Merge branch 'pt/CC3D_Release' of ssh://git.openpilot.org/OpenPilot into pt/CC3D_Release

flight/CopterControl/System/inc/pios_config.h

@@ -94,7 +94,7 @@
 
 /* Task stack sizes */
 #define PIOS_ACTUATOR_STACK_SIZE       1020
-#define PIOS_MANUAL_STACK_SIZE          724
+#define PIOS_MANUAL_STACK_SIZE          800
 #define PIOS_SYSTEM_STACK_SIZE          660
 #define PIOS_STABILIZATION_STACK_SIZE   524
 #define PIOS_TELEM_STACK_SIZE           500

flight/Libraries/WorldMagModel.c

@@ -242,7 +242,7 @@ int WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month, u
     {
         CoordGeodetic->lambda = Lon;
         CoordGeodetic->phi = Lat;
-        CoordGeodetic->HeightAboveEllipsoid = AltEllipsoid;
+        CoordGeodetic->HeightAboveEllipsoid = AltEllipsoid/1000.0; // convert to km
 
         // Convert from geodeitic to Spherical Equations: 17-18, WMM Technical report
         if (WMM_GeodeticToSpherical(CoordGeodetic, CoordSpherical) < 0)

flight/Modules/GPS/GPS.c

@@ -66,7 +66,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
 
 #ifdef PIOS_GPS_SETS_HOMELOCATION
 // Unfortunately need a good size stack for the WMM calculation
-	#define STACK_SIZE_BYTES            750
+	#define STACK_SIZE_BYTES            784
 #else
 #if defined(PIOS_GPS_MINIMAL)
 	#define STACK_SIZE_BYTES            500

ground/openpilotgcs/src/libs/utils/worldmagmodel.cpp

@@ -158,7 +158,7 @@ namespace Utils {
     {
         double Lat = LLA[0];
         double Lon = LLA[1];
-        double AltEllipsoid = LLA[2];
+        double AltEllipsoid = LLA[2]/1000.0; // convert to km
 
         // ***********
         // range check supplied params