sbus.msg.chan6;
+    sbusChannelData[7] = sbus.msg.chan7;
+    // need more channels? No problem. Add them.
+    return true;
 }
 
 static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)

src/serial_cli.c

@@ -303,7 +303,6 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value);
 static void cliPrintVar(const clivalue_t *var, uint32_t full);
 static void cliPrint(const char *str);
 static void cliWrite(uint8_t ch);
-
 static void cliPrompt(void)
 {
     cliPrint("\r\n# ");