Fresh import of the PX4 firmware sources.

16 files changed, 1376 insertions, 0 deletions

diff --git a/apps/uORB/topics/UNPORTED_subsystem_info.h b/apps/uORB/topics/UNPORTED_subsystem_info.h
new file mode 100644
index 000000000..24f973a02
--- /dev/null
+++ b/apps/uORB/topics/UNPORTED_subsystem_info.h
@@ -0,0 +1,68 @@
+/* Structure for storage of shared variables (extended( */
+
+/* global_data_subsystem_info stores a buffer of the sensor info/status messages (sent by sensors or gps app), this is then handled by the commander. (The commander then writes to global_data_sys_status which is read by mavlink) */
+
+/* (any app) --> global_data_subsystem_info (buffered) --> (commander app)  --> global_data_sys_status --> (mavlink app) */
+
+#ifndef GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
+#define GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
+
+#define SUBSYSTEM_INFO_BUFFER_SIZE 10
+
+#include "global_data_access.h"
+
+typedef enum //values correspond to bitmasks of mavlink message sys_status, this is crucial for the underlying bitmask to work
+{
+	SUBSYSTEM_TYPE_GYRO = 0,
+	SUBSYSTEM_TYPE_ACC = 1,
+	SUBSYSTEM_TYPE_MAG = 2,
+	SUBSYSTEM_TYPE_ABSPRESSURE = 3,
+	SUBSYSTEM_TYPE_DIFFPRESSURE = 4,
+	SUBSYSTEM_TYPE_GPS = 5,
+	SUBSYSTEM_TYPE_OPTICALFLOW = 6,
+	SUBSYSTEM_TYPE_CVPOSITION = 7,
+	SUBSYSTEM_TYPE_LASERPOSITION = 8,
+	SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 9,
+	SUBSYSTEM_TYPE_ANGULARRATECONTROL = 10,
+	SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 11,
+	SUBSYSTEM_TYPE_YAWPOSITION = 12,
+	SUBSYSTEM_TYPE_ALTITUDECONTROL = 13,
+	SUBSYSTEM_TYPE_POSITIONCONTROL = 14,
+	SUBSYSTEM_TYPE_MOTORCONTROL = 15
+
+} subsystem_type_t;
+
+typedef struct
+{
+	uint8_t present;
+	uint8_t enabled;
+	uint8_t health;
+
+	subsystem_type_t subsystem_type;
+
+} __attribute__((__packed__)) subsystem_info_t;
+
+typedef struct
+{
+	/* Struct which stores the access configuration, this is the same for all shared structs */
+
+	access_conf_t access_conf; //don't remove this line!
+
+	/* use of a counter and timestamp recommended (but not necessary) */
+
+	uint16_t counter; //incremented by the writing thread everytime new data is stored
+	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
+
+	/* Actual data, this is specific to the type of data which is stored in this struct */
+
+	//***** Start: Add your variables here *****
+	subsystem_info_t info[SUBSYSTEM_INFO_BUFFER_SIZE];
+	uint8_t current_info;
+
+	//*****END: Add your variables here *****
+
+} global_data_subsystem_info_t; //adjust this line!
+
+extern global_data_subsystem_info_t* global_data_subsystem_info; //adjust this line!
+
+#endif
diff --git a/apps/uORB/topics/actuator_controls.h b/apps/uORB/topics/actuator_controls.h
new file mode 100644
index 000000000..03c0c7b7d
--- /dev/null
+++ b/apps/uORB/topics/actuator_controls.h
@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 Actuator control topic - mixer inputs.
+ *
+ * Values published to this topic are the outputs of the vehicle control
+ * system, and are expected to be mixed and used to drive the actuators
+ * (servos, speed controls, etc.) that operate the vehicle.
+ */
+
+#ifndef TOPIC_ACTUATOR_CONTROLS_H
+#define TOPIC_ACTUATOR_CONTROLS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_ACTUATOR_CONTROLS	16
+
+struct actuator_controls
+{
+	float	control[NUM_ACTUATOR_CONTROLS];
+};
+
+ORB_DECLARE(actuator_controls);
+
+struct actuator_armed
+{
+	bool	armed;
+};
+
+ORB_DECLARE(actuator_armed);
+
+#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/ardrone_control.h b/apps/uORB/topics/ardrone_control.h
new file mode 100644
index 000000000..1f582f52a
--- /dev/null
+++ b/apps/uORB/topics/ardrone_control.h
@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   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 ardrone_control.c
+ * Definition of the ardrone_control uORB topic.
+ */
+
+#ifndef TOPIC_ARDRONE_CONTROL_H_
+#define TOPIC_ARDRONE_CONTROL_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct ardrone_control_s
+{
+	uint16_t counter;                    /**< incremented by the publishing thread everytime new data is stored. */
+	uint64_t timestamp;                  /**< in microseconds since system start, is set whenever the writing thread stores new data. */
+
+	float setpoint_rate_cast[3];
+	float setpoint_thrust_cast;          /**< LOGME */
+	float setpoint_attitude_rate[3];
+	float setpoint_attitude[3];          /**< LOGME */
+	float attitude_control_output[3];    /**< roll, pitch, yaw. */
+	float position_control_output[3];    /**< x, y, z.  */
+	float attitude_setpoint_navigationframe_from_positioncontroller[3]; /**< LOGME */
+	float gyro_scaled[3];
+	float gyro_filtered[3];
+	float gyro_filtered_offset[3];
+	float zcompensation;
+	uint16_t motor_front_nw;
+	uint16_t motor_right_ne;
+	uint16_t motor_back_se;
+	uint16_t motor_left_sw;
+
+}; /**< ardrone control status */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(ardrone_control);
+
+#endif /* TOPIC_ARDRONE_CONTROL_H_ */
diff --git a/apps/uORB/topics/ardrone_motors_setpoint.h b/apps/uORB/topics/ardrone_motors_setpoint.h
new file mode 100644
index 000000000..54d81b706
--- /dev/null
+++ b/apps/uORB/topics/ardrone_motors_setpoint.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @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 ardrone_motors_setpoint.h
+ * Definition of the ardrone_motors_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_ARDRONE_MOTORS_SETPOINT_H_
+#define TOPIC_ARDRONE_MOTORS_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct ardrone_motors_setpoint_s
+{
+	uint16_t counter; //incremented by the writing thread everytime new data is stored
+	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
+
+	uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
+	uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
+	uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
+	uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
+
+}; /**< AR.Drone low level motors */
+
+ /**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(ardrone_motors_setpoint);
+
+#endif
diff --git a/apps/uORB/topics/fixedwing_control.h b/apps/uORB/topics/fixedwing_control.h
new file mode 100644
index 000000000..e904709b6
--- /dev/null
+++ b/apps/uORB/topics/fixedwing_control.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @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 fixedwing_control.h
+ * Definition of the fixedwing_control uORB topic.
+ */
+
+#ifndef TOPIC_FIXEDWING_CONTROL_H_
+#define TOPIC_FIXEDWING_CONTROL_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * fixed wing control status.
+ */
+struct fixedwing_control_s
+{
+	/* use of a counter and timestamp recommended (but not necessary) */
+
+	uint16_t counter; //incremented by the writing thread everytime new data is stored
+	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
+
+	float setpoint_rate_cast[3];
+	float setpoint_attitude_rate[3];
+	float setpoint_attitude[3];
+	int16_t attitude_control_output[4];	/**< roll, pitch, yaw, throttle      */
+	float position_control_output[4];
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(fixedwing_control);
+
+#endif //GLOBAL_DATA_FIXEDWING_CONTROL_T_H_
diff --git a/apps/uORB/topics/rc_channels.h b/apps/uORB/topics/rc_channels.h
new file mode 100644
index 000000000..5bd2adeec
--- /dev/null
+++ b/apps/uORB/topics/rc_channels.h
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
+ *           @author Ivan Ovinnikov <oivan@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 rc_channels.h
+ * Definition of the rc_channels uORB topic.
+ */
+
+#ifndef RC_CHANNELS_H_
+#define RC_CHANNELS_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+enum RC_CHANNELS_STATUS
+{
+	UNKNOWN = 0,
+	KNOWN = 1,
+	SIGNAL = 2,
+	TIMEOUT = 3
+};
+
+/** 
+ * This defines the mapping of the RC functions.
+ * The value assigned to the specific function corresponds to the entry of
+ * the channel array chan[].
+ * Ex. To read out the scaled Pitch value:
+ * pitch = global_data_rc_channels->chan[PITCH].scale;
+ * The override is on channel 8, since we don't usually have a 12 channel RC
+ * and channel 5/6 (GRAUPNER/FUTABA) are mapped to the second ROLL servo, which
+ * can only be disabled on more advanced RC sets.
+ */
+enum RC_CHANNELS_FUNCTION
+{
+  THROTTLE = 0,
+  ROLL     = 1,
+  PITCH    = 2,
+  YAW      = 3,
+  OVERRIDE = 4,
+  FUNC_0   = 5,
+  FUNC_1   = 6,
+  FUNC_2   = 7,
+  FUNC_3   = 8,
+  FUNC_4   = 9,
+  FUNC_5   = 10,
+  FUNC_6   = 11,
+  RC_CHANNELS_FUNCTION_MAX = 12
+};
+
+struct rc_channels_s {
+
+	uint64_t timestamp;                 /**< In microseconds since boot time. */
+  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+  struct {
+    uint16_t mid;                     /**< midpoint (0). */
+    float scaling_factor;             /**< scaling factor from raw counts to 0..1 */
+    uint16_t raw;                     /**< current raw value */
+    int16_t scale;
+    float scaled;                     /**< Scaled  */
+    uint16_t override;
+    enum RC_CHANNELS_STATUS status;   /**< status of the channel */
+  } chan[RC_CHANNELS_FUNCTION_MAX];
+  uint8_t chan_count;                    /**< maximum number of valid channels */
+
+  /*String array to store the names of the functions*/
+  const char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+  uint8_t function[RC_CHANNELS_FUNCTION_MAX];
+  uint8_t rssi;                       /**< Overall receive signal strength */
+}; /**< radio control channels. */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(rc_channels);
+
+#endif
diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h
new file mode 100644
index 000000000..ecf5ea81d
--- /dev/null
+++ b/apps/uORB/topics/sensor_combined.h
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 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 sensor_combined.h
+ * Definition of the sensor_combined uORB topic.
+ */
+
+#ifndef SENSOR_COMBINED_H_
+#define SENSOR_COMBINED_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Sensor readings in raw and SI-unit form.
+ *
+ * These values are read from the sensors. Raw values are in sensor-specific units,
+ * the scaled values are in SI-units, as visible from the ending of the variable
+ * or the comments. The use of the SI fields is in general advised, as these fields
+ * are scaled and offset-compensated where possible and do not change with board
+ * revisions and sensor updates.
+ *
+ */
+struct sensor_combined_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+
+	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
+
+	uint64_t timestamp;                          /**< Timestamp in microseconds since boot       LOGME  */
+
+	int16_t	 gyro_raw[3];                        /**< Raw sensor values of angular velocity      LOGME  */
+	uint16_t gyro_raw_counter; 					 /**< Number of raw measurments taken            LOGME  */
+	float    gyro_rad_s[3];                      /**< Angular velocity in radian per seconds     LOGME  */
+	int16_t	 accelerometer_raw[3];               /**< Raw acceleration in NED body frame         LOGME  */
+	uint16_t accelerometer_raw_counter;          /**< Number of raw acc measurements taken       LOGME  */
+	float    accelerometer_m_s2[3];              /**< Acceleration in NED body frame, in m/s^2   LOGME  */
+	int16_t	 magnetometer_raw[3];                /**< Raw magnetic field in NED body frame       LOGME  */
+	float magnetometer_ga[3];                    /**< Magnetic field in NED body frame, in Gauss LOGME  */
+	uint16_t magnetometer_raw_counter;           /**< Number of raw mag measurements taken       LOGME  */
+	float baro_pres_mbar;                        /**< Barometric pressure, already temp. comp.   LOGME  */
+	float baro_alt_meter;                        /**< Altitude, already temp. comp.              LOGME  */
+	float baro_temp_celcius;                     /**< Temperature in degrees celsius             LOGME  */
+	float battery_voltage_v;                     /**< Battery voltage in volts, filtered         LOGME  */
+	float adc_voltage_v[3];                      /**< ADC voltages of ADC Chan 11/12/13 or -1    LOGME  */
+	uint16_t baro_raw_counter;                   /**< Number of raw baro measurements taken      LOGME  */
+	uint16_t battery_voltage_counter;			 /**< Number of voltage measurements taken       LOGME  */
+	bool battery_voltage_valid;					 /**< True if battery voltage can be measured    LOGME  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(sensor_combined);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_attitude.h b/apps/uORB/topics/vehicle_attitude.h
new file mode 100644
index 000000000..e365a6557
--- /dev/null
+++ b/apps/uORB/topics/vehicle_attitude.h
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 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 vehicle_attitude.h
+ * Definition of the attitude uORB topic.
+ */
+
+#ifndef VEHICLE_ATTITUDE_H_
+#define VEHICLE_ATTITUDE_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Attitude in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct vehicle_attitude_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+	uint64_t timestamp;   /**< in microseconds since system start          */
+
+	/* This is similar to the mavlink message ATTITUDE, but for onboard use */
+
+	/* @warning Roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
+
+	float roll;           /**< Roll angle (rad, Tait-Bryan, NED)             LOGME    */
+	float pitch;          /**< Pitch angle (rad, Tait-Bryan, NED)            LOGME    */
+	float yaw;            /**< Yaw angle (rad, Tait-Bryan, NED)              LOGME    */
+	float rollspeed;      /**< Roll angular speed (rad/s, Tait-Bryan, NED)   LOGME    */
+	float pitchspeed;     /**< Pitch angular speed (rad/s, Tait-Bryan, NED)  LOGME    */
+	float yawspeed;       /**< Yaw angular speed (rad/s, Tait-Bryan, NED)    LOGME    */
+	float R[3][3];        /**< Rotation matrix body to world, (Tait-Bryan, NED)       */
+	float q[4];           /**< Quaternion (NED) */
+	bool R_valid;         /**< Rotation matrix valid */
+	bool q_valid;         /**< Quaternion valid */
+	uint16_t counter;     /**< Counter of all attitude messages (wraps)    */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h
new file mode 100644
index 000000000..6b3757402
--- /dev/null
+++ b/apps/uORB/topics/vehicle_attitude_setpoint.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @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 vehicle_attitude_setpoint.h
+ * Definition of the vehicle attitude setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
+#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <uORB.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * vehicle attitude setpoint.
+ */
+struct vehicle_attitude_setpoint_s
+{
+	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
+
+	float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float tait_bryan_valid;			/**< Set to true if Tait-Bryan angles are valid */
+
+	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
+	bool R_valid;					/**< Set to true if rotation matrix is valid */
+	float thrust;					/**< Thrust in Newton the power system should generate */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude_setpoint);
+
+#endif /* TOPIC_ARDRONE_CONTROL_H_ */
diff --git a/apps/uORB/topics/vehicle_command.h b/apps/uORB/topics/vehicle_command.h
new file mode 100644
index 000000000..dca928efd
--- /dev/null
+++ b/apps/uORB/topics/vehicle_command.h
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 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 vehicle_command.h
+ * Definition of the vehicle command uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_COMMAND_H_
+#define TOPIC_VEHICLE_COMMAND_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_command_s
+{
+	float param1;			/**< Parameter 1, as defined by MAVLink MAV_CMD enum.   */
+	float param2;			/**< Parameter 2, as defined by MAVLink MAV_CMD enum.   */
+	float param3;			/**< Parameter 3, as defined by MAVLink MAV_CMD enum.   */
+	float param4;			/**< Parameter 4, as defined by MAVLink MAV_CMD enum.   */
+	float param5;			/**< Parameter 5, as defined by MAVLink MAV_CMD enum.   */
+	float param6;			/**< Parameter 6, as defined by MAVLink MAV_CMD enum.   */
+	float param7;			/**< Parameter 7, as defined by MAVLink MAV_CMD enum.   */
+	uint16_t command;		/**< Command ID, as defined MAVLink by MAV_CMD enum.   */
+	uint8_t target_system;		/**< System which should execute the command  */
+	uint8_t target_component;	/**< Component which should execute the command, 0 for all components  */
+	uint8_t source_system;		/**< System sending the command  */
+	uint8_t source_component;	/**< Component sending the command  */
+	uint8_t confirmation;		/**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
+}; /**< command sent to vehicle */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_command);
+
+
+
+#endif
diff --git a/apps/uORB/topics/vehicle_global_position.h b/apps/uORB/topics/vehicle_global_position.h
new file mode 100644
index 000000000..f036c7223
--- /dev/null
+++ b/apps/uORB/topics/vehicle_global_position.h
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   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 vehicle_global_position.h
+ * Definition of the global fused WGS84 position uORB topic.
+ */
+
+#ifndef VEHICLE_GLOBAL_POSITION_T_H_
+#define VEHICLE_GLOBAL_POSITION_T_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+ /**
+ * Fused global position in WGS84.
+ *
+ * This struct contains the system's believ about its position. It is not the raw GPS
+ * measurement (@see vehicle_gps_position). This topic is usually published by the position
+ * estimator, which will take more sources of information into account than just GPS,
+ * e.g. control inputs of the vehicle in a Kalman-filter implementation.
+ */
+struct vehicle_global_position_s
+{
+	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
+	uint64_t time_gps_usec; /**< GPS timestamp in microseconds							  */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	int32_t lat;			/**< Latitude in 1E7 degrees							LOGME */
+	int32_t lon;			/**< Longitude in 1E7 degrees							LOGME */
+	float alt;				/**< Altitude in meters									LOGME */
+	float relative_alt;		/**< Altitude above home position in meters, 			LOGME */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in ENU				LOGME */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in ENU				LOGME */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in ENU				LOGME */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_global_position_setpoint.h b/apps/uORB/topics/vehicle_global_position_setpoint.h
new file mode 100644
index 000000000..b73e2a363
--- /dev/null
+++ b/apps/uORB/topics/vehicle_global_position_setpoint.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   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 vehicle_global_position_setpoint.h
+ * Definition of the global WGS84 position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
+#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * 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 vehicle_global_position_setpoint_s
+{
+	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
+	int32_t lat;				/**< latitude in degrees * 1E7						*/
+	int32_t 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 */
+	bool is_loiter;				/**< true if loitering is enabled */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position_setpoint);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
new file mode 100644
index 000000000..60d01a831
--- /dev/null
+++ b/apps/uORB/topics/vehicle_gps_position.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   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 vehicle_gps_position.h
+ * Definition of the GPS WGS84 uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GPS_H_
+#define TOPIC_VEHICLE_GPS_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS position in WGS84 coordinates.
+ */
+struct vehicle_gps_position_s
+{
+	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)   */
+	uint32_t counter;			/**< Count of GPS messages */
+	uint64_t time_gps_usec;			/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+	
+	int32_t lat;				/**< Latitude in 1E7 degrees //LOGME   */
+	int32_t lon;				/**< Longitude in 1E7 degrees //LOGME   */
+	int32_t alt;				/**< Altitude in 1E3 meters (millimeters) above MSL //LOGME   */
+	uint16_t counter_pos_valid;		/**< is only increased when new lat/lon/alt information was added   */
+	uint16_t eph;				/**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME   */
+	uint16_t epv;				/**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535   */
+	uint16_t vel;				/**< GPS ground speed (m/s * 100). If unknown, set to: 65535   */
+	uint16_t cog;				/**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535   */
+	uint8_t fix_type; 			/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
+	uint8_t satellites_visible;		/**< Number of satellites visible. If unknown, set to 255   */
+
+	uint8_t satellite_prn[20]; 		/**< Global satellite ID   */
+	uint8_t satellite_used[20];		/**< 0: Satellite not used, 1: used for localization   */
+	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite   */
+	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg.   */
+	uint8_t satellite_snr[20];		/**< Signal to noise ratio of satellite   */
+	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available   */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_gps_position);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_local_position.h b/apps/uORB/topics/vehicle_local_position.h
new file mode 100644
index 000000000..76eddeacd
--- /dev/null
+++ b/apps/uORB/topics/vehicle_local_position.h
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @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 vehicle_local_position.h
+ * Definition of the local fused NED position uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
+#define TOPIC_VEHICLE_LOCAL_POSITION_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Fused local position in NED.
+ */
+struct vehicle_local_position_s
+{
+	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	float x;				/**< X positin in meters in NED earth-fixed frame */
+	float y;				/**< X positin in meters in NED earth-fixed frame */
+	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
+	float absolute_alt;			/**< Altitude as defined by pressure / GPS, 			LOGME */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in NED				LOGME */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in NED				LOGME */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED				LOGME */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+
+	// TODO Add covariances here
+
+	/* Reference position in GPS / WGS84 frame */
+	uint64_t home_timestamp;/**< Time when home position was set						  */
+	int32_t home_lat;		/**< Latitude in 1E7 degrees							LOGME */
+	int32_t home_lon;		/**< Longitude in 1E7 degrees							LOGME */
+	float home_alt;			/**< Altitude in meters									LOGME */
+	float home_hdg; 		/**< Compass heading in radians -PI..+PI.					  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_local_position);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_local_position_setpoint.h b/apps/uORB/topics/vehicle_local_position_setpoint.h
new file mode 100644
index 000000000..d24d81e3a
--- /dev/null
+++ b/apps/uORB/topics/vehicle_local_position_setpoint.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   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 vehicle_local_position_setpoint.h
+ * Definition of the local NED position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
+#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_local_position_setpoint_s
+{
+	float x;		/**< in meters NED			  		*/
+	float y;		/**< in meters NED			  		*/
+	float z;		/**< in meters NED			  		*/
+	float yaw;		/**< in radians NED -PI..+PI  		*/
+}; /**< Local position in NED frame to go to */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_local_position_setpoint);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
new file mode 100644
index 000000000..d92b80046
--- /dev/null
+++ b/apps/uORB/topics/vehicle_status.h
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.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 vehicle_status.h
+ * Definition of the vehicle_status uORB topic.
+ *
+ * Published the state machine and the system status bitfields
+ * (see SYS_STATUS mavlink message), published only by commander app.
+ *
+ * All apps should write to subsystem_info:
+ *
+ *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
+ */
+
+#ifndef VEHICLE_STATUS_H_
+#define VEHICLE_STATUS_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics @{
+ */
+
+/* State Machine */
+typedef enum
+{
+	SYSTEM_STATE_PREFLIGHT = 0,
+	SYSTEM_STATE_STANDBY = 1,
+	SYSTEM_STATE_GROUND_READY = 2,
+	SYSTEM_STATE_MANUAL = 3,
+	SYSTEM_STATE_STABILIZED = 4,
+	SYSTEM_STATE_AUTO = 5,
+	SYSTEM_STATE_MISSION_ABORT = 6,
+	SYSTEM_STATE_EMCY_LANDING = 7,
+	SYSTEM_STATE_EMCY_CUTOFF = 8,
+	SYSTEM_STATE_GROUND_ERROR = 9,
+	SYSTEM_STATE_REBOOT= 10,
+
+} commander_state_machine_t;
+
+enum VEHICLE_MODE_FLAG {
+	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
+	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
+	VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
+	VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16,
+	VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
+	VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
+	VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
+	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
+}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
+
+/**
+ * state machine / state of vehicle.
+ *
+ * Encodes the complete system state and is set by the commander app.
+ */
+struct vehicle_status_s
+{
+	/* use of a counter and timestamp recommended (but not necessary) */
+
+	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
+	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
+
+	commander_state_machine_t state_machine;
+	uint8_t mode;
+
+	bool control_manual_enabled;			/**< true if manual input is mixed in */
+	bool control_rates_enabled;			/**< true if rates are stabilized */
+	bool control_attitude_enabled;			/**< true if attitude stabilization is mixed in */
+	bool control_speed_enabled;			/**< true if speed (implies direction) is controlled */
+	bool control_position_enabled;			/**< true if position is controlled */
+
+	bool preflight_gyro_calibration;		/**< true if gyro calibration is requested */
+	bool preflight_mag_calibration;			/**< true if mag calibration is requested */
+
+	/* see SYS_STATUS mavlink message for the following */
+	uint32_t onboard_control_sensors_present;
+	uint32_t onboard_control_sensors_enabled;
+	uint32_t onboard_control_sensors_health;
+	uint16_t load;
+	uint16_t voltage_battery;
+	int16_t current_battery;
+	int8_t battery_remaining;
+	uint16_t drop_rate_comm;
+	uint16_t errors_comm;
+	uint16_t errors_count1;
+	uint16_t errors_count2;
+	uint16_t errors_count3;
+	uint16_t errors_count4;
+
+//	bool remote_manual; /**< set to true by the commander when the manual-switch on the remote is set to manual */
+	bool gps_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 */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_status);
+
+#endif