From d426a93e631ecb943e1ee9b31b88fc909dc0bb54 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 12 Aug 2015 18:55:15 +0200
Subject: [PATCH 1/5] Upgrade Eigen version

---
 src/lib/eigen | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/lib/eigen b/src/lib/eigen
index e7850ed81f..789a2db1fe 160000
--- a/src/lib/eigen
+++ b/src/lib/eigen
@@ -1 +1 @@
-Subproject commit e7850ed81f9c469e02df496ef09ae32ec0379b71
+Subproject commit 789a2db1feec88ddf508f8de58864b62a0b3c13e

From 5369d23bc6dff63f66c23ddbd998760a0bfea604 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 13 Aug 2015 00:46:04 +0200
Subject: [PATCH 2/5] POSIX: Bump toolchain version to C++11

---
 makefiles/posix/toolchain_native.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/makefiles/posix/toolchain_native.mk b/makefiles/posix/toolchain_native.mk
index 8b07a35f88..eeba6d8f91 100644
--- a/makefiles/posix/toolchain_native.mk
+++ b/makefiles/posix/toolchain_native.mk
@@ -156,7 +156,7 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 # Language-specific flags
 #
 ARCHCFLAGS		 = -std=gnu99 -g
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++11 -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
 
 # Generic warnings
 #

From 1d3a5ec350cf55511f920e359d744396005b441b Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 13 Aug 2015 00:46:33 +0200
Subject: [PATCH 3/5] System cmds: Include cmath before eigen to make
 std::isfinite available. This needs further inspection

---
 src/systemcmds/tests/test_eigen.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/systemcmds/tests/test_eigen.cpp b/src/systemcmds/tests/test_eigen.cpp
index 87035059aa..6be961e644 100644
--- a/src/systemcmds/tests/test_eigen.cpp
+++ b/src/systemcmds/tests/test_eigen.cpp
@@ -38,6 +38,7 @@
  * @author Johan Jansen <jnsn.johan@gmail.com>
  */
 
+#include <cmath>
 #include <px4_eigen.h>
 #include <float.h>
 #include <stdio.h>

From 055ea4fffd0c5ff97a637f191fdaa2052d4104b2 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Fri, 14 Aug 2015 18:32:22 +0100
Subject: [PATCH 4/5] include EIGEN_MAX_STATIC_ALIGN_BYTES 16 macro

---
 src/lib/eigen       | 2 +-
 src/lib/px4_eigen.h | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/lib/eigen b/src/lib/eigen
index 789a2db1fe..9e748951e2 160000
--- a/src/lib/eigen
+++ b/src/lib/eigen
@@ -1 +1 @@
-Subproject commit 789a2db1feec88ddf508f8de58864b62a0b3c13e
+Subproject commit 9e748951e2424e1476ca97d7b16574bc37abce4c
diff --git a/src/lib/px4_eigen.h b/src/lib/px4_eigen.h
index 2cd98e59aa..6c4556c5f5 100644
--- a/src/lib/px4_eigen.h
+++ b/src/lib/px4_eigen.h
@@ -46,6 +46,8 @@
 #pragma GCC diagnostic ignored "-Wfloat-equal"
 #define _GLIBCXX_USE_C99_FP_MACROS_DYNAMIC 1
 
+#define EIGEN_MAX_STATIC_ALIGN_BYTES 16
+
 #include <eigen/Eigen/Core>
 #include <eigen/Eigen/Geometry>
 #pragma GCC diagnostic pop

From 698af71482a2bafd4e152d13ac24e200c4ff1de6 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 15 Aug 2015 00:02:48 +0200
Subject: [PATCH 5/5] Upgraded Eigen to 3.2.90

---
 src/lib/eigen | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/lib/eigen b/src/lib/eigen
index 9e748951e2..e7850ed81f 160000
--- a/src/lib/eigen
+++ b/src/lib/eigen
@@ -1 +1 @@
-Subproject commit 9e748951e2424e1476ca97d7b16574bc37abce4c
+Subproject commit e7850ed81f9c469e02df496ef09ae32ec0379b71