Merge remote-tracking branch 'upstream/master' into dev_ros

Conflicts:
	src/examples/subscriber/subscriber_params.c
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
	src/modules/uORB/topics/vehicle_attitude_setpoint.h
	src/platforms/px4_middleware.h

2 files changed, 174 insertions, 0 deletions

diff --git a/msg/vehicle_attitude.msg b/msg/vehicle_attitude.msg
index 98018a1df..dbfd8b6bc 100644
--- a/msg/vehicle_attitude.msg
+++ b/msg/vehicle_attitude.msg
@@ -16,3 +16,20 @@ float32[4] q		# Quaternion (NED)
 float32[3] g_comp		# Compensated gravity vector
 bool R_valid		# Rotation matrix valid
 bool q_valid		# Quaternion valid
+
+# secondary attitude for VTOL
+float32 roll_sec		# Roll angle (rad, Tait-Bryan, NED)
+float32 pitch_sec		# Pitch angle (rad, Tait-Bryan, NED)
+float32 yaw_sec			# Yaw angle (rad, Tait-Bryan, NED)
+float32 rollspeed_sec		# Roll angular speed (rad/s, Tait-Bryan, NED)
+float32 pitchspeed_sec		# Pitch angular speed (rad/s, Tait-Bryan, NED)
+float32 yawspeed_sec	    	# Yaw angular speed (rad/s, Tait-Bryan, NED)
+float32 rollacc_sec		# Roll angular accelration (rad/s, Tait-Bryan, NED)
+float32 pitchacc_sec	    	# Pitch angular acceleration (rad/s, Tait-Bryan, NED)
+float32 yawacc_sec		# Yaw angular acceleration (rad/s, Tait-Bryan, NED)
+float32[3] rate_offsets_sec	# Offsets of the body angular rates from zero
+float32[9] R_sec		# Rotation matrix, body to world, (Tait-Bryan, NED)
+float32[4] q_sec		# Quaternion (NED)
+float32[3] g_comp_sec		# Compensated gravity vector
+bool R_valid_sec		# Rotation matrix valid
+bool q_valid_sec		# Quaternion valid
diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
new file mode 100644
index 000000000..4d5d5ce09
--- /dev/null
+++ b/msg/vehicle_status.msg
@@ -0,0 +1,157 @@
+# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
+uint8 MAIN_STATE_MANUAL = 0
+uint8 MAIN_STATE_ALTCTL = 1
+uint8 MAIN_STATE_POSCTL = 2
+uint8 MAIN_STATE_AUTO_MISSION = 3
+uint8 MAIN_STATE_AUTO_LOITER = 4
+uint8 MAIN_STATE_AUTO_RTL = 5
+uint8 MAIN_STATE_ACRO = 6
+uint8 MAIN_STATE_OFFBOARD = 7
+uint8 MAIN_STATE_MAX = 8
+
+# If you change the order, add or remove arming_state_t states make sure to update the arrays
+# in state_machine_helper.cpp as well.
+uint8 ARMING_STATE_INIT = 0
+uint8 ARMING_STATE_STANDBY = 1
+uint8 ARMING_STATE_ARMED = 2
+uint8 ARMING_STATE_ARMED_ERROR = 3
+uint8 ARMING_STATE_STANDBY_ERROR = 4
+uint8 ARMING_STATE_REBOOT = 5
+uint8 ARMING_STATE_IN_AIR_RESTORE = 6
+uint8 ARMING_STATE_MAX = 7
+
+uint8 HIL_STATE_OFF = 0
+uint8 HIL_STATE_ON = 1
+
+# Navigation state, i.e. "what should vehicle do".
+uint8 NAVIGATION_STATE_MANUAL = 0		# Manual mode
+uint8 NAVIGATION_STATE_ALTCTL = 1		# Altitude control mode
+uint8 NAVIGATION_STATE_POSCTL = 2		# Position control mode
+uint8 NAVIGATION_STATE_AUTO_MISSION = 3		# Auto mission mode
+uint8 NAVIGATION_STATE_AUTO_LOITER = 4		# Auto loiter mode
+uint8 NAVIGATION_STATE_AUTO_RTL = 5		# Auto return to launch mode
+uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6	# RC recover mode
+uint8 NAVIGATION_STATE_AUTO_RTGS = 7		# Auto return to groundstation on data link loss
+uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 	# Auto land on engine failure
+uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9	# Auto land on gps failure (e.g. open loop loiter down)
+uint8 NAVIGATION_STATE_ACRO = 10		# Acro mode
+uint8 NAVIGATION_STATE_LAND = 11		# Land mode
+uint8 NAVIGATION_STATE_DESCEND = 12		# Descend mode (no position control)
+uint8 NAVIGATION_STATE_TERMINATION = 13		# Termination mode
+uint8 NAVIGATION_STATE_OFFBOARD = 14
+uint8 NAVIGATION_STATE_MAX = 15
+
+# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
+uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128
+uint8 VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64
+uint8 VEHICLE_MODE_FLAG_HIL_ENABLED = 32
+uint8 VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16
+uint8 VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8
+uint8 VEHICLE_MODE_FLAG_AUTO_ENABLED = 4
+uint8 VEHICLE_MODE_FLAG_TEST_ENABLED = 2
+uint8 VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
+
+# VEHICLE_TYPE, should match 1:1 MAVLink's MAV_TYPE ENUM
+uint8 VEHICLE_TYPE_GENERIC = 0		    # Generic micro air vehicle.
+uint8 VEHICLE_TYPE_FIXED_WING = 1	    # Fixed wing aircraft.
+uint8 VEHICLE_TYPE_QUADROTOR = 2	    # Quadrotor
+uint8 VEHICLE_TYPE_COAXIAL = 3		    # Coaxial helicopter
+uint8 VEHICLE_TYPE_HELICOPTER = 4	    # Normal helicopter with tail rotor.
+uint8 VEHICLE_TYPE_ANTENNA_TRACKER = 5	    # Ground installation
+uint8 VEHICLE_TYPE_GCS = 6		    # Operator control unit / ground control station
+uint8 VEHICLE_TYPE_AIRSHIP = 7		    # Airship, controlled
+uint8 VEHICLE_TYPE_FREE_BALLOON = 8	    # Free balloon, uncontrolled
+uint8 VEHICLE_TYPE_ROCKET = 9		    # Rocket
+uint8 VEHICLE_TYPE_GROUND_ROVER = 10	    # Ground rover
+uint8 VEHICLE_TYPE_SURFACE_BOAT = 11	    # Surface vessel, boat, ship
+uint8 VEHICLE_TYPE_SUBMARINE = 12	    # Submarine
+uint8 VEHICLE_TYPE_HEXAROTOR = 13	    # Hexarotor
+uint8 VEHICLE_TYPE_OCTOROTOR = 14	    # Octorotor
+uint8 VEHICLE_TYPE_TRICOPTER = 15	    # Octorotor
+uint8 VEHICLE_TYPE_FLAPPING_WING = 16	    # Flapping wing
+uint8 VEHICLE_TYPE_KITE = 17		    # Kite
+uint8 VEHICLE_TYPE_ONBOARD_CONTROLLER=18    # Onboard companion controller
+uint8 VEHICLE_TYPE_VTOL_DUOROTOR = 19	    # Vtol with two engines
+uint8 VEHICLE_TYPE_VTOL_QUADROTOR = 20	    # Vtol with four engines*/
+uint8 VEHICLE_TYPE_ENUM_END = 21
+
+uint8 VEHICLE_BATTERY_WARNING_NONE = 0	    # no battery low voltage warning active
+uint8 VEHICLE_BATTERY_WARNING_LOW = 1	    # warning of low voltage
+uint8 VEHICLE_BATTERY_WARNING_CRITICAL = 2  # alerting of critical voltage
+
+# state machine / state of vehicle.
+# Encodes the complete system state and is set by the commander app.
+uint16 counter   # incremented by the writing thread everytime new data is stored
+uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
+
+uint8 main_state		    	# main state machine
+uint8 nav_state				# set navigation state machine to specified value
+uint8 arming_state			# current arming state
+uint8 hil_state				# current hil state
+bool failsafe				# true if system is in failsafe state
+
+int32 system_type			# system type, inspired by MAVLink's VEHICLE_TYPE enum
+int32 system_id				# system id, inspired by MAVLink's system ID field
+int32 component_id			# subsystem / component id, inspired by MAVLink's component ID field
+
+bool is_rotary_wing
+
+bool condition_battery_voltage_valid
+bool condition_system_in_air_restore		# true if we can restore in mid air
+bool condition_system_sensors_initialized
+bool condition_system_returned_to_home
+bool condition_auto_mission_available
+bool condition_global_position_valid		# set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
+bool condition_launch_position_valid		# indicates a valid launch position
+bool condition_home_position_valid		# indicates a valid home position (a valid home position is not always a valid launch)
+bool condition_local_position_valid
+bool condition_local_altitude_valid
+bool condition_airspeed_valid			# set to true by the commander app if there is a valid airspeed measurement available
+bool condition_landed				# true if vehicle is landed, always true if disarmed
+bool condition_power_input_valid		# set if input power is valid
+float32 avionics_power_rail_voltage		# voltage of the avionics power rail
+
+bool rc_signal_found_once
+bool rc_signal_lost				# true if RC reception lost
+uint64 rc_signal_lost_timestamp			# Time at which the RC reception was lost
+bool rc_signal_lost_cmd				# true if RC lost mode is commanded
+bool rc_input_blocked				# set if RC input should be ignored
+
+bool data_link_lost				# datalink to GCS lost
+bool data_link_lost_cmd				# datalink to GCS lost mode commanded
+uint8 data_link_lost_counter			# counts unique data link lost events
+bool engine_failure				# Set to true if an engine failure is detected
+bool engine_failure_cmd				# Set to true if an engine failure mode is commanded
+bool gps_failure				# Set to true if a gps failure is detected
+bool gps_failure_cmd				# Set to true if a gps failure mode is commanded
+
+bool barometer_failure				# Set to true if a barometer failure is detected
+
+bool offboard_control_signal_found_once
+bool offboard_control_signal_lost
+bool offboard_control_signal_weak
+uint64 offboard_control_signal_lost_interval	# interval in microseconds without an offboard control message
+bool offboard_control_set_by_command		# true if the offboard mode was set by a mavlink command and should not be overridden by RC
+
+# see SYS_STATUS mavlink message for the following
+uint32 onboard_control_sensors_present
+uint32 onboard_control_sensors_enabled
+uint32 onboard_control_sensors_health
+
+float32 load					# processor load from 0 to 1
+float32 battery_voltage
+float32 battery_current
+float32 battery_remaining
+
+uint8 battery_warning    # current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum
+uint16 drop_rate_comm
+uint16 errors_comm
+uint16 errors_count1
+uint16 errors_count2
+uint16 errors_count3
+uint16 errors_count4
+
+bool circuit_breaker_engaged_power_check
+bool circuit_breaker_engaged_airspd_check
+bool circuit_breaker_engaged_enginefailure_check
+bool circuit_breaker_engaged_gpsfailure_check