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

Conflicts:
	apps/commander/commander.c
	apps/uORB/topics/vehicle_status.h

3 files changed, 14 insertions, 12 deletions

diff --git a/apps/uORB/topics/differential_pressure.h b/apps/uORB/topics/differential_pressure.h
index fd7670cbc..d5e4bf37e 100644
--- a/apps/uORB/topics/differential_pressure.h
+++ b/apps/uORB/topics/differential_pressure.h
@@ -49,15 +49,16 @@
  */
 
 /**
- * Battery voltages and status
+ * Differential pressure and airspeed
  */
 struct differential_pressure_s {
-	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
 	float   	static_pressure_mbar;		/**< Static / environment pressure */
 	float		differential_pressure_mbar;	/**< Differential pressure reading */
 	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
 	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
-	float		true_airspeed_m_s;		/**< true airspeed in meters per second, -1 if unknown */
+	float		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
+	float		voltage;					/**< Voltage from the airspeed sensor (voltage divider already compensated) */
 };
 
 /**
@@ -67,4 +68,4 @@ struct differential_pressure_s {
 /* register this as object request broker structure */
 ORB_DECLARE(differential_pressure);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/apps/uORB/topics/subsystem_info.h b/apps/uORB/topics/subsystem_info.h
index c3e039d66..c415e832e 100644
--- a/apps/uORB/topics/subsystem_info.h
+++ b/apps/uORB/topics/subsystem_info.h
@@ -71,7 +71,8 @@ enum SUBSYSTEM_TYPE
 	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
 	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
 	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
-	SUBSYSTEM_TYPE_MOTORCONTROL = 65536
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
+	SUBSYSTEM_TYPE_RANGEFINDER = 131072
 };
 
 /**
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index eba5a5047..6d3f8a863 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -191,12 +191,16 @@ struct vehicle_status_s
 	bool condition_auto_mission_available;
 	bool condition_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
 	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_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_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
+
+	// bool condition_auto_flight_mode_ok;		/**< conditions of auto flight mode apply plus a valid takeoff position lock has been aquired */
+	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
 
 	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
 	bool flag_fmu_armed;				/**< true is motors / actuators of FMU are armed  */
-	bool flag_io_armed;					/**< true is motors / actuators of IO are armed */
+	bool flag_io_armed;				/**< true is motors / actuators of IO are armed */
 	bool flag_system_emergency;
 	bool flag_preflight_calibration;
 
@@ -208,10 +212,10 @@ struct vehicle_status_s
 	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
 	bool flag_control_position_enabled;		/**< true if position is controlled */
 
-
 	// bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */
 	// bool flag_preflight_mag_calibration;		/**< true if mag calibration is requested */
 	// bool flag_preflight_accel_calibration;
+	// bool flag_preflight_airspeed_calibration;
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception is terminally lost */
@@ -242,10 +246,6 @@ struct vehicle_status_s
 	uint16_t errors_count3;
 	uint16_t errors_count4;
 
-	// bool flag_vector_flight_mode_ok;		/**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
-	// bool flag_auto_flight_mode_ok;			/**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
-	bool flag_external_manual_override_ok;		/**< external override non-fatal for system. Only true for fixed wing */
-	
 };
 
 /**