Merge branch 'fw_autoland_att_tecs_navigator_termination_controlgroups' into bottle_drop_navigator

Conflicts:
	src/drivers/px4fmu/fmu.cpp
	src/modules/dataman/dataman.c
	src/modules/dataman/dataman.h
	src/modules/mavlink/orb_listener.c
	src/modules/mavlink/waypoints.c
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_mission.cpp
	src/modules/navigator/navigator_mission.h
	src/modules/uORB/topics/mission.h

4 files changed, 165 insertions, 3 deletions

diff --git a/makefiles/config_px4fmu-v1_backside.mk b/makefiles/config_px4fmu-v1_backside.mk
index c07f7ab1a..6da78b287 100644
--- a/makefiles/config_px4fmu-v1_backside.mk
+++ b/makefiles/config_px4fmu-v1_backside.mk
@@ -69,12 +69,13 @@ MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
 
 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 #MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/att_pos_estimator_ekf
 #MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
+MODULES		+= modules/attitude_estimator_so3
 
 #
 # Vehicle Control
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 1e1d0f419..f724962b2 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -69,9 +69,10 @@ MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
 
 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 826b5131a..7516103e7 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -21,6 +21,7 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/px4io
 MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
 MODULES		+= drivers/lsm303d
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
@@ -68,9 +69,10 @@ MODULES		+= modules/mavlink
 MODULES		+= modules/mavlink_onboard
 
 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
diff --git a/makefiles/config_px4fmu-v2_logging.mk b/makefiles/config_px4fmu-v2_logging.mk
new file mode 100644
index 000000000..4e3cae5ee
--- /dev/null
+++ b/makefiles/config_px4fmu-v2_logging.mk
@@ -0,0 +1,158 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS, copy the px4iov2 firmware into
+# the ROMFS if it's available
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_logging
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/px4io
+MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott/hott_telemetry
+MODULES		+= drivers/hott/hott_sensors
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/roboclaw
+MODULES		+= drivers/airspeed
+MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/meas_airspeed
+MODULES		+= modules/sensors
+
+# Needs to be burned to the ground and re-written; for now,
+# just don't build it.
+#MODULES		+= drivers/mkblctrl
+
+#
+# System commands
+#
+MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/bl_update
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/param
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/preflight_check
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/esc_calib
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+MODULES		+= modules/navigator
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= modules/att_pos_estimator_ekf
+MODULES		+= modules/position_estimator_inav
+MODULES		+= examples/flow_position_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog2
+
+#
+# Unit tests
+#
+#MODULES 	+= modules/unit_test
+#MODULES 	+= modules/commander/commander_tests
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# Libraries
+#
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
+MODULES		+= lib/geo
+MODULES		+= lib/conversion
+MODULES		+= modules/dataman
+
+#
+# Demo apps
+#
+#MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+#MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+#MODULES		+= examples/px4_mavlink_debug
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )