merged upstream/master into sbus2_sensorssbus2_sensors

12 files changed, 76 insertions, 481 deletions

diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
index b964d40a3..6768bfa7e 100644
--- a/src/modules/controllib/block/Block.cpp
+++ b/src/modules/controllib/block/Block.cpp
@@ -41,10 +41,11 @@
 #include <string.h>
 #include <stdio.h>
 
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+
 #include "Block.hpp"
 #include "BlockParam.hpp"
-#include "../uorb/UOrbSubscription.hpp"
-#include "../uorb/UOrbPublication.hpp"
 
 namespace control
 {
@@ -100,7 +101,7 @@ void Block::updateParams()
 
 void Block::updateSubscriptions()
 {
-	UOrbSubscriptionBase *sub = getSubscriptions().getHead();
+	uORB::SubscriptionBase *sub = getSubscriptions().getHead();
 	int count = 0;
 
 	while (sub != NULL) {
@@ -118,7 +119,7 @@ void Block::updateSubscriptions()
 
 void Block::updatePublications()
 {
-	UOrbPublicationBase *pub = getPublications().getHead();
+	uORB::PublicationBase *pub = getPublications().getHead();
 	int count = 0;
 
 	while (pub != NULL) {
diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
index 258701f27..736698e21 100644
--- a/src/modules/controllib/block/Block.hpp
+++ b/src/modules/controllib/block/Block.hpp
@@ -42,7 +42,13 @@
 #include <stdint.h>
 #include <inttypes.h>
 
-#include "List.hpp"
+#include <containers/List.hpp>
+
+// forward declaration
+namespace uORB {
+	class SubscriptionBase;
+	class PublicationBase;
+}
 
 namespace control
 {
@@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80;
 
 // forward declaration
 class BlockParamBase;
-class UOrbSubscriptionBase;
-class UOrbPublicationBase;
 class SuperBlock;
 
 /**
@@ -79,15 +83,15 @@ public:
 protected:
 // accessors
 	SuperBlock *getParent() { return _parent; }
-	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
-	List<UOrbPublicationBase *> & getPublications() { return _publications; }
+	List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
+	List<uORB::PublicationBase *> & getPublications() { return _publications; }
 	List<BlockParamBase *> & getParams() { return _params; }
 // attributes
 	const char *_name;
 	SuperBlock *_parent;
 	float _dt;
-	List<UOrbSubscriptionBase *> _subscriptions;
-	List<UOrbPublicationBase *> _publications;
+	List<uORB::SubscriptionBase *> _subscriptions;
+	List<uORB::PublicationBase *> _publications;
 	List<BlockParamBase *> _params;
 };
 
diff --git a/src/modules/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp
index fd12e365d..8f98da74f 100644
--- a/src/modules/controllib/block/BlockParam.cpp
+++ b/src/modules/controllib/block/BlockParam.cpp
@@ -76,4 +76,29 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
 		printf("error finding param: %s\n", fullname);
 };
 
+template <class T>
+BlockParam<T>::BlockParam(Block *block, const char *name,
+		bool parent_prefix) :
+	BlockParamBase(block, name, parent_prefix),
+	_val() {
+	update();
+}
+
+template <class T>
+T BlockParam<T>::get() { return _val; }
+
+template <class T>
+void BlockParam<T>::set(T val) { _val = val; }
+
+template <class T>
+void BlockParam<T>::update() {
+	if (_handle != PARAM_INVALID) param_get(_handle, &_val);
+}
+
+template <class T>
+BlockParam<T>::~BlockParam() {};
+
+template class __EXPORT BlockParam<float>;
+template class __EXPORT BlockParam<int>;
+
 } // namespace control
diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp
index 36bc8c24b..a64d0139e 100644
--- a/src/modules/controllib/block/BlockParam.hpp
+++ b/src/modules/controllib/block/BlockParam.hpp
@@ -42,7 +42,7 @@
 #include <systemlib/param/param.h>
 
 #include "Block.hpp"
-#include "List.hpp"
+#include <containers/List.hpp>
 
 namespace control
 {
@@ -70,38 +70,21 @@ protected:
  * Parameters that are tied to blocks for updating and nameing.
  */
 
-class __EXPORT BlockParamFloat : public BlockParamBase
+template <class T>
+class BlockParam : public BlockParamBase
 {
 public:
-	BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
-		BlockParamBase(block, name, parent_prefix),
-		_val() {
-		update();
-	}
-	float get() { return _val; }
-	void set(float val) { _val = val; }
-	void update() {
-		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
-	}
+	BlockParam(Block *block, const char *name,
+			bool parent_prefix=true);
+	T get();
+	void set(T val);
+	void update();
+	virtual ~BlockParam();
 protected:
-	float _val;
+	T _val;
 };
 
-class __EXPORT BlockParamInt : public BlockParamBase
-{
-public:
-	BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
-		BlockParamBase(block, name, parent_prefix),
-		_val() {
-		update();
-	}
-	int get() { return _val; }
-	void set(int val) { _val = val; }
-	void update() {
-		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
-	}
-protected:
-	int _val;
-};
+typedef BlockParam<float> BlockParamFloat;
+typedef BlockParam<int> BlockParamInt;
 
 } // namespace control
diff --git a/src/modules/controllib/block/List.hpp b/src/modules/controllib/block/List.hpp
deleted file mode 100644
index 96b0b94d1..000000000
--- a/src/modules/controllib/block/List.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Node.h
- *
- * A node of a linked list.
- */
-
-#pragma once
-
-template<class T>
-class __EXPORT ListNode
-{
-public:
-	ListNode() : _sibling(NULL) {
-	}
-	void setSibling(T sibling) { _sibling = sibling; }
-	T getSibling() { return _sibling; }
-	T get() {
-		return _sibling;
-	}
-protected:
-	T _sibling;
-};
-
-template<class T>
-class __EXPORT List
-{
-public:
-	List() : _head() {
-	}
-	void add(T newNode) {
-		newNode->setSibling(getHead());
-		setHead(newNode);
-	}
-	T getHead() { return _head; }
-private:
-	void setHead(T &head) { _head = head; }
-	T _head;
-};
diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk
index d815a8feb..f0139a4b7 100644
--- a/src/modules/controllib/module.mk
+++ b/src/modules/controllib/module.mk
@@ -37,7 +37,5 @@
 SRCS		 = test_params.c \
 		   block/Block.cpp \
 		   block/BlockParam.cpp \
-		   uorb/UOrbPublication.cpp \
-		   uorb/UOrbSubscription.cpp \
 		   uorb/blocks.cpp \
 		   blocks.cpp
diff --git a/src/modules/controllib/uorb/UOrbPublication.cpp b/src/modules/controllib/uorb/UOrbPublication.cpp
deleted file mode 100644
index f69b39d90..000000000
--- a/src/modules/controllib/uorb/UOrbPublication.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbPublication.cpp
- *
- */
-
-#include "UOrbPublication.hpp"
diff --git a/src/modules/controllib/uorb/UOrbPublication.hpp b/src/modules/controllib/uorb/UOrbPublication.hpp
deleted file mode 100644
index 6f1f3fc1c..000000000
--- a/src/modules/controllib/uorb/UOrbPublication.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbPublication.h
- *
- */
-
-#pragma once
-
-#include <uORB/uORB.h>
-#include "../block/Block.hpp"
-#include "../block/List.hpp"
-
-
-namespace control
-{
-
-class Block;
-
-/**
- * Base publication warapper class, used in list traversal
- * of various publications.
- */
-class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
-{
-public:
-
-	UOrbPublicationBase(
-		List<UOrbPublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		_meta(meta),
-		_handle(-1) {
-		if (list != NULL) list->add(this);
-	}
-	void update() {
-		if (_handle > 0) {
-			orb_publish(getMeta(), getHandle(), getDataVoidPtr());
-		} else {
-			setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
-		}
-	}
-	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbPublicationBase() {
-		orb_unsubscribe(getHandle());
-	}
-	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
-protected:
-	void setHandle(orb_advert_t handle) { _handle = handle; }
-	const struct orb_metadata *_meta;
-	orb_advert_t _handle;
-};
-
-/**
- * UOrb Publication wrapper class
- */
-template<class T>
-class UOrbPublication :
-	public T, // this must be first!
-	public UOrbPublicationBase
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param list      A list interface for adding to list during construction
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 */
-	UOrbPublication(
-		List<UOrbPublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		T(), // initialize data structure to zero
-		UOrbPublicationBase(list, meta) {
-	}
-	virtual ~UOrbPublication() {}
-	/*
-	 * XXX
-	 * This function gets the T struct, assuming
-	 * the struct is the first base class, this
-	 * should use dynamic cast, but doesn't
-	 * seem to be available
-	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-};
-
-} // namespace control
diff --git a/src/modules/controllib/uorb/UOrbSubscription.cpp b/src/modules/controllib/uorb/UOrbSubscription.cpp
deleted file mode 100644
index 022cadd24..000000000
--- a/src/modules/controllib/uorb/UOrbSubscription.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbSubscription.cpp
- *
- */
-
-#include "UOrbSubscription.hpp"
-
-namespace control
-{
-
-bool __EXPORT UOrbSubscriptionBase::updated()
-{
-	bool isUpdated = false;
-	orb_check(_handle, &isUpdated);
-	return isUpdated;
-}
-
-} // namespace control
diff --git a/src/modules/controllib/uorb/UOrbSubscription.hpp b/src/modules/controllib/uorb/UOrbSubscription.hpp
deleted file mode 100644
index d337d89a8..000000000
--- a/src/modules/controllib/uorb/UOrbSubscription.hpp
+++ /dev/null
@@ -1,137 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbSubscription.h
- *
- */
-
-#pragma once
-
-#include <uORB/uORB.h>
-#include "../block/Block.hpp"
-#include "../block/List.hpp"
-
-
-namespace control
-{
-
-class Block;
-
-/**
- * Base subscription warapper class, used in list traversal
- * of various subscriptions.
- */
-class __EXPORT UOrbSubscriptionBase :
-	public ListNode<control::UOrbSubscriptionBase *>
-{
-public:
-// methods
-
-	/**
-	 * Constructor
-	 *
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 */
-	UOrbSubscriptionBase(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta) :
-		_meta(meta),
-		_handle() {
-		if (list != NULL) list->add(this);
-	}
-	bool updated();
-	void update() {
-		if (updated()) {
-			orb_copy(_meta, _handle, getDataVoidPtr());
-		}
-	}
-	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbSubscriptionBase() {
-		orb_unsubscribe(_handle);
-	}
-// accessors
-	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
-protected:
-// accessors
-	void setHandle(int handle) { _handle = handle; }
-// attributes
-	const struct orb_metadata *_meta;
-	int _handle;
-};
-
-/**
- * UOrb Subscription wrapper class
- */
-template<class T>
-class __EXPORT UOrbSubscription :
-	public T, // this must be first!
-	public UOrbSubscriptionBase
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param list      A list interface for adding to list during construction
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 * @param interval  The minimum interval in milliseconds between updates
-	 */
-	UOrbSubscription(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta, unsigned interval) :
-		T(), // initialize data structure to zero
-		UOrbSubscriptionBase(list, meta) {
-		setHandle(orb_subscribe(getMeta()));
-		orb_set_interval(getHandle(), interval);
-	}
-
-	/**
-	 * Deconstructor
-	 */
-	virtual ~UOrbSubscription() {}
-
-	/*
-	 * XXX
-	 * This function gets the T struct, assuming
-	 * the struct is the first base class, this
-	 * should use dynamic cast, but doesn't
-	 * seem to be available
-	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-	T getData() { return T(*this); }
-};
-
-} // namespace control
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp
index 448a42a99..e8fecef0d 100644
--- a/src/modules/controllib/uorb/blocks.cpp
+++ b/src/modules/controllib/uorb/blocks.cpp
@@ -54,26 +54,26 @@ BlockWaypointGuidance::~BlockWaypointGuidance() {};
 
 void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
 				   vehicle_attitude_s &att,
-				   vehicle_global_position_setpoint_s &posCmd,
-				   vehicle_global_position_setpoint_s &lastPosCmd)
+				   position_setpoint_s &missionCmd,
+				   position_setpoint_s &lastMissionCmd)
 {
 
 	// heading to waypoint
 	float psiTrack = get_bearing_to_next_waypoint(
 				 (double)pos.lat / (double)1e7d,
 				 (double)pos.lon / (double)1e7d,
-				 (double)posCmd.lat / (double)1e7d,
-				 (double)posCmd.lon / (double)1e7d);
+				 missionCmd.lat,
+				 missionCmd.lon);
 
 	// cross track
 	struct crosstrack_error_s xtrackError;
 	get_distance_to_line(&xtrackError,
 			     (double)pos.lat / (double)1e7d,
 			     (double)pos.lon / (double)1e7d,
-			     (double)lastPosCmd.lat / (double)1e7d,
-			     (double)lastPosCmd.lon / (double)1e7d,
-			     (double)posCmd.lat / (double)1e7d,
-			     (double)posCmd.lon / (double)1e7d);
+			     lastMissionCmd.lat,
+			     lastMissionCmd.lon,
+			     missionCmd.lat,
+			     missionCmd.lon);
 
 	_psiCmd = _wrap_2pi(psiTrack -
 			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
@@ -86,7 +86,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c
 	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
 	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
 	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
-	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
+	_missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20),
 	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
 	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
 	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp
index 46dc1bec2..a8a70507e 100644
--- a/src/modules/controllib/uorb/blocks.hpp
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -43,7 +43,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_set_triplet.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
@@ -62,8 +62,8 @@ extern "C" {
 }
 
 #include "../blocks.hpp"
-#include "UOrbSubscription.hpp"
-#include "UOrbPublication.hpp"
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
 
 namespace control
 {
@@ -82,8 +82,8 @@ public:
 	virtual ~BlockWaypointGuidance();
 	void update(vehicle_global_position_s &pos,
 		    vehicle_attitude_s &att,
-		    vehicle_global_position_setpoint_s &posCmd,
-		    vehicle_global_position_setpoint_s &lastPosCmd);
+		    position_setpoint_s &missionCmd,
+		    position_setpoint_s &lastMissionCmd);
 	float getPsiCmd() { return _psiCmd; }
 };
 
@@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 {
 protected:
 	// subscriptions
-	UOrbSubscription<vehicle_attitude_s> _att;
-	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
-	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
-	UOrbSubscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
-	UOrbSubscription<manual_control_setpoint_s> _manual;
-	UOrbSubscription<vehicle_status_s> _status;
-	UOrbSubscription<parameter_update_s> _param_update;
+	uORB::Subscription<vehicle_attitude_s> _att;
+	uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
+	uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
+	uORB::Subscription<vehicle_global_position_s> _pos;
+	uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
+	uORB::Subscription<manual_control_setpoint_s> _manual;
+	uORB::Subscription<vehicle_status_s> _status;
+	uORB::Subscription<parameter_update_s> _param_update;
 	// publications
-	UOrbPublication<actuator_controls_s> _actuators;
+	uORB::Publication<actuator_controls_s> _actuators;
 public:
 	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
 	virtual ~BlockUorbEnabledAutopilot();