OP-1308 Merge with next (conflict with stabilization)

flight/libraries/sanitycheck.c

@@ -39,6 +39,7 @@
 #include <systemalarms.h>
 #include <taskinfo.h>
 
+
 /****************************
 * Current checks:
 * 1. If a flight mode switch allows autotune and autotune module not running

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
-            error = true;
+            // critical if rate loop skipped more than 4 executions
+            crit = true;
         }
         // check if gyro keeps updating
         if (stabSettings.monitor.gyroupdates < 1) {
-            // critical if gyro didn't update at all!
-            crit = true;
+            // error if gyro didn't update at all!
+            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
-            error = true;
+            // critical if we missed 3 gyro updates
+            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>