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.
When we raise an internal error it may be quite some time before we get something in the dataflash log or in the mavlink stream. This makes it harder to correlate internal errors with codepaths.

Describe the solution you'd like
Emit a statustext and/or log message when we detect an internal error has

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);
     .......
}