Cleaned up control mode state machine / flight mode / navigation state machine still needs a bit cleaning up

3 files changed, 63 insertions, 44 deletions

diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h
index 1368cb716..261a8a4ad 100644
--- a/apps/uORB/topics/manual_control_setpoint.h
+++ b/apps/uORB/topics/manual_control_setpoint.h
@@ -48,29 +48,33 @@
  * @{
  */
 
-enum MANUAL_CONTROL_MODE
-{
-	MANUAL_CONTROL_MODE_DIRECT = 0,
-	MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1,
-	MANUAL_CONTROL_MODE_ATT_YAW_POS = 2,
-	MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
-};
-
 struct manual_control_setpoint_s {
 	uint64_t timestamp;
 
-	enum MANUAL_CONTROL_MODE mode;		 /**< The current control inputs mode */
-	float roll;			 /**< ailerons roll / roll rate input */
-	float pitch;     /**< elevator / pitch / pitch rate */
-	float yaw;       /**< rudder / yaw rate / yaw */
-	float throttle;  /**< throttle / collective thrust / altitude */
+	float roll;			 	/**< ailerons roll / roll rate input */
+	float pitch;				/**< elevator / pitch / pitch rate */
+	float yaw;				/**< rudder / yaw rate / yaw */
+	float throttle;				/**< throttle / collective thrust / altitude */
+
+	float manual_override_switch;		/**< manual override mode (mandatory) */
+	float auto_mode_switch;			/**< auto mode switch (mandatory) */
+
+	/**
+	 * Any of the channels below may not be available and be set to NaN
+	 * to indicate that it does not contain valid data.
+	 */
+	float manual_mode_switch;		/**< manual mode (man, sas, alt) switch (optional) */
+	float manual_sas_switch;		/**< sas mode (rates / attitude) switch (optional) */
+	float return_to_launch_switch;		/**< return to launch switch (0 = disabled, 1 = enabled) */
+	float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
 
-	float override_mode_switch;
+	float flaps;				/**< flap position */
 
-	float aux1_cam_pan_flaps;
-	float aux2_cam_tilt;
-	float aux3_cam_zoom;
-	float aux4_cam_roll;
+	float aux1;				/**< default function: camera yaw / azimuth */
+	float aux2;				/**< default function: camera pitch / tilt */
+	float aux3;				/**< default function: camera trigger */
+	float aux4;				/**< default function: camera roll */
+	float aux5;				/**< default function: payload drop */
 
 }; /**< manual control inputs */
 
diff --git a/apps/uORB/topics/rc_channels.h b/apps/uORB/topics/rc_channels.h
index fef6ef2b3..9dd54df91 100644
--- a/apps/uORB/topics/rc_channels.h
+++ b/apps/uORB/topics/rc_channels.h
@@ -50,6 +50,13 @@
  * @{
  */
 
+/**
+ * The number of RC channel inputs supported.
+ * Current (Q1/2013) radios support up to 18 channels,
+ * leaving at a sane value of 14.
+ */
+#define RC_CHANNELS_MAX   14
+
 /** 
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
@@ -62,14 +69,18 @@ enum RC_CHANNELS_FUNCTION
   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
+  AUTO_MODE = 5,
+  MANUAL_MODE = 6,
+  SAS_MODE = 7,
+  RTL = 8,
+  OFFBOARD_MODE = 9,
+  FLAPS   = 10,
+  AUX_1   = 11,
+  AUX_2   = 12,
+  AUX_3   = 13,
+  AUX_4   = 14,
+  AUX_5   = 15,
+  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
 struct rc_channels_s {
@@ -78,14 +89,13 @@ struct rc_channels_s {
   uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
   struct {
     float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_FUNCTION_MAX];
-  uint8_t chan_count;                 /**< maximum number of valid channels */
+  } chan[RC_CHANNELS_MAX];
+  uint8_t chan_count;                 /**< number of valid channels */
 
   /*String array to store the names of the functions*/
   char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-  uint8_t function[RC_CHANNELS_FUNCTION_MAX];
+  int8_t function[RC_CHANNELS_FUNCTION_MAX];
   uint8_t rssi;                       /**< Overall receive signal strength */
-  bool is_valid;                      /**< Inputs are valid, no timeout */
 }; /**< radio control channels. */
 
 /**
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 738ca644f..ed3fed1ab 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -87,16 +87,23 @@ enum VEHICLE_MODE_FLAG {
 }; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
 
 enum VEHICLE_FLIGHT_MODE {
-	VEHICLE_FLIGHT_MODE_MANUAL = 0,	/**< direct manual control, same as VEHICLE_FLIGHT_MODE_ATTITUDE for multirotors */
-	VEHICLE_FLIGHT_MODE_ATTITUDE,	/**< attitude or rate stabilization, as defined by VEHICLE_ATTITUDE_MODE */
-	VEHICLE_FLIGHT_MODE_STABILIZED,	/**< attitude or rate stabilization plus velocity or position stabilization */
-	VEHICLE_FLIGHT_MODE_AUTO	/**< attitude or rate stabilization plus absolute position control and waypoints */
+	VEHICLE_FLIGHT_MODE_MANUAL = 0,		/**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
+	VEHICLE_FLIGHT_MODE_STAB,		/**< attitude or rate stabilization plus velocity or position stabilization */
+	VEHICLE_FLIGHT_MODE_HOLD,		/**< hold current position (hover or loiter around position when switched) */
+	VEHICLE_FLIGHT_MODE_AUTO		/**< attitude or rate stabilization plus absolute position control and waypoints */
 };
 
-enum VEHICLE_ATTITUDE_MODE {
-	VEHICLE_ATTITUDE_MODE_DIRECT,	/**< no attitude control, direct stick input mixing (only fixed wing) */
-	VEHICLE_ATTITUDE_MODE_RATES,	/**< body rates control mode */
-	VEHICLE_ATTITUDE_MODE_ATTITUDE	/**< tait-bryan attitude control mode */
+enum VEHICLE_MANUAL_CONTROL_MODE {
+	VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0,	/**< no attitude control, direct stick input mixing (only fixed wing) */
+	VEHICLE_MANUAL_CONTROL_MODE_RATES,	/**< body rates control mode */
+	VEHICLE_MANUAL_CONTROL_MODE_SAS		/**< stability augmented system (SAS) mode */
+};
+
+enum VEHICLE_MANUAL_SAS_MODE {
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0,	/**< roll, pitch and yaw absolute */
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE,	/**< roll and pitch absolute, yaw rate */
+	VEHICLE_MANUAL_SAS_MODE_SIMPLE,				/**< simple mode (includes altitude hold) */
+	VEHICLE_MANUAL_SAS_MODE_ALTITUDE			/**< altitude hold */
 };
 
 /**
@@ -115,12 +122,10 @@ struct vehicle_status_s
 
 	commander_state_machine_t state_machine;	/**< current flight state, main state machine */
 	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< current flight mode, as defined by mode switch */
-	enum VEHICLE_ATTITUDE_MODE attitute_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
+	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 */
 
-	// uint8_t mode;
-
-
 	/* system flags - these represent the state predicates */
 
 	bool flag_system_armed;				/**< true is motors / actuators are armed */
@@ -165,11 +170,11 @@ struct vehicle_status_s
 	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 flag_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 flag_local_position_valid;
 	bool flag_vector_flight_mode_ok;			/**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
-	bool flag_external_manual_override_ok;
+	bool flag_external_manual_override_ok;		/**< external override non-fatal for system. Only true for fixed wing */
+	bool flag_valid_launch_position;		/**< indicates a valid launch position */
 };
 
 /**