The uncompensated temperature of the BMP180 is incorrectly converted to a 16-bit signed value, instead of a 32-bit signed value (long). Since the data is 16-bits wide and can therefore not be negative, the easy fix would be to do the following:

sip.js(1128): uncompensated = uint16(data[0], data[1]);

Please see page 15 of the manual of the BMP180 chip:
https://ae-bst.resource.bosch.com/media

Feature request

Is your feature request related to a problem? Please describe.
There is no official way to set the initial mode in copter. Plane and Rover got a parameter and start on INITIALIZE mode.
On Copter, STABILIZE is set by default. The current method to set an initialization mode is to rely on FLTMODE1.

But in case FLTMODE_CH = 0, FLTMODE1 isn't called and you are stick to

Ankit Shah and I are trying to use Gen to support a project and would love the addition of a dirichlet distribution

void AStarExpansion::add(unsigned char* costs, float* potential, float prev_potential, int next_i, int end_x,  int end_y)
{
    .........
    if(costs[next_i]>=lethal_cost_ && !(unknown_ && costs[next_i]==costmap_2d::NO_INFORMATION))
        return;
    potential[next_i] = p_calc_->calculatePotential(potential, costs[next_i] + neutral_cost_, next_i, prev_potential);
     .......
}