Removed compile errors, removed non-wanted MAVLink dependency in commander app

2 files changed, 93 insertions, 11 deletions

diff --git a/apps/uORB/topics/vehicle_command.h b/apps/uORB/topics/vehicle_command.h
index 3e220965d..fac571659 100644
--- a/apps/uORB/topics/vehicle_command.h
+++ b/apps/uORB/topics/vehicle_command.h
@@ -50,20 +50,77 @@
  * @{
  */
 
-enum PX4_CMD {
-	PX4_CMD_CONTROLLER_SELECTION = 1000,
+/**
+ * Commands for commander app.
+ *
+ * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD
+{
+	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_ENUM_END=401, /*  | */
 };
 
+/**
+ * Commands for commander app.
+ *
+ * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD_RESULT
+{
+	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
+	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
+	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
+	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
+	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
+	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
+};
+
+
 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.   */
+	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param4;			/**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
+	uint16_t command;		/**< Command ID, as defined MAVLink by VEHICLE_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  */
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 230521f53..ccd00c52f 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -107,6 +107,31 @@ enum VEHICLE_MANUAL_SAS_MODE {
 };
 
 /**
+ * Should match 1:1 MAVLink's MAV_TYPE ENUM
+ */
+enum VEHICLE_TYPE {
+	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
+	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
+	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
+	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
+	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
+	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
+	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
+	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
+	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
+	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
+	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
+	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
+	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
+	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
+	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
+	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
+	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
+	VEHICLE_TYPE_KITE=17, /* Kite | */
+	VEHICLE_TYPE_ENUM_END=18, /*  | */
+};
+
+/**
  * state machine / state of vehicle.
  *
  * Encodes the complete system state and is set by the commander app.
@@ -124,7 +149,7 @@ struct vehicle_status_s
 	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< current flight mode, as defined by mode switch */
 	enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
 	enum VEHICLE_MANUAL_SAS_MODE	manual_sas_mode;	/**< current stabilization mode */
-	int32_t system_type;				/**< system type, inspired by MAVLinks MAV_TYPE enum */
+	int32_t system_type;				/**< system type, inspired by MAVLinks VEHICLE_TYPE enum */
 
 	/* system flags - these represent the state predicates */