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

4 files changed, 157 insertions, 101 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index ab50bab16..f47e48191 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -59,7 +59,6 @@
 #include <errno.h>
 #include <debug.h>
 #include <sys/prctl.h>
-#include <v1.0/common/mavlink.h>
 #include <string.h>
 #include <drivers/drv_led.h>
 #include <drivers/drv_hrt.h>
@@ -773,7 +772,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd)
 {
 	/* result of the command */
-	uint8_t result = MAV_RESULT_UNSUPPORTED;
+	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 
 	/* announce command handling */
 	tune_confirm();
@@ -783,99 +782,74 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 	/* request to set different system mode */
 	switch (cmd->command) {
-		case MAV_CMD_DO_SET_MODE:
+		case VEHICLE_CMD_DO_SET_MODE:
 		{
 			if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
-				result = MAV_RESULT_ACCEPTED;
+				result = VEHICLE_CMD_RESULT_ACCEPTED;
 			} else {
-				result = MAV_RESULT_DENIED;
+				result = VEHICLE_CMD_RESULT_DENIED;
 			}
 		}
 		break;
 
-		case MAV_CMD_COMPONENT_ARM_DISARM: {
+		case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
 			/* request to arm */
 			if ((int)cmd->param1 == 1) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 			/* request to disarm */
 			} else if ((int)cmd->param1 == 0) {
 				if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 			}
 		}
 		break;
 
 		/* request for an autopilot reboot */
-		case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
+		case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
 			if ((int)cmd->param1 == 1) {
 				if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
 					/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					/* system may return here */
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 			}
 		}
 		break;
 
-		case PX4_CMD_CONTROLLER_SELECTION: {
-			bool changed = false;
-			if ((int)cmd->param1 != (int)current_vehicle_status->flag_control_rates_enabled) {
-				current_vehicle_status->flag_control_rates_enabled = cmd->param1;
-				changed = true;
-			}
-			if ((int)cmd->param2 != (int)current_vehicle_status->flag_control_attitude_enabled) {
-				current_vehicle_status->flag_control_attitude_enabled = cmd->param2;
-				changed = true;
-			}
-			if ((int)cmd->param3 != (int)current_vehicle_status->flag_control_velocity_enabled) {
-				current_vehicle_status->flag_control_velocity_enabled = cmd->param3;
-				changed = true;
-			}
-			if ((int)cmd->param4 != (int)current_vehicle_status->flag_control_position_enabled) {
-				current_vehicle_status->flag_control_position_enabled = cmd->param4;
-				changed = true;
-			}
-
-			if (changed) {
-				/* publish current state machine */
-				state_machine_publish(status_pub, current_vehicle_status, mavlink_fd);
-			}
-		}
-
 //		/* request to land */
-//		case MAV_CMD_NAV_LAND:
+//		case VEHICLE_CMD_NAV_LAND:
 //		 {
 //				//TODO: add check if landing possible
 //				//TODO: add landing maneuver
 //
 //				if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) {
-//					result = MAV_RESULT_ACCEPTED;
+//					result = VEHICLE_CMD_RESULT_ACCEPTED;
 //		}		}
 //		break;
 //
 //		/* request to takeoff */
-//		case MAV_CMD_NAV_TAKEOFF:
+//		case VEHICLE_CMD_NAV_TAKEOFF:
 //		{
 //			//TODO: add check if takeoff possible
 //			//TODO: add takeoff maneuver
 //
 //			if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) {
-//				result = MAV_RESULT_ACCEPTED;
+//				result = VEHICLE_CMD_RESULT_ACCEPTED;
 //			}
 //		}
 //		break;
 //
 		/* preflight calibration */
-		case MAV_CMD_PREFLIGHT_CALIBRATION: {
+		case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
 			bool handled = false;
 
 			/* gyro calibration */
@@ -890,10 +864,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					mavlink_log_info(mavlink_fd, "[cmd] finished gyro calibration");
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING gyro calibration");
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 				handled = true;
 			}
@@ -910,10 +884,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					mavlink_log_info(mavlink_fd, "[cmd] finished mag calibration");
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING mag calibration");
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 				handled = true;
 			}
@@ -928,7 +902,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING altitude calibration");
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 				handled = true;
 			}
@@ -945,10 +919,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					mavlink_log_info(mavlink_fd, "[cmd] finished trim calibration");
 					tune_confirm();
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING trim calibration");
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 				handled = true;
 			}
@@ -965,10 +939,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					tune_confirm();
 					mavlink_log_info(mavlink_fd, "[cmd] CMD finished accel calibration");
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
-					result = MAV_RESULT_ACCEPTED;
+					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					mavlink_log_critical(mavlink_fd, "[cmd] REJECTING accel calibration");
-					result = MAV_RESULT_DENIED;
+					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 				handled = true;
 			}
@@ -977,16 +951,16 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 			if (!handled) {
 				//fprintf(stderr, "[cmd] refusing unsupported calibration request\n");
 				mavlink_log_critical(mavlink_fd, "[cmd] CMD refusing unsup. calib. request");
-				result = MAV_RESULT_UNSUPPORTED;
+				result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 			}
 		}
 		break;
 
-		case MAV_CMD_PREFLIGHT_STORAGE: {
+		case VEHICLE_CMD_PREFLIGHT_STORAGE: {
 			if (current_status.flag_system_armed &&
-				((current_status.system_type == MAV_TYPE_QUADROTOR) ||
-						(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
-						(current_status.system_type == MAV_TYPE_OCTOROTOR))) {
+				((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+						(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+						(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
 				/* do not perform expensive memory tasks on multirotors in flight */
 				// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
 				mavlink_log_info(mavlink_fd, "[cmd] REJECTING save cmd while multicopter armed");
@@ -1003,11 +977,11 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 						//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
 						mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = MAV_RESULT_ACCEPTED;
+						result = VEHICLE_CMD_RESULT_ACCEPTED;
 					} else if (read_ret == 1) {
 						mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = MAV_RESULT_ACCEPTED;
+						result = VEHICLE_CMD_RESULT_ACCEPTED;
 					} else {
 						if (read_ret < -1) {
 							mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
@@ -1016,7 +990,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 							mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
-						result = MAV_RESULT_FAILED;
+						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
 				} else if (((int)(cmd->param1)) == 1)	{
@@ -1026,7 +1000,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 					if (write_ret == OK) {
 						mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
 						mavlink_log_info(mavlink_fd, param_get_default_file());
-						result = MAV_RESULT_ACCEPTED;
+						result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 					} else {
 						if (write_ret < -1) {
@@ -1036,12 +1010,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 							mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
 							mavlink_log_info(mavlink_fd, param_get_default_file());
 						}
-						result = MAV_RESULT_FAILED;
+						result = VEHICLE_CMD_RESULT_FAILED;
 					}
 
 				} else {
 					mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
-					result = MAV_RESULT_UNSUPPORTED;
+					result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 				}
 			}
 		}
@@ -1049,7 +1023,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 		default: {
 			mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
-			result = MAV_RESULT_UNSUPPORTED;
+			result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 			/* announce command rejection */
 			ioctl(buzzer, TONE_SET_ALARM, 4);
 		}
@@ -1057,11 +1031,11 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 	}
 
 	/* supported command handling stop */
-	if (result == MAV_RESULT_FAILED ||
-		result == MAV_RESULT_DENIED ||
-		result == MAV_RESULT_UNSUPPORTED) {
+	if (result == VEHICLE_CMD_RESULT_FAILED ||
+		result == VEHICLE_CMD_RESULT_DENIED ||
+		result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		ioctl(buzzer, TONE_SET_ALARM, 5);
-	} else if (result == MAV_RESULT_ACCEPTED) {
+	} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
 		tune_confirm();
 	}
 
@@ -1240,7 +1214,7 @@ int commander_thread_main(int argc, char *argv[])
 	failsafe_lowlevel_timeout_ms = 0;
 	param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
 
-	param_t _param_sys_type = param_find("MAV_TYPE");
+	param_t _param_sys_type = param_find("VEHICLE_TYPE");
 
 	/* welcome user */
 	printf("[cmd] I am in command now!\n");
@@ -1411,9 +1385,9 @@ int commander_thread_main(int argc, char *argv[])
 					warnx("failed setting new system type");
 				}
 				/* disable manual override for all systems that rely on electronic stabilization */
-				if (current_status.system_type == MAV_TYPE_QUADROTOR ||
-				    current_status.system_type == MAV_TYPE_HEXAROTOR ||
-				    current_status.system_type == MAV_TYPE_OCTOROTOR) {
+				if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
+				    current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
+				    current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
 					current_status.flag_external_manual_override_ok = false;
 				} else {
 					current_status.flag_external_manual_override_ok = true;
@@ -1691,9 +1665,9 @@ int commander_thread_main(int argc, char *argv[])
 				// 	printf("man mode sw not finite\n");
 
 				// 	/* this switch is not properly mapped, set default */
-				// 	if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
-				// 		(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
-				// 		(current_status.system_type == MAV_TYPE_OCTOROTOR)) {
+				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
 
 				// 		/* assuming a rotary wing, fall back to SAS */
 				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
@@ -1710,9 +1684,9 @@ int commander_thread_main(int argc, char *argv[])
 				// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
 
 				// 	/* bottom stick position, set direct mode for vehicles supporting it */
-				// 	if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
-				// 		(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
-				// 		(current_status.system_type == MAV_TYPE_OCTOROTOR)) {
+				// 	if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+				// 		(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
 
 				// 		/* assuming a rotary wing, fall back to SAS */
 				// 		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
@@ -1769,9 +1743,9 @@ int commander_thread_main(int argc, char *argv[])
 				 * Check if left stick is in lower left position --> switch to standby state.
 				 * Do this only for multirotors, not for fixed wing aircraft.
 				 */
-				if (((current_status.system_type == MAV_TYPE_QUADROTOR) ||
-					(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
-					(current_status.system_type == MAV_TYPE_OCTOROTOR)
+				if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
+					(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
+					(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
 					) &&
 					((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
 					(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index f30fd975b..fdd32ca40 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -522,20 +522,20 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 	current_status->flag_control_manual_enabled = true;
 
 	/* set behaviour based on airframe */
-	if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
-		(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
-		(current_status.system_type == MAV_TYPE_OCTOROTOR)) {
+	if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
 
 		/* assuming a rotary wing, set to SAS */
-		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
-		current_status.flag_control_attitude_enabled = true;
-		current_status.flag_control_rates_enabled = true;
+		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
+		current_status->flag_control_attitude_enabled = true;
+		current_status->flag_control_rates_enabled = true;
 	} else {
 
 		/* assuming a fixed wing, set to direct pass-through */
-		current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
-		current_status.flag_control_attitude_enabled = false;
-		current_status.flag_control_rates_enabled = false;
+		current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
+		current_status->flag_control_attitude_enabled = false;
+		current_status->flag_control_rates_enabled = false;
 	}
 
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
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 */