Update to uORB topics, added / improved position triplet, added radio status

6 files changed, 251 insertions, 4 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index e22b58cad..e7d7e7bca 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -110,6 +110,9 @@ ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setp
 #include "topics/vehicle_global_position_set_triplet.h"
 ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
 
+#include "topics/mission.h"
+ORB_DEFINE(mission, struct mission_s);
+
 #include "topics/vehicle_attitude_setpoint.h"
 ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
 
@@ -158,5 +161,11 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
 
+#include "topics/telemetry_status.h"
+ORB_DEFINE(telemetry_status, struct telemetry_status_s);
+
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
+
+#include "topics/navigation_capabilities.h"
+ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s);
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index 8ce85213b..1ffeda764 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -52,10 +52,11 @@
  * Differential pressure.
  */
 struct differential_pressure_s {
-	uint64_t	timestamp;						/**< microseconds since system boot, needed to integrate */
-	uint16_t	differential_pressure_pa;		/**< Differential pressure reading */
+	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	uint16_t	differential_pressure_pa;	/**< Differential pressure reading */
 	uint16_t	max_differential_pressure_pa;	/**< Maximum differential pressure reading */
-	float		voltage;						/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
+	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
+	float		temperature;			/**< Temperature provided by sensor */
 
 };
 
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
new file mode 100644
index 000000000..253f444b3
--- /dev/null
+++ b/src/modules/uORB/topics/mission.h
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mission_item.h
+ * Definition of one mission item.
+ */
+
+#ifndef TOPIC_MISSION_H_
+#define TOPIC_MISSION_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+enum NAV_CMD {
+	NAV_CMD_WAYPOINT = 0,
+	NAV_CMD_LOITER_TURN_COUNT,
+	NAV_CMD_LOITER_TIME_LIMIT,
+	NAV_CMD_LOITER_UNLIMITED,
+	NAV_CMD_RETURN_TO_LAUNCH,
+	NAV_CMD_LAND,
+	NAV_CMD_TAKEOFF
+};
+
+/**
+ * Global position setpoint in WGS84 coordinates.
+ *
+ * This is the position the MAV is heading towards. If it of type loiter,
+ * the MAV is circling around it with the given loiter radius in meters.
+ */
+struct mission_item_s
+{
+	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
+	double lat;			/**< latitude in degrees * 1E7				*/
+	double lon;			/**< longitude in degrees * 1E7				*/
+	float altitude;			/**< altitude in meters					*/
+	float yaw;			/**< in radians NED -PI..+PI 				*/
+	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
+	uint8_t loiter_direction;	/**< 1: positive / clockwise, -1, negative.		*/
+	enum NAV_CMD nav_cmd;		/**< true if loitering is enabled			*/
+	float param1;
+	float param2;
+	float param3;
+	float param4;
+};
+
+struct mission_s
+{
+	struct mission_item_s *items;
+	unsigned count;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(mission);
+
+#endif
diff --git a/src/modules/uORB/topics/navigation_capabilities.h b/src/modules/uORB/topics/navigation_capabilities.h
new file mode 100644
index 000000000..6a3e811e3
--- /dev/null
+++ b/src/modules/uORB/topics/navigation_capabilities.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file navigation_capabilities.h
+ *
+ * Definition of navigation capabilities uORB topic.
+ */
+
+#ifndef TOPIC_NAVIGATION_CAPABILITIES_H_
+#define TOPIC_NAVIGATION_CAPABILITIES_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Airspeed
+ */
+struct navigation_capabilities_s {
+    float turn_distance;    /**< the optimal distance to a waypoint to switch to the next */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(navigation_capabilities);
+
+#endif
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
new file mode 100644
index 000000000..f30852de5
--- /dev/null
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file telemetry_status.h
+ *
+ * Telemetry status topics - radio status outputs
+ */
+
+#ifndef TOPIC_TELEMETRY_STATUS_H
+#define TOPIC_TELEMETRY_STATUS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+enum TELEMETRY_STATUS_RADIO_TYPE {
+    TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
+    TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
+    TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
+    TELEMETRY_STATUS_RADIO_TYPE_WIRE
+};
+
+struct telemetry_status_s {
+	uint64_t timestamp;
+    enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
+	unsigned rssi;              /**< local signal strength                      */
+    unsigned remote_rssi;       /**< remote signal strength                     */
+    unsigned rxerrors;          /**< receive errors                             */
+    unsigned fixed;             /**< count of error corrected packets           */
+    uint8_t noise;              /**< background noise level                     */
+    uint8_t remote_noise;       /**< remote background noise level              */
+    uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
+};
+
+ORB_DECLARE(telemetry_status);
+
+#endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file
diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
index eec6a8229..3ae3ff28c 100644
--- a/src/modules/uORB/topics/vehicle_global_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
@@ -45,6 +45,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "../uORB.h"
+#include "mission.h"
 
 /**
  * @addtogroup topics
@@ -65,7 +66,12 @@ struct vehicle_global_position_setpoint_s
 	float altitude;			/**< altitude in meters					*/
 	float yaw;			/**< in radians NED -PI..+PI 				*/
 	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
-	bool is_loiter;			/**< true if loitering is enabled			*/
+	uint8_t loiter_direction;	/**< 1: positive / clockwise, -1, negative.		*/
+	enum NAV_CMD nav_cmd;		/**< true if loitering is enabled			*/
+	float param1;
+	float param2;
+	float param3;
+	float param4;
 };
 
 /**