Merge remote-tracking branch 'upstream/io_fixes' into new_state_machine

Conflicts:
	src/drivers/px4io/px4io.cpp
	src/modules/commander/commander.c
	src/modules/commander/state_machine_helper.c
	src/modules/commander/state_machine_helper.h
	src/modules/px4iofirmware/mixer.cpp
	src/modules/uORB/topics/actuator_controls.h
	src/modules/uORB/topics/vehicle_status.h

1 files changed, 17 insertions, 2 deletions

diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index 394ee67cc..87aad6270 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -54,9 +54,25 @@
 #include <mavlink/mavlink_log.h>
 
 #include "state_machine_helper.h"
+#include "commander.h"
+
+bool is_multirotor(const struct vehicle_status_s *current_status)
+{
+	return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
+	    (current_status->system_type == VEHICLE_TYPE_TRICOPTER));
+}
+
+bool is_rotary_wing(const struct vehicle_status_s *current_status)
+{
+	return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
+	|| (current_status->system_type == VEHICLE_TYPE_COAXIAL);
+}
 
 int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) {
-	
+
+
 	int ret = ERROR;
 
 	/* only check transition if the new state is actually different from the current one */
@@ -717,7 +733,6 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
 // }
 
 
-
 ///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
 //
 //int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)