Merge branch 'master' into navigator_rewrite

Conflicts:
	src/drivers/gps/gps.cpp
	src/drivers/gps/mtk.cpp
	src/modules/commander/commander.cpp
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
	src/modules/navigator/mission.cpp
	src/modules/navigator/mission.h
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_state.h
	src/modules/position_estimator_inav/position_estimator_inav_main.c

1 files changed, 12 insertions, 12 deletions

diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index 8a946543d..ee0d08391 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -317,34 +317,34 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
 	ut_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to SEATBELT.
+	// MANUAL to ALTCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = true;
-	new_main_state = MAIN_STATE_SEATBELT;
-	ut_assert("tranisition: manual to seatbelt", 
+	new_main_state = MAIN_STATE_ALTCTL;
+	ut_assert("tranisition: manual to altctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
+	ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state);
 
-	// MANUAL to SEATBELT, invalid local altitude.
+	// MANUAL to ALTCTRL, invalid local altitude.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = false;
-	new_main_state = MAIN_STATE_SEATBELT;
+	new_main_state = MAIN_STATE_ALTCTL;
 	ut_assert("no transition: invalid local altitude",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
 
-	// MANUAL to EASY.
+	// MANUAL to POSCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = true;
-	new_main_state = MAIN_STATE_EASY;
-	ut_assert("transition: manual to easy",
+	new_main_state = MAIN_STATE_POSCTL;
+	ut_assert("transition: manual to posctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
+	ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state);
 
-	// MANUAL to EASY, invalid local position.
+	// MANUAL to POSCTRL, invalid local position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = false;
-	new_main_state = MAIN_STATE_EASY;
+	new_main_state = MAIN_STATE_POSCTL;
 	ut_assert("no transition: invalid position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);