Merge remote-tracking branch 'origin/Bertrand/OP-1308_Set_Same_Logic_To_Alarms' into next

Conflicts:
	flight/libraries/sanitycheck.c
	flight/modules/StateEstimation/filtermag.c
	flight/modules/System/systemmod.c

flight/libraries/inc/insgps.h

@@ -67,7 +67,6 @@ void INSSetAccelVar(float accel_var[3]);
 void INSSetGyroVar(float gyro_var[3]);
 void INSSetGyroBiasVar(float gyro_bias_var[3]);
 void INSSetMagNorth(float B[3]);
-void INSSetG(float g_e);
 void INSSetMagVar(float scaled_mag_var[3]);
 void INSSetBaroVar(float baro_var);
 void INSPosVelReset(float pos[3], float vel[3]);

flight/libraries/insgps13state.c

@@ -91,8 +91,6 @@ static struct EKFData {
     float H[NUMV][NUMX];
     // local magnetic unit vector in NED frame
     float Be[3];
-    // local gravity vector
-    float g_e;
     // covariance matrix and state vector
     float P[NUMX][NUMX];
     float X[NUMX];
@@ -288,11 +286,6 @@ void INSSetMagNorth(float B[3])
     ekf.Be[2] = B[2] / mag;
 }
 
-void INSSetG(float g_e)
-{
-    ekf.g_e = g_e;
-}
-
 void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT)
 {
     float U[6];
@@ -648,7 +641,7 @@ void StateEq(float X[NUMX], float U[NUMU], float Xdot[NUMX])
         az;
     Xdot[5] =
         2.0f * (q1 * q3 - q0 * q2) * ax + 2 * (q2 * q3 + q0 * q1) * ay +
-        (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * az + ekf.g_e;
+        (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * az + 9.81f;
 
     // qdot = Q*w
     Xdot[6]  = (-q1 * wx - q2 * wy - q3 * wz) / 2.0f;

flight/libraries/sanitycheck.c

@@ -42,7 +42,7 @@
 #include <taskinfo.h>
 
 // a number of useful macros
-#define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_ERROR))
+#define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL))
 
 
 /****************************

flight/modules/Airspeed/airspeed.c

@@ -45,6 +45,7 @@
 #include "baro_airspeed_etasv3.h"
 #include "baro_airspeed_mpxv.h"
 #include "gps_airspeed.h"
+#include "airspeedalarm.h"
 #include "taskinfo.h"
 
 // Private constants
@@ -153,7 +154,7 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
 
         // if sensor type changed reset Airspeed alarm
         if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
+            AirspeedAlarm(SYSTEMALARMS_ALARM_DEFAULT);
             lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
             switch (airspeedSettings.AirspeedSensorType) {
             case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:

flight/modules/Airspeed/airspeedalarm.c

@@ -0,0 +1,65 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup AirspeedModule Airspeed Module
+ * @brief Handle locally airspeed alarms issue changes to PIOS only when necessary
+ * @{
+ *
+ * @file       airspeedalarm.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      Airspeed module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Output object: none
+ *
+ * Handle locally airspeed alarms issue changes to PIOS only when necessary
+ *
+ */
+
+#include "airspeedalarm.h"
+
+// local variable
+
+static SystemAlarmsAlarmOptions severitySet = SYSTEMALARMS_ALARM_UNINITIALISED;
+
+// functions
+
+/**
+ * Handle airspeed alarms and isuue an Alarm to PIOS only if necessary
+ */
+bool AirspeedAlarm(SystemAlarmsAlarmOptions severity)
+{
+    if (severity == severitySet) {
+        return false;
+    }
+
+    severitySet = severity;
+
+    return AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, severity) == 0;
+}
+
+
+/**
+ * @}
+ * @}
+ */

flight/modules/Airspeed/baro_airspeed_etasv3.c

@@ -40,6 +40,7 @@
 #include "hwsettings.h"
 #include "airspeedsettings.h"
 #include "airspeedsensor.h" // object that will be updated by the module
+#include "airspeedalarm.h"
 
 #if defined(PIOS_INCLUDE_ETASV3)
 
@@ -64,13 +65,13 @@ void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettings
     if (airspeedSensor->SensorValue == (uint16_t)-1) {
         airspeedSensor->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
         airspeedSensor->CalibratedAirspeed = 0;
-        AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
+        AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
         return;
     }
 
     // only calibrate if no stored calibration is available
     if (!airspeedSettings->ZeroPoint) {
-        AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
+        AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
         // Calibrate sensor by averaging zero point value
         if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
             calibrationCount++;
@@ -95,7 +96,7 @@ void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettings
     // Compute airspeed
     airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * sqrtf((float)abs(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint));
     airspeedSensor->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
-    AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_OK);
+    AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
 }
 
 

flight/modules/Airspeed/baro_airspeed_mpxv.c

@@ -40,6 +40,7 @@
 #include "hwsettings.h"
 #include "airspeedsettings.h"
 #include "airspeedsensor.h" // object that will be updated by the module
+#include "airspeedalarm.h"
 
 #if defined(PIOS_INCLUDE_MPXV)
 
@@ -63,7 +64,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
     // Ensure that the ADC pin is properly configured
     if (airspeedADCPin < 0) {
         airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
-        AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
+        AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
         return;
     }
     if (sensor.type == PIOS_MPXV_UNKNOWN) {
@@ -76,7 +77,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
             break;
         default:
             airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
+            AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
             return;
         }
     }
@@ -84,7 +85,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
     airspeedSensor->SensorValue = PIOS_MPXV_Measure(&sensor);
 
     if (!airspeedSettings->ZeroPoint) {
-        AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
+        AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
         // Calibrate sensor by averaging zero point value
         if (calibrationCount < CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) { // First let sensor warm up and stabilize.
             calibrationCount++;
@@ -109,7 +110,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
 
     airspeedSensor->CalibratedAirspeed = PIOS_MPXV_CalcAirspeed(&sensor, airspeedSensor->SensorValue) * (alpha) + airspeedSensor->CalibratedAirspeed * (1.0f - alpha);
     airspeedSensor->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
-    AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_OK);
+    AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
 }
 
 #endif /* if defined(PIOS_INCLUDE_MPXV) */

flight/modules/Airspeed/baro_airspeed_ms4525do.c

@@ -40,6 +40,7 @@
 #include "hwsettings.h"
 #include "airspeedsettings.h"
 #include "airspeedsensor.h" // object that will be updated by the module
+#include "airspeedalarm.h"
 #include "taskinfo.h"
 
 #if defined(PIOS_INCLUDE_MS4525DO)
@@ -74,7 +75,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
         airspeedSensor->SensorValueTemperature = -1;
         airspeedSensor->SensorConnected        = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
         airspeedSensor->CalibratedAirspeed     = 0;
-        AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
+        AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
         return;
     }
 
@@ -87,7 +88,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
         if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
             calibrationCount++;
             filter_reg = (airspeedSensor->SensorValue << FILTER_SHIFT);
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
+            AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
             return;
         } else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
             calibrationCount++;
@@ -101,7 +102,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
                 AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
                 calibrationCount = 0;
             }
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
+            AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
             return;
         }
     }
@@ -128,7 +129,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
     airspeedSensor->TrueAirspeed = airspeedSensor->CalibratedAirspeed * TASFACTOR * sqrtf(T);
     airspeedSensor->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
     // everything is fine so set ALARM_OK
-    AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_OK);
+    AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
 }
 
 #endif /* if defined(PIOS_INCLUDE_MS4525DO) */

flight/modules/Airspeed/gps_airspeed.c

@@ -37,6 +37,7 @@
 #include "airspeedsettings.h"
 #include "gps_airspeed.h"
 #include "CoordinateConversions.h"
+#include "airspeedalarm.h"
 #include <pios_math.h>
 
 
@@ -45,7 +46,6 @@
 #define GPS_AIRSPEED_BIAS_KI          0.1f   // Needs to be settable in a UAVO
 #define SAMPLING_DELAY_MS_GPS         100    // Needs to be settable in a UAVO
 #define GPS_AIRSPEED_TIME_CONSTANT_MS 500.0f // Needs to be settable in a UAVO
-#define COSINE_OF_5_DEG               0.9961947f
 
 // Private types
 struct GPSGlobals {
@@ -60,12 +60,6 @@ struct GPSGlobals {
 static struct GPSGlobals *gps;
 
 // Private functions
-// a simple square inline function based on multiplication faster than powf(x,2.0f)
-static inline float Sq(float x)
-{
-    return x * x;
-}
-
 
 /*
  * Initialize function loads first data sets, and allocates memory for structure.
@@ -109,11 +103,6 @@ void gps_airspeedInitialize()
  *  where "f" is the fuselage vector in earth coordinates.
  *  We then solve for |V| = |V_gps_2-V_gps_1|/ |f_2 - f1|.
  */
-/* Remark regarding "IMU Wind Estimation": The approach includes errors when |V| is
- * not constant, i.e. when the change in V_gps does not solely come from a reorientation
- * this error depends strongly on the time scale considered. Is the time between t1 and t2 too
- * small, "spikes" absorving unconsidred acceleration will arise
- */
 void gps_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *airspeedSettings)
 {
     float Rbe[3][3];
@@ -132,39 +121,35 @@ void gps_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *air
     float cosDiff = (Rbe[0][0] * gps->RbeCol1_old[0]) + (Rbe[0][1] * gps->RbeCol1_old[1]) + (Rbe[0][2] * gps->RbeCol1_old[2]);
 
     // If there's more than a 5 degree difference between two fuselage measurements, then we have sufficient delta to continue.
-    if (fabsf(cosDiff) < COSINE_OF_5_DEG) {
+    if (fabsf(cosDiff) < cosf(DEG2RAD(5.0f))) {
         VelocityStateData gpsVelData;
         VelocityStateGet(&gpsVelData);
 
         if (gpsVelData.North * gpsVelData.North + gpsVelData.East * gpsVelData.East + gpsVelData.Down * gpsVelData.Down < 1.0f) {
             airspeedData->CalibratedAirspeed = 0;
             airspeedData->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
+            AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
             return; // do not calculate if gps velocity is insufficient...
         }
 
         // Calculate the norm^2 of the difference between the two GPS vectors
-        float normDiffGPS2 = Sq(gpsVelData.North - gps->gpsVelOld_N) + Sq(gpsVelData.East - gps->gpsVelOld_E) + Sq(gpsVelData.Down - gps->gpsVelOld_D);
+        float normDiffGPS2 = powf(gpsVelData.North - gps->gpsVelOld_N, 2.0f) + powf(gpsVelData.East - gps->gpsVelOld_E, 2.0f) + powf(gpsVelData.Down - gps->gpsVelOld_D, 2.0f);
 
         // Calculate the norm^2 of the difference between the two fuselage vectors
-        float normDiffAttitude2 = Sq(Rbe[0][0] - gps->RbeCol1_old[0]) + Sq(Rbe[0][1] - gps->RbeCol1_old[1]) + Sq(Rbe[0][2] - gps->RbeCol1_old[2]);
+        float normDiffAttitude2 = powf(Rbe[0][0] - gps->RbeCol1_old[0], 2.0f) + powf(Rbe[0][1] - gps->RbeCol1_old[1], 2.0f) + powf(Rbe[0][2] - gps->RbeCol1_old[2], 2.0f);
 
         // Airspeed magnitude is the ratio between the two difference norms
         float airspeed = sqrtf(normDiffGPS2 / normDiffAttitude2);
         if (!IS_REAL(airspeedData->CalibratedAirspeed)) {
             airspeedData->CalibratedAirspeed = 0;
             airspeedData->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
+            AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
-        } else if (!IS_REAL(airspeed)) {
-            airspeedData->CalibratedAirspeed = 0;
-            airspeedData->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
         } else {
             // need a low pass filter to filter out spikes in non coordinated maneuvers
             airspeedData->CalibratedAirspeed = (1.0f - airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha) * gps->oldAirspeed + airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha * airspeed;
             gps->oldAirspeed = airspeedData->CalibratedAirspeed;
             airspeedData->SensorConnected    = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
-            AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_OK);
+            AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
         }
 
         // Save old variables for next pass

flight/modules/Airspeed/inc/airspeedalarm.h

@@ -0,0 +1,45 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup AirspeedModule Airspeed Module
+ * @brief Handle locally airspeed alarms issue changes to PIOS only when necessary
+ * @{
+ *
+ * @file       airspeedalarm.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      Airspeed module, reads temperature and pressure from MS4525DO
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef AIRSPEEDALARM_H
+#define AIRSPEEDALARM_H
+
+#include <openpilot.h>
+#include "alarms.h"
+
+
+bool AirspeedAlarm(SystemAlarmsAlarmOptions severity);
+
+#endif // AIRSPEEDALARM_H
+
+/**
+ * @}
+ * @}
+ */

flight/modules/FixedWingPathFollower/fixedwingpathfollower.c

@@ -193,7 +193,7 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters)
                         AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
                     }
                 } else {
-                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
                 }
             } else {
                 pathStatus.UID    = pathDesired.UID;
@@ -221,7 +221,7 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters)
                     break;
                 default:
                     pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
-                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
                     break;
                 }
             }

flight/modules/ManualControl/armhandler.c

@@ -258,7 +258,7 @@ static bool okToArm(void)
 
     // Check each alarm
     for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++) {
-        if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[i] >= SYSTEMALARMS_ALARM_ERROR) { // found an alarm thats set
+        if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[i] >= SYSTEMALARMS_ALARM_CRITICAL) { // found an alarm thats set
             if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY) {
                 continue;
             }

flight/modules/PathPlanner/pathplanner.c

@@ -173,7 +173,7 @@ static void pathPlannerTask()
             // copy pasta: same calculation as in manualcontrol, set return to home coordinates
             plan_setup_positionHold();
         }
-        AlarmsSet(SYSTEMALARMS_ALARM_PATHPLAN, SYSTEMALARMS_ALARM_ERROR);
+        AlarmsSet(SYSTEMALARMS_ALARM_PATHPLAN, SYSTEMALARMS_ALARM_CRITICAL);
 
         return;
     }

flight/modules/Stabilization/innerloop.c

@@ -119,21 +119,21 @@ static void stabilizationInnerloopTask()
             warn = true;
         }
         if (stabSettings.monitor.rateupdates < -(4 * OUTERLOOP_SKIPCOUNT)) {
-            // error if rate loop skipped more than 4 executions
+            // critical if rate loop skipped more than 4 executions
-            error = true;
+            crit = true;
         }
         // check if gyro keeps updating
         if (stabSettings.monitor.gyroupdates < 1) {
-            // critical if gyro didn't update at all!
+            // error if gyro didn't update at all!
-            crit = true;
+            error = true;
         }
         if (stabSettings.monitor.gyroupdates > 1) {
             // warning if we missed a gyro update
             warn = true;
         }
         if (stabSettings.monitor.gyroupdates > 3) {
-            // error if we missed 3 gyro updates
+            // critical if we missed 3 gyro updates
-            error = true;
+            crit = true;
         }
         stabSettings.monitor.gyroupdates = 0;
 

flight/modules/Stabilization/stabilization.c

@@ -31,6 +31,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+
 #include <openpilot.h>
 #include <pios_struct_helper.h>
 #include <pid.h>

flight/modules/StateEstimation/filterair.c

@@ -50,7 +50,7 @@ struct data {
 // Private functions
 
 static int32_t init(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
 
 
 int32_t filterAirInitialize(stateFilter *handle)
@@ -69,7 +69,7 @@ static int32_t init(stateFilter *self)
     return 0;
 }
 
-static int32_t filter(stateFilter *self, stateEstimation *state)
+static filterResult filter(stateFilter *self, stateEstimation *state)
 {
     struct data *this = (struct data *)self->localdata;
 
@@ -82,7 +82,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
         state->airspeed[1] = state->airspeed[0] * IAS2TAS(this->altitude);
     }
 
-    return 0;
+    return FILTERRESULT_OK;
 }
 
 

flight/modules/StateEstimation/filteraltitude.c

@@ -74,7 +74,7 @@ struct data {
 // Private functions
 
 static int32_t init(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
 static void settingsUpdatedCb(UAVObjEvent *ev);
 
 
@@ -114,7 +114,7 @@ static int32_t init(stateFilter *self)
     return 0;
 }
 
-static int32_t filter(stateFilter *self, stateEstimation *state)
+static filterResult filter(stateFilter *self, stateEstimation *state)
 {
     struct data *this = (struct data *)self->localdata;
 
@@ -204,7 +204,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
         }
     }
 
-    return 0;
+    return FILTERRESULT_OK;
 }
 
 void settingsUpdatedCb(UAVObjEvent *ev)

flight/modules/StateEstimation/filterbaro.c

@@ -56,7 +56,7 @@ struct data {
 static int32_t initwithgps(stateFilter *self);
 static int32_t initwithoutgps(stateFilter *self);
 static int32_t maininit(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
 
 
 int32_t filterBaroInitialize(stateFilter *handle)
@@ -105,7 +105,7 @@ static int32_t maininit(stateFilter *self)
     return 0;
 }
 
-static int32_t filter(stateFilter *self, stateEstimation *state)
+static filterResult filter(stateFilter *self, stateEstimation *state)
 {
     struct data *this = (struct data *)self->localdata;
 
@@ -128,7 +128,8 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
         }
         // make sure we raise an error until properly initialized - would not be good if people arm and
         // use altitudehold without initialized barometer filter
-        return 2;
+        // Here, the filter is not initialized, return ERROR
+        return FILTERRESULT_CRITICAL;
     } else {
         // Track barometric altitude offset with a low pass filter
         // based on GPS altitude if available
@@ -141,7 +142,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
             this->baroAlt   = state->baro[0];
             state->baro[0] -= this->baroOffset;
         }
-        return 0;
+        return FILTERRESULT_OK;
     }
 }
 

flight/modules/StateEstimation/filtercf.c

@@ -81,8 +81,8 @@ static FlightStatusData flightStatus;
 static int32_t initwithmag(stateFilter *self);
 static int32_t initwithoutmag(stateFilter *self);
 static int32_t maininit(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
-static int32_t complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float attitude[4]);
+static filterResult complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float attitude[4]);
 
 static void flightStatusUpdatedCb(UAVObjEvent *ev);
 
@@ -165,11 +165,11 @@ static int32_t maininit(stateFilter *self)
 /**
  * Collect all required state variables, then run complementary filter
  */
-static int32_t filter(stateFilter *self, stateEstimation *state)
+static filterResult filter(stateFilter *self, stateEstimation *state)
 {
-    struct data *this = (struct data *)self->localdata;
+    struct data *this   = (struct data *)self->localdata;
 
-    int32_t result    = 0;
+    filterResult result = FILTERRESULT_OK;
 
     if (IS_SET(state->updated, SENSORUPDATES_mag)) {
         this->magUpdated    = 1;
@@ -187,7 +187,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
         if (this->accelUpdated) {
             float attitude[4];
             result = complementaryFilter(this, state->gyro, this->currentAccel, this->currentMag, attitude);
-            if (!result) {
+            if (result == FILTERRESULT_OK) {
                 state->attitude[0] = attitude[0];
                 state->attitude[1] = attitude[1];
                 state->attitude[2] = attitude[2];
@@ -215,7 +215,7 @@ static inline void apply_accel_filter(const struct data *this, const float *raw,
     }
 }
 
-static int32_t complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float attitude[4])
+static filterResult complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float attitude[4])
 {
     float dT;
 
@@ -224,7 +224,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
 #if defined(PIOS_INCLUDE_HMC5883)
         // wait until mags have been updated
         if (!this->magUpdated) {
-            return 1;
+            return FILTERRESULT_ERROR;
         }
 #else
         mag[0] = 100.0f;
@@ -280,13 +280,13 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
         this->timeval   = PIOS_DELAY_GetRaw(); // Cycle counter used for precise timing
         this->starttime = xTaskGetTickCount(); // Tick counter used for long time intervals
 
-        return 0; // must return zero on initial initialization, so attitude will init with a valid quaternion
+        return FILTERRESULT_OK; // must return OK on initial initialization, so attitude will init with a valid quaternion
     }
 
     if (this->init == 0 && xTaskGetTickCount() - this->starttime < CALIBRATION_DELAY_MS / portTICK_RATE_MS) {
         // wait 4 seconds for the user to get his hands off in case the board was just powered
         this->timeval = PIOS_DELAY_GetRaw();
-        return 1;
+        return FILTERRESULT_ERROR;
     } else if (this->init == 0 && xTaskGetTickCount() - this->starttime < (CALIBRATION_DELAY_MS + CALIBRATION_DURATION_MS) / portTICK_RATE_MS) {
         // For first 6 seconds use accels to get gyro bias
         this->attitudeSettings.AccelKp     = 1.0f;
@@ -345,7 +345,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
     // Account for accel magnitude
     float accel_mag = sqrtf(this->accels_filtered[0] * this->accels_filtered[0] + this->accels_filtered[1] * this->accels_filtered[1] + this->accels_filtered[2] * this->accels_filtered[2]);
     if (accel_mag < 1.0e-3f) {
-        return 2; // safety feature copied from CC
+        return FILTERRESULT_CRITICAL; // safety feature copied from CC
     }
 
     // Account for filtered gravity vector magnitude
@@ -356,7 +356,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
         grot_mag = 1.0f;
     }
     if (grot_mag < 1.0e-3f) {
-        return 2;
+        return FILTERRESULT_CRITICAL;
     }
 
     accel_err[0] /= (accel_mag * grot_mag);
@@ -449,13 +449,13 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
     // THIS SHOULD NEVER ACTUALLY HAPPEN
     if ((fabsf(qmag) < 1.0e-3f) || isnan(qmag)) {
         this->first_run = 1;
-        return 2;
+        return FILTERRESULT_WARNING;
     }
 
     if (this->init) {
-        return 0;
+        return FILTERRESULT_OK;
     } else {
-        return 2; // return "critical" for now, so users can see the zeroing period, switch to more graceful notification later
+        return FILTERRESULT_CRITICAL; // return "critical" for now, so users can see the zeroing period, switch to more graceful notification later
     }
 }
 

flight/modules/StateEstimation/filterekf.c

@@ -83,7 +83,7 @@ static bool initialized = 0;
 static int32_t init13i(stateFilter *self);
 static int32_t init13(stateFilter *self);
 static int32_t maininit(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
 static inline bool invalid_var(float data);
 
 static void globalInit(void);
@@ -193,7 +193,7 @@ static int32_t maininit(stateFilter *self)
 /**
  * Collect all required state variables, then run complementary filter
  */
-static int32_t filter(stateFilter *self, stateEstimation *state)
+static filterResult filter(stateFilter *self, stateEstimation *state)
 {
     struct data *this    = (struct data *)self->localdata;
 
@@ -222,7 +222,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
         UNSET_MASK(state->updated, SENSORUPDATES_vel);
         UNSET_MASK(state->updated, SENSORUPDATES_attitude);
         UNSET_MASK(state->updated, SENSORUPDATES_gyro);
-        return 0;
+        return FILTERRESULT_OK;
     }
 
     dT = PIOS_DELTATIME_GetAverageSeconds(&this->dtconfig);
@@ -316,11 +316,11 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
             this->inited = true;
         }
 
-        return 0;
+        return FILTERRESULT_OK;
     }
 
     if (!this->inited) {
-        return 3;
+        return FILTERRESULT_CRITICAL;
     }
 
     float gyros[3] = { DEG2RAD(this->work.gyro[0]), DEG2RAD(this->work.gyro[1]), DEG2RAD(this->work.gyro[2]) };
@@ -361,7 +361,6 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
     }
 
     INSSetMagNorth(this->homeLocation.Be);
-    INSSetG(this->homeLocation.g_e);
 
     if (!this->usePos) {
         // position and velocity variance used in indoor mode
@@ -433,9 +432,9 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
     this->work.updated = 0;
 
     if (this->init_stage < 0) {
-        return 1;
+        return FILTERRESULT_WARNING;
     } else {
-        return 0;
+        return FILTERRESULT_OK;
     }
 }
 

flight/modules/StateEstimation/filterlla.c

@@ -53,7 +53,7 @@ struct data {
 // Private functions
 
 static int32_t init(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
 
 
 int32_t filterLLAInitialize(stateFilter *handle)
@@ -86,13 +86,13 @@ static int32_t init(__attribute__((unused)) stateFilter *self)
     return 0;
 }
 
-static int32_t filter(__attribute__((unused)) stateFilter *self, stateEstimation *state)
+static filterResult filter(__attribute__((unused)) stateFilter *self, stateEstimation *state)
 {
     struct data *this = (struct data *)self->localdata;
 
     // cannot update local NED if home location is unset
     if (this->home.Set != HOMELOCATION_SET_TRUE) {
-        return 0;
+        return FILTERRESULT_WARNING;
     }
 
     // only do stuff if we have a valid GPS update
@@ -116,7 +116,7 @@ static int32_t filter(__attribute__((unused)) stateFilter *self, stateEstimation
         }
     }
 
-    return 0;
+    return FILTERRESULT_OK;
 }
 
 /**

flight/modules/StateEstimation/filtermag.c

@@ -59,7 +59,7 @@ struct data {
 // Private functions
 
 static int32_t init(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
 static void checkMagValidity(struct data *this, float mag[3]);
 static void magOffsetEstimation(struct data *this, float mag[3]);
 
@@ -87,7 +87,7 @@ static int32_t init(stateFilter *self)
     return 0;
 }
 
-static int32_t filter(stateFilter *self, stateEstimation *state)
+static filterResult filter(stateFilter *self, stateEstimation *state)
 {
     struct data *this = (struct data *)self->localdata;
 
@@ -98,7 +98,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
         }
     }
 
-    return 0;
+    return FILTERRESULT_OK;
 }
 
 /**

flight/modules/StateEstimation/filterstationary.c

@@ -42,7 +42,7 @@
 // Private functions
 
 static int32_t init(stateFilter *self);
-static int32_t filter(stateFilter *self, stateEstimation *state);
+static filterResult filter(stateFilter *self, stateEstimation *state);
 
 
 int32_t filterStationaryInitialize(stateFilter *handle)
@@ -58,7 +58,7 @@ static int32_t init(__attribute__((unused)) stateFilter *self)
     return 0;
 }
 
-static int32_t filter(__attribute__((unused)) stateFilter *self, stateEstimation *state)
+static filterResult filter(__attribute__((unused)) stateFilter *self, stateEstimation *state)
 {
     state->pos[0]   = 0.0f;
     state->pos[1]   = 0.0f;
@@ -70,7 +70,7 @@ static int32_t filter(__attribute__((unused)) stateFilter *self, stateEstimation
     state->vel[2]   = 0.0f;
     state->updated |= SENSORUPDATES_vel;
 
-    return 0;
+    return FILTERRESULT_OK;
 }
 
 /**

flight/modules/StateEstimation/inc/stateestimation.h

@@ -32,6 +32,17 @@
 
 #include <openpilot.h>
 
+
+// Enumeration for filter result
+typedef enum {
+    FILTERRESULT_UNINITIALISED = -1,
+    FILTERRESULT_OK       = 0,
+    FILTERRESULT_WARNING  = 1,
+    FILTERRESULT_CRITICAL = 2,
+    FILTERRESULT_ERROR    = 3,
+} filterResult;
+
+
 typedef enum {
     SENSORUPDATES_gyro         = 1 << 0,
         SENSORUPDATES_accel    = 1 << 1,
@@ -58,7 +69,7 @@ typedef struct {
 
 typedef struct stateFilterStruct {
     int32_t (*init)(struct stateFilterStruct *self);
-    int32_t (*filter)(struct stateFilterStruct *self, stateEstimation *state);
+    filterResult (*filter)(struct stateFilterStruct *self, stateEstimation *state);
     void *localdata;
 } stateFilter;
 

flight/modules/StateEstimation/stateestimation.c

@@ -224,6 +224,7 @@ static const filterPipeline *ekf13iQueue = &(filterPipeline) {
         }
     }
 };
+
 static const filterPipeline *ekf13Queue = &(filterPipeline) {
     .filter = &magFilter,
     .next   = &(filterPipeline) {
@@ -334,9 +335,9 @@ MODULE_INITCALL(StateEstimationInitialize, StateEstimationStart);
 static void StateEstimationCb(void)
 {
     static enum { RUNSTATE_LOAD = 0, RUNSTATE_FILTER = 1, RUNSTATE_SAVE = 2 } runState = RUNSTATE_LOAD;
-    static int8_t alarm     = 0;
+    static filterResult alarm     = FILTERRESULT_OK;
-    static int8_t lastAlarm = -1;
+    static filterResult lastAlarm = FILTERRESULT_UNINITIALISED;
-    static uint16_t alarmcounter = 0;
+    static uint16_t alarmcounter  = 0;
     static const filterPipeline *current;
     static stateEstimation states;
     static uint32_t last_time;
@@ -352,12 +353,12 @@ static void StateEstimationCb(void)
     switch (runState) {
     case RUNSTATE_LOAD:
 
-        alarm = 0;
+        alarm = FILTERRESULT_OK;
 
         // set alarm to warning if called through timeout
         if (updatedSensors == 0) {
             if (PIOS_DELAY_DiffuS(last_time) > 1000 * TIMEOUT_MS) {
-                alarm = 1;
+                alarm = FILTERRESULT_WARNING;
             }
         } else {
             last_time = PIOS_DELAY_GetRaw();
@@ -442,7 +443,7 @@ static void StateEstimationCb(void)
     case RUNSTATE_FILTER:
 
         if (current != NULL) {
-            int32_t result = current->filter->filter((stateFilter *)current->filter, &states);
+            filterResult result = current->filter->filter((stateFilter *)current->filter, &states);
             if (result > alarm) {
                 alarm = result;
             }
@@ -498,12 +499,12 @@ static void StateEstimationCb(void)
         }
 
         // clear alarms if everything is alright, then schedule callback execution after timeout
-        if (lastAlarm == 1) {
+        if (lastAlarm == FILTERRESULT_WARNING) {
             AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
-        } else if (lastAlarm == 2) {
+        } else if (lastAlarm == FILTERRESULT_CRITICAL) {
-            AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
-        } else if (lastAlarm >= 3) {
             AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
+        } else if (lastAlarm >= FILTERRESULT_ERROR) {
+            AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
         } else {
             AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
         }

flight/modules/System/systemmod.c

@@ -403,7 +403,7 @@ static void hwSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
     HwSettingsGet(&currentHwSettings);
     // check whether the Hw Configuration has changed from the one used at boot time
     if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) {
-        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
+        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
     }
 }
 
@@ -607,7 +607,7 @@ static void updateSystemAlarms()
     UAVObjClearStats();
     EventClearStats();
     if (objStats.eventCallbackErrors > 0 || objStats.eventQueueErrors > 0 || evStats.eventErrors > 0) {
-        AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_ERROR);
+        AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
     } else {
         AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
     }

flight/modules/VtolPathFollower/vtolpathfollower.c

@@ -139,7 +139,6 @@ int32_t VtolPathFollowerInitialize()
         AccessoryDesiredInitialize();
         PoiLearnSettingsInitialize();
         PoiLocationInitialize();
-        HomeLocationInitialize();
         vtolpathfollower_enabled = true;
     } else {
         vtolpathfollower_enabled = false;
@@ -159,7 +158,6 @@ static float eastPosIntegral  = 0;
 static float downPosIntegral  = 0;
 
 static float thrustOffset     = 0;
-static float gravity;
 /**
  * Module thread, should not return.
  */
@@ -183,7 +181,6 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
         // 2. Flight mode is PositionHold and PathDesired.Mode is Endpoint  OR
         // FlightMode is PathPlanner and PathDesired.Mode is Endpoint or Path
 
-        HomeLocationg_eGet(&gravity);
         SystemSettingsGet(&systemSettings);
         if ((systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADP)
             && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADX)
@@ -216,7 +213,7 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
                         updateVtolDesiredAttitude(true);
                         updatePOIBearing();
                     } else {
-                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
                     }
                 } else {
                     if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
@@ -224,7 +221,7 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
                         updateVtolDesiredAttitude(false);
                         AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
                     } else {
-                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
                     }
                 }
             } else {
@@ -249,7 +246,7 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
                     break;
                 default:
                     pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
-                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_ERROR);
+                    AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
                     break;
                 }
                 PathStatusSet(&pathStatus);
@@ -686,7 +683,7 @@ static void updateNedAccel()
             accel_ned[i] += Rbe[j][i] * accel[j];
         }
     }
-    accel_ned[2] += gravity;
+    accel_ned[2] += 9.81f;
 
     NedAccelData accelData;
     NedAccelGet(&accelData);

flight/targets/boards/coptercontrol/firmware/inc/pios_config.h

@@ -171,10 +171,10 @@
 #endif
 #define PIOS_TELEM_RX_STACK_SIZE        410
 #define PIOS_TELEM_TX_STACK_SIZE        560
-#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
+#define PIOS_EVENTDISPATCHER_STACK_SIZE  95
 
 /* This can't be too high to stop eventdispatcher thread overflowing */
-#define PIOS_EVENTDISAPTCHER_QUEUE      10
+#define PIOS_EVENTDISAPTCHER_QUEUE       10
 
 /* Revolution series */
 /* #define REVOLUTION */

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp

@@ -86,7 +86,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
     HwSettings::DataFields hwSettingsData = hwSettings->getData();
 
-    if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
+    if(hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
         m_telemetry->gpsProtocol->setEnabled(false);
         m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
     } else {

shared/uavobjectdefinition/systemalarms.xml

@@ -1,7 +1,7 @@
 <xml>
     <object name="SystemAlarms" singleinstance="true" settings="false" category="System" priority="true">
         <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.  Some modules may have a module defined Status and Substatus fields that details its condition.</description>
-        <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
+        <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Critical,Error" defaultvalue="Uninitialised">
 		<elementnames>
 			<elementname>SystemConfiguration</elementname>
 			<elementname>BootFault</elementname>
@@ -24,7 +24,6 @@
 			<elementname>FlightTime</elementname>
 			<elementname>I2C</elementname>
 			<elementname>GPS</elementname>
-			<elementname>Power</elementname>
 		</elementnames>
 	</field>
 	<field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None">