Merge pull request #858 from TickTock-/rc_merged

Rc merged

17 files changed, 269 insertions, 112 deletions

diff --git a/Documentation/rc_mode_switch.odg b/Documentation/rc_mode_switch.odg
index 1ef05458f..5bb53f99a 100644
--- a/Documentation/rc_mode_switch.odg
+++ b/Documentation/rc_mode_switch.odg
diff --git a/Documentation/rc_mode_switch.pdf b/Documentation/rc_mode_switch.pdf
index b1a468d17..bdc3a7461 100644
--- a/Documentation/rc_mode_switch.pdf
+++ b/Documentation/rc_mode_switch.pdf
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index b75c2297f..974e20ca2 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -638,11 +638,11 @@ BlinkM::led()
 
 						if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
 							/* indicate main control state */
-							if (vehicle_status_raw.main_state == MAIN_STATE_EASY)
+							if (vehicle_status_raw.main_state == MAIN_STATE_POSCTRL)
 								led_color_4 = LED_GREEN;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
 								led_color_4 = LED_BLUE;
-							else if (vehicle_status_raw.main_state == MAIN_STATE_SEATBELT)
+							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTRL)
 								led_color_4 = LED_YELLOW;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
 								led_color_4 = LED_WHITE;
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index dfab9d4d6..e5124a31f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -435,13 +435,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 					/* MANUAL */
 					main_res = main_state_transition(status, MAIN_STATE_MANUAL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) {
-					/* SEATBELT */
-					main_res = main_state_transition(status, MAIN_STATE_SEATBELT);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) {
+					/* ALTCTRL */
+					main_res = main_state_transition(status, MAIN_STATE_ALTCTRL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) {
-					/* EASY */
-					main_res = main_state_transition(status, MAIN_STATE_EASY);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) {
+					/* POSCTRL */
+					main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
 					/* AUTO */
@@ -456,8 +456,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 				} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 					if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
-						/* EASY */
-						main_res = main_state_transition(status, MAIN_STATE_EASY);
+						/* POSCTRL */
+						main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
 
 					} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
 						/* MANUAL */
@@ -634,8 +634,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	char *main_states_str[MAIN_STATE_MAX];
 	main_states_str[0] = "MANUAL";
-	main_states_str[1] = "SEATBELT";
-	main_states_str[2] = "EASY";
+	main_states_str[1] = "ALTCTRL";
+	main_states_str[2] = "POSCTRL";
 	main_states_str[3] = "AUTO";
 
 	char *arming_states_str[ARMING_STATE_MAX];
@@ -1159,7 +1159,7 @@ int commander_thread_main(int argc, char *argv[])
 			/* arm/disarm by RC */
 			res = TRANSITION_NOT_CHANGED;
 
-			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
+			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
 			 * do it only for rotary wings */
 			if (status.is_rotary_wing &&
 			    (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
@@ -1242,7 +1242,8 @@ int commander_thread_main(int argc, char *argv[])
 				status.set_nav_state_timestamp = hrt_absolute_time();
 
 			} else {
-				/* MISSION switch */
+
+				/* LOITER switch */
 				if (sp_man.loiter_switch == SWITCH_POS_ON) {
 					/* stick is in LOITER position */
 					status.set_nav_state = NAV_STATE_LOITER;
@@ -1334,8 +1335,8 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		// TODO remove this hack
-		/* flight termination in manual mode if assisted switch is on easy position */
-		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch == SWITCH_POS_ON) {
+		/* flight termination in manual mode if assist switch is on posctrl position */
+		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) {
 			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
 				tune_positive(armed.armed);
 			}
@@ -1591,26 +1592,26 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 		// TRANSITION_DENIED is not possible here
 		break;
 
-	case SWITCH_POS_MIDDLE:		// ASSISTED
-		if (sp_man->assisted_switch == SWITCH_POS_ON) {
-			res = main_state_transition(status, MAIN_STATE_EASY);
+	case SWITCH_POS_MIDDLE:		// ASSIST
+		if (sp_man->posctrl_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status, MAIN_STATE_POSCTRL);
 
 			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
 			}
 
-			// else fallback to SEATBELT
-			print_reject_mode(status, "EASY");
+			// else fallback to ALTCTRL
+			print_reject_mode(status, "POSCTRL");
 		}
 
-		res = main_state_transition(status, MAIN_STATE_SEATBELT);
+		res = main_state_transition(status, MAIN_STATE_ALTCTRL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this mode
 		}
 
-		if (sp_man->assisted_switch != SWITCH_POS_ON) {
-			print_reject_mode(status, "SEATBELT");
+		if (sp_man->posctrl_switch != SWITCH_POS_ON) {
+			print_reject_mode(status, "ALTCTRL");
 		}
 
 		// else fallback to MANUAL
@@ -1625,9 +1626,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 			break;	// changed successfully or already in this state
 		}
 
-		// else fallback to SEATBELT (EASY likely will not work too)
+		// else fallback to ALTCTRL (POSCTRL likely will not work too)
 		print_reject_mode(status, "AUTO");
-		res = main_state_transition(status, MAIN_STATE_SEATBELT);
+		res = main_state_transition(status, MAIN_STATE_ALTCTRL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this state
@@ -1673,7 +1674,7 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_SEATBELT:
+		case MAIN_STATE_ALTCTRL:
 			control_mode.flag_control_manual_enabled = true;
 			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;
@@ -1684,7 +1685,7 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_EASY:
+		case MAIN_STATE_POSCTRL:
 			control_mode.flag_control_manual_enabled = true;
 			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index 8a946543d..18586053b 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
 	ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to SEATBELT.
+	// MANUAL to ALTCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = true;
-	new_main_state = MAIN_STATE_SEATBELT;
-	ut_assert("tranisition: manual to seatbelt", 
+	new_main_state = MAIN_STATE_ALTCTRL;
+	ut_assert("tranisition: manual to altctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
+	ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state);
 
-	// MANUAL to SEATBELT, invalid local altitude.
+	// MANUAL to ALTCTRL, invalid local altitude.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = false;
-	new_main_state = MAIN_STATE_SEATBELT;
+	new_main_state = MAIN_STATE_ALTCTRL;
 	ut_assert("no transition: invalid local altitude",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to EASY.
+	// MANUAL to POSCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = true;
-	new_main_state = MAIN_STATE_EASY;
-	ut_assert("transition: manual to easy",
+	new_main_state = MAIN_STATE_POSCTRL;
+	ut_assert("transition: manual to posctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
+	ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state);
 
-	// MANUAL to EASY, invalid local position.
+	// MANUAL to POSCTRL, invalid local position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = false;
-	new_main_state = MAIN_STATE_EASY;
+	new_main_state = MAIN_STATE_POSCTRL;
 	ut_assert("no transition: invalid position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index 2144d3460..e6274fb89 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -12,8 +12,8 @@
 
 enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
-	PX4_CUSTOM_MAIN_MODE_SEATBELT,
-	PX4_CUSTOM_MAIN_MODE_EASY,
+	PX4_CUSTOM_MAIN_MODE_ALTCTRL,
+	PX4_CUSTOM_MAIN_MODE_POSCTRL,
 	PX4_CUSTOM_MAIN_MODE_AUTO,
 };
 
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index f09d586c7..3b6d95135 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 		ret = TRANSITION_CHANGED;
 		break;
 
-	case MAIN_STATE_SEATBELT:
+	case MAIN_STATE_ALTCTRL:
 
 		/* need at minimum altitude estimate */
 		if (!status->is_rotary_wing ||
@@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 
 		break;
 
-	case MAIN_STATE_EASY:
+	case MAIN_STATE_POSCTRL:
 
 		/* need at minimum local position estimate */
 		if (status->condition_local_position_valid ||
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index cfae07275..596e286a4 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[CH_RDR] = _manual.yaw;
 		_actuators.control[CH_THR] = _manual.throttle;
 
-	} else if (_status.main_state == MAIN_STATE_SEATBELT ||
-		_status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) {
+	} else if (_status.main_state == MAIN_STATE_ALTCTRL ||
+		_status.main_state == MAIN_STATE_POSCTRL /* TODO, implement pos control */) {
 
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 7f13df785..024dd98ec 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -153,7 +153,7 @@ private:
 	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
 
 	/** manual control states */
-	float		_seatbelt_hold_heading;		/**< heading the system should hold in seatbelt mode */
+	float		_altctrl_hold_heading;		/**< heading the system should hold in altctrl mode */
 	double		_loiter_hold_lat;
 	double		_loiter_hold_lon;
 	float		_loiter_hold_alt;
@@ -1051,16 +1051,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (0/* easy mode enabled */) {
+	} else if (0/* posctrl mode enabled */) {
 
-		/** EASY FLIGHT **/
+		/** POSCTRL FLIGHT **/
 
-		if (0/* switched from another mode to easy */) {
-			_seatbelt_hold_heading = _att.yaw;
+		if (0/* switched from another mode to posctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* easy on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.yaw;
+		if (0/* posctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.yaw;
 		}
 
 		//XXX not used
@@ -1073,39 +1073,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 //			climb_out = true;
 //		}
 
-		/* if in seatbelt mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
 					  _manual.throttle;
 
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body = _l1_control.nav_roll();
 		_att_sp.yaw_body = _l1_control.nav_bearing();
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    seatbelt_airspeed,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    false, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
 					    _parameters.pitch_limit_min, _parameters.pitch_limit_max);
 
-	} else if (0/* seatbelt mode enabled */) {
+	} else if (0/* altctrl mode enabled */) {
 
-		/** SEATBELT FLIGHT **/
+		/** ALTCTRL FLIGHT **/
 
-		if (0/* switched from another mode to seatbelt */) {
-			_seatbelt_hold_heading = _att.yaw;
+		if (0/* switched from another mode to altctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* seatbelt on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.yaw;
+		if (0/* altctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.yaw;
 		}
 
-		/* if in seatbelt mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
 					  _manual.throttle;
 
@@ -1124,11 +1124,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			climb_out = true;
 		}
 
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body =	_manual.roll;
 		_att_sp.yaw_body =	_manual.yaw;
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    seatbelt_airspeed,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    climb_out, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 9c552515d..9a7e636c3 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
 
-		} else if (status->main_state == MAIN_STATE_SEATBELT) {
+		} else if (status->main_state == MAIN_STATE_ALTCTRL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTRL;
 
-		} else if (status->main_state == MAIN_STATE_EASY) {
+		} else if (status->main_state == MAIN_STATE_POSCTRL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTRL;
 
 		} else if (status->main_state == MAIN_STATE_AUTO) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 104df4e59..dacdd46f0 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
 /**
  * Maximum vertical velocity
  *
- * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY).
+ * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
  *
  * @unit m/s
  * @min 0.0
@@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
 /**
  * Vertical velocity feed forward
  *
- * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
 /**
  * Maximum horizontal velocity
  *
- * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY).
+ * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
  *
  * @unit m/s
  * @min 0.0
@@ -165,7 +165,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 /**
  * Horizontal velocity feed forward
  *
- * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -176,7 +176,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
 /**
  * Maximum tilt angle in air
  *
- * Limits maximum tilt in AUTO and EASY modes during flight.
+ * Limits maximum tilt in AUTO and POSCTRL modes during flight.
  *
  * @unit deg
  * @min 0.0
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index 96a443c6e..6d46db9bd 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -35,8 +35,8 @@ void BlockSegwayController::update() {
 
 	// handle autopilot modes
 	if (_status.main_state == MAIN_STATE_AUTO ||
-	    _status.main_state == MAIN_STATE_SEATBELT ||
-	    _status.main_state == MAIN_STATE_EASY) {
+	    _status.main_state == MAIN_STATE_ALTCTRL ||
+	    _status.main_state == MAIN_STATE_POSCTRL) {
 		_actuators.control[0] = spdCmd;
 		_actuators.control[1] = spdCmd;
 
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index bc49f5c85..873fff872 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -536,6 +536,20 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
 
 /**
+ * Failsafe channel mapping.
+ *
+ * The RC mapping index indicates which channel is used for failsafe
+ * If 0, whichever channel is mapped to throttle is used
+ * otherwise the value indicates the specific rc channel to use
+ *
+ * @min 0
+ * @max 18
+ *
+ *
+ */
+PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0);  //Default to throttle function
+
+/**
  * Throttle control channel mapping.
  *
  * The channel index (starting from 1 for channel 1) indicates
@@ -591,7 +605,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
 
 /**
  * Loiter switch channel mapping.
@@ -655,3 +669,83 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
  * @group Radio Calibration
  */
 PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
+
+/**
+ * Threshold for selecting assist mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
+
+/**
+ * Threshold for selecting auto mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
+
+/**
+ * Threshold for selecting posctrl mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_POSCTRL_TH, 0.5f);
+
+/**
+ * Threshold for selecting return to launch mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
+
+/**
+ * Threshold for selecting loiter mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index e260aae45..75c05e0e7 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -175,7 +175,8 @@ private:
 	/**
 	 * Get switch position for specified function.
 	 */
-	switch_pos_t	get_rc_switch_position(enum RC_CHANNELS_FUNCTION func);
+	switch_pos_t	get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
+	switch_pos_t	get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
 
 	/**
 	 * Gather and publish RC input data.
@@ -250,10 +251,11 @@ private:
 		int rc_map_pitch;
 		int rc_map_yaw;
 		int rc_map_throttle;
+		int rc_map_failsafe;
 
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
-		int rc_map_assisted_sw;
+		int rc_map_posctrl_sw;
 		int rc_map_loiter_sw;
 
 //		int rc_map_offboard_ctrl_mode_sw;
@@ -266,7 +268,17 @@ private:
 		int rc_map_aux4;
 		int rc_map_aux5;
 
-		int32_t rc_fs_thr;
+		int32_t rc_fails_thr;
+		float rc_assist_th;
+		float rc_auto_th;
+		float rc_posctrl_th;
+		float rc_return_th;
+		float rc_loiter_th;
+		bool rc_assist_inv;
+		bool rc_auto_inv;
+		bool rc_posctrl_inv;
+		bool rc_return_inv;
+		bool rc_loiter_inv;
 
 		float battery_voltage_scaling;
 		float battery_current_scaling;
@@ -293,10 +305,11 @@ private:
 		param_t rc_map_pitch;
 		param_t rc_map_yaw;
 		param_t rc_map_throttle;
+		param_t rc_map_failsafe;
 
 		param_t rc_map_mode_sw;
 		param_t rc_map_return_sw;
-		param_t rc_map_assisted_sw;
+		param_t rc_map_posctrl_sw;
 		param_t rc_map_loiter_sw;
 
 //		param_t rc_map_offboard_ctrl_mode_sw;
@@ -309,7 +322,12 @@ private:
 		param_t rc_map_aux4;
 		param_t rc_map_aux5;
 
-		param_t rc_fs_thr;
+		param_t rc_fails_thr;
+		param_t rc_assist_th;
+		param_t rc_auto_th;
+		param_t rc_posctrl_th;
+		param_t rc_return_th;
+		param_t rc_loiter_th;
 
 		param_t battery_voltage_scaling;
 		param_t battery_current_scaling;
@@ -499,6 +517,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
 	_parameter_handles.rc_map_yaw 	= param_find("RC_MAP_YAW");
 	_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
+	_parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
 
 	/* mandatory mode switches, mapped to channel 5 and 6 per default */
 	_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
@@ -507,7 +526,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
 
 	/* optional mode switches, not mapped per default */
-	_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
+	_parameter_handles.rc_map_posctrl_sw = param_find("RC_MAP_POSCTL_SW");
 	_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
 
 //	_parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -518,8 +537,13 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
 	_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
 
-	/* RC failsafe */
-	_parameter_handles.rc_fs_thr = param_find("RC_FAILS_THR");
+	/* RC thresholds */
+	_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
+	_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
+	_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
+	_parameter_handles.rc_posctrl_th = param_find("RC_POSCTRL_TH");
+	_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
+	_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
 
 	/* gyro offsets */
 	_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@@ -642,6 +666,10 @@ Sensors::parameters_update()
 		warnx("%s", paramerr);
 	}
 
+	if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
+		warnx("%s", paramerr);
+	}
+
 	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
 		warnx("%s", paramerr);
 	}
@@ -650,7 +678,7 @@ Sensors::parameters_update()
 		warnx("%s", paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
+	if (param_get(_parameter_handles.rc_map_posctrl_sw, &(_parameters.rc_map_posctrl_sw)) != OK) {
 		warnx("%s", paramerr);
 	}
 
@@ -671,7 +699,22 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
 	param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
 	param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
-	param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
+	param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
+	param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
+	_parameters.rc_assist_inv = (_parameters.rc_assist_th<0);
+	_parameters.rc_assist_th = fabs(_parameters.rc_assist_th);
+	param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
+	_parameters.rc_auto_inv = (_parameters.rc_auto_th<0);
+	_parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
+	param_get(_parameter_handles.rc_posctrl_th, &(_parameters.rc_posctrl_th));
+	_parameters.rc_posctrl_inv = (_parameters.rc_posctrl_th<0);
+	_parameters.rc_posctrl_th = fabs(_parameters.rc_posctrl_th);
+	param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
+	_parameters.rc_return_inv = (_parameters.rc_return_th<0);
+	_parameters.rc_return_th = fabs(_parameters.rc_return_th);
+	param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th));
+	_parameters.rc_loiter_inv = (_parameters.rc_loiter_th<0);
+	_parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th);
 
 	/* update RC function mappings */
 	_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -681,7 +724,7 @@ Sensors::parameters_update()
 
 	_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
 	_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
-	_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
+	_rc.function[POSCTRL] = _parameters.rc_map_posctrl_sw - 1;
 	_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1275,18 +1318,35 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max
 }
 
 switch_pos_t
-Sensors::get_rc_switch_position(enum RC_CHANNELS_FUNCTION func)
+Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
 {
 	if (_rc.function[func] >= 0) {
-		float value = _rc.chan[_rc.function[func]].scaled;
-		if (value > STICK_ON_OFF_LIMIT) {
+		float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
+		if (on_inv ? value < on_th : value > on_th) {
 			return SWITCH_POS_ON;
 
-		} else if (value < -STICK_ON_OFF_LIMIT) {
+		} else if (mid_inv ? value < mid_th : value > mid_th) {
+			return SWITCH_POS_MIDDLE;
+
+		} else {
 			return SWITCH_POS_OFF;
+		}
+
+	} else {
+		return SWITCH_POS_NONE;
+	}
+}
+
+switch_pos_t
+Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
+{
+	if (_rc.function[func] >= 0) {
+		float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
+		if (on_inv ? value < on_th : value > on_th) {
+			return SWITCH_POS_ON;
 
 		} else {
-			return SWITCH_POS_MIDDLE;
+			return SWITCH_POS_OFF;
 		}
 
 	} else {
@@ -1318,13 +1378,16 @@ Sensors::rc_poll()
 			/* signal looks good */
 			signal_lost = false;
 
-			/* check throttle failsafe */
-			int8_t thr_ch = _rc.function[THROTTLE];
-			if (_parameters.rc_fs_thr > 0 && thr_ch >= 0) {
-				/* throttle failsafe configured */
-				if ((_parameters.rc_fs_thr < _parameters.min[thr_ch] && rc_input.values[thr_ch] < _parameters.rc_fs_thr) ||
-					(_parameters.rc_fs_thr > _parameters.max[thr_ch] && rc_input.values[thr_ch] > _parameters.rc_fs_thr)) {
-					/* throttle failsafe triggered, signal is lost by receiver */
+			/* check failsafe */
+			int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
+			if (_parameters.rc_map_failsafe>0){ // if not 0, use channel number instead of rc.function mapping
+				fs_ch = _parameters.rc_map_failsafe - 1;
+			}
+			if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
+				/* failsafe configured */
+				if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
+					(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
+					/* failsafe triggered, signal is lost by receiver */
 					signal_lost = true;
 				}
 			}
@@ -1414,10 +1477,10 @@ Sensors::rc_poll()
 			manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
 
 			/* mode switches */
-			manual.mode_switch = get_rc_switch_position(MODE);
-			manual.assisted_switch = get_rc_switch_position(ASSISTED);
-			manual.loiter_switch = get_rc_switch_position(LOITER);
-			manual.return_switch = get_rc_switch_position(RETURN);
+			manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
+			manual.posctrl_switch = get_rc_sw2pos_position(POSCTRL, _parameters.rc_posctrl_th, _parameters.rc_posctrl_inv);
+			manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
+			manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
 
 			/* publish manual_control_setpoint topic */
 			if (_manual_control_pub > 0) {
@@ -1641,4 +1704,3 @@ int sensors_main(int argc, char *argv[])
 	warnx("unrecognized command");
 	return 1;
 }
-
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index a23d89cd2..727be9492 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -77,8 +77,8 @@ struct manual_control_setpoint_s {
 	float aux5;				/**< default function: payload drop */
 
 	switch_pos_t mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
-	switch_pos_t return_switch;			/**< land 2 position switch (mandatory): land, no effect */
-	switch_pos_t assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
+	switch_pos_t return_switch;			/**< rturn to launch 2 position switch (mandatory): no effect, return */
+	switch_pos_t posctrl_switch;			/**< posctrl 2 position switch (optional): altctrl, posctrl */
 	switch_pos_t loiter_switch;		/**< mission 2 position switch (optional): mission, loiter */
 }; /**< manual control inputs */
 
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index c168b2fac..9285235c9 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -64,7 +64,7 @@ enum RC_CHANNELS_FUNCTION {
 	YAW      = 3,
 	MODE = 4,
 	RETURN = 5,
-	ASSISTED = 6,
+	POSCTRL = 6,
 	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 435230432..f401140ae 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -63,8 +63,8 @@
 /* main state machine */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_SEATBELT,
-	MAIN_STATE_EASY,
+	MAIN_STATE_ALTCTRL,
+	MAIN_STATE_POSCTRL,
 	MAIN_STATE_AUTO,
 	MAIN_STATE_MAX
 } main_state_t;