Merge remote-tracking branch 'upstream/master' into manualcontrolrename

Conflicts:
	src/modules/commander/commander.cpp
	src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
	src/modules/uORB/topics/manual_control_setpoint.h

1 files changed, 22 insertions, 22 deletions

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 68301648f..cf8971108 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -153,7 +153,7 @@ private:
 	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
 
 	/** manual control states */
-	float		_seatbelt_hold_heading;		/**< heading the system should hold in seatbelt mode */
+	float		_altctrl_hold_heading;		/**< heading the system should hold in altctrl mode */
 	double		_loiter_hold_lat;
 	double		_loiter_hold_lon;
 	float		_loiter_hold_alt;
@@ -345,7 +345,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 
 	/*
 	 * Reset takeoff state
@@ -1051,16 +1051,16 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (0/* easy mode enabled */) {
+	} else if (0/* posctrl mode enabled */) {
 
-		/** EASY FLIGHT **/
+		/** POSCTRL FLIGHT **/
 
-		if (0/* switched from another mode to easy */) {
-			_seatbelt_hold_heading = _att.yaw;
+		if (0/* switched from another mode to posctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* easy on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.r;
+		if (0/* posctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.r;
 		}
 
 		//XXX not used
@@ -1073,39 +1073,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 //			climb_out = true;
 //		}
 
-		/* if in seatbelt mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
 					  _manual.z;
 
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body = _l1_control.nav_roll();
 		_att_sp.yaw_body = _l1_control.nav_bearing();
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
-					    seatbelt_airspeed,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    false, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
 					    _parameters.pitch_limit_min, _parameters.pitch_limit_max);
 
-	} else if (0/* seatbelt mode enabled */) {
+	} else if (0/* altctrl mode enabled */) {
 
-		/** SEATBELT FLIGHT **/
+		/** ALTCTRL FLIGHT **/
 
-		if (0/* switched from another mode to seatbelt */) {
-			_seatbelt_hold_heading = _att.yaw;
+		if (0/* switched from another mode to altctrl */) {
+			_altctrl_hold_heading = _att.yaw;
 		}
 
-		if (0/* seatbelt on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.r;
+		if (0/* altctrl on and manual control yaw non-zero */) {
+			_altctrl_hold_heading = _att.yaw + _manual.r;
 		}
 
-		/* if in seatbelt mode, set airspeed based on manual control */
+		/* if in altctrl mode, set airspeed based on manual control */
 
 		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
+		float altctrl_airspeed = _parameters.airspeed_min +
 					  (_parameters.airspeed_max - _parameters.airspeed_min) *
 					  _manual.z;
 
@@ -1124,11 +1124,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			climb_out = true;
 		}
 
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
+		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
 		_att_sp.roll_body =	_manual.y;
 		_att_sp.yaw_body =	_manual.r;
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
-					    seatbelt_airspeed,
+					    altctrl_airspeed,
 					    _airspeed.indicated_airspeed_m_s, eas2tas,
 					    climb_out, _parameters.pitch_limit_min,
 					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,