Merge branch 'master' into swissfang

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -30,6 +30,9 @@ then
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50
 	param set FW_R_RMAX 0
+	# Bottom of bay and nominal zero-pitch attitude differ
+	# the payload bay is pitched up about 7 degrees
+	param set SENS_BOARD_Y_OFF 7.0
 fi
 
 set MIXER phantom

src/drivers/sf0x/sf0x.cpp

@@ -606,7 +606,7 @@ SF0X::collect()
 			si_units = strtod(_linebuf, &end);
 
 			/* we require at least four characters for a valid number */
-			if (end > _linebuf + 4) {
+			if (end > _linebuf + 3) {
 				valid = true;
 			} else {
 				si_units = -1.0f;
@@ -615,7 +615,7 @@ SF0X::collect()
 		}
 	}
 
-	debug("val (float): %8.4f, raw: %s, valid: %s\n", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
+	debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
 
 	/* done with this chunk, resetting - even if invalid */
 	_linebuf_index = 0;

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -823,7 +823,7 @@ float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt,
 	 * the measurement is valid
 	 * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
 	 */
-	if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) {
+	if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) {
 		return rel_alt_estimated;
 	}