Merge branch 'master' into new_state_machine

compiling again
Conflicts:
	src/modules/fixedwing_att_control/fixedwing_att_control_att.c
	src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
	src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
	src/modules/mavlink/orb_listener.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/systemlib/pid/pid.c
	src/modules/systemlib/pid/pid.h
	src/modules/uORB/objects_common.cpp

8 files changed, 403 insertions, 120 deletions

diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 15ba8860d..f6c371c7c 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -144,14 +144,6 @@ set_hil_on_off(bool hil_enabled)
 	/* Enable HIL */
 	if (hil_enabled && !mavlink_hil_enabled) {
 
-		/* Advertise topics */
-		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
-		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
-
-		/* sensore level hil */
-		pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
-		pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
-
 		mavlink_hil_enabled = true;
 
 		/* ramp up some HIL-related subscriptions */
@@ -708,6 +700,8 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		lowspeed_counter++;
 
+		mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
+
 		/* sleep quarter the time */
 		usleep(25000);
 
@@ -719,10 +713,13 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		/* send parameters at 20 Hz (if queued for sending) */
 		mavlink_pm_queued_send();
+		mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
 
 		/* sleep quarter the time */
 		usleep(25000);
 
+		mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
+
 		if (baudrate > 57600) {
 			mavlink_pm_queued_send();
 		}
@@ -781,7 +778,7 @@ int mavlink_main(int argc, char *argv[])
 			errx(0, "mavlink already running\n");
 
 		thread_should_exit = false;
-		mavlink_task = task_spawn("mavlink",
+		mavlink_task = task_spawn_cmd("mavlink",
 					  SCHED_DEFAULT,
 					  SCHED_PRIORITY_DEFAULT,
 					  2048,
diff --git a/src/modules/mavlink/mavlink_hil.h b/src/modules/mavlink/mavlink_hil.h
index 8c7a5b514..744ed7d94 100644
--- a/src/modules/mavlink/mavlink_hil.h
+++ b/src/modules/mavlink/mavlink_hil.h
@@ -41,15 +41,6 @@
 
 extern bool mavlink_hil_enabled;
 
-extern struct vehicle_global_position_s hil_global_pos;
-extern struct vehicle_attitude_s hil_attitude;
-extern struct sensor_combined_s hil_sensors;
-extern struct vehicle_gps_position_s hil_gps;
-extern orb_advert_t pub_hil_global_pos;
-extern orb_advert_t pub_hil_attitude;
-extern orb_advert_t pub_hil_sensors;
-extern orb_advert_t pub_hil_gps;
-
 /**
  * Enable / disable Hardware in the Loop simulation mode.
  *
diff --git a/src/modules/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.cpp
index 940d030b2..33ac14860 100644
--- a/src/modules/mavlink/mavlink_receiver.c
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -49,7 +49,6 @@
 #include <fcntl.h>
 #include <mqueue.h>
 #include <string.h>
-#include "mavlink_bridge_header.h"
 #include <v1.0/common/mavlink.h>
 #include <drivers/drv_hrt.h>
 #include <time.h>
@@ -62,10 +61,17 @@
 #include <stdlib.h>
 #include <poll.h>
 
+#include <mathlib/mathlib.h>
+
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <systemlib/airspeed.h>
 #include <mavlink/mavlink_log.h>
 
+__BEGIN_DECLS
+
+#include "mavlink_bridge_header.h"
 #include "waypoints.h"
 #include "orb_topics.h"
 #include "missionlib.h"
@@ -73,8 +79,12 @@
 #include "mavlink_parameters.h"
 #include "util.h"
 
+extern bool gcs_link;
+
+__END_DECLS
+
 /* XXX should be in a header somewhere */
-pthread_t receive_start(int uart);
+extern "C" pthread_t receive_start(int uart);
 
 static void handle_message(mavlink_message_t *msg);
 static void *receive_thread(void *arg);
@@ -88,18 +98,18 @@ struct vehicle_global_position_s hil_global_pos;
 struct vehicle_attitude_s hil_attitude;
 struct vehicle_gps_position_s hil_gps;
 struct sensor_combined_s hil_sensors;
-orb_advert_t pub_hil_global_pos = -1;
-orb_advert_t pub_hil_attitude = -1;
-orb_advert_t pub_hil_gps = -1;
-orb_advert_t pub_hil_sensors = -1;
+static orb_advert_t pub_hil_global_pos = -1;
+static orb_advert_t pub_hil_attitude = -1;
+static orb_advert_t pub_hil_gps = -1;
+static orb_advert_t pub_hil_sensors = -1;
+static orb_advert_t pub_hil_airspeed = -1;
 
 static orb_advert_t cmd_pub = -1;
 static orb_advert_t flow_pub = -1;
 
 static orb_advert_t offboard_control_sp_pub = -1;
 static orb_advert_t vicon_position_pub = -1;
-
-extern bool gcs_link;
+static orb_advert_t telemetry_status_pub = -1;
 
 static void
 handle_message(mavlink_message_t *msg)
@@ -141,10 +151,10 @@ handle_message(mavlink_message_t *msg)
 				/* check if topic is advertised */
 				if (cmd_pub <= 0) {
 					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+				} else {
+					/* publish */
+					orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
 				}
-
-				/* publish */
-				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
 			}
 		}
 	}
@@ -281,7 +291,7 @@ handle_message(mavlink_message_t *msg)
 			}
 
 			offboard_control_sp.armed = ml_armed;
-			offboard_control_sp.mode = ml_mode;
+			offboard_control_sp.mode = static_cast<enum OFFBOARD_CONTROL_MODE>(ml_mode);
 
 			offboard_control_sp.timestamp = hrt_absolute_time();
 
@@ -296,6 +306,33 @@ handle_message(mavlink_message_t *msg)
 		}
 	}
 
+	/* handle status updates of the radio */
+	if (msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
+
+		struct telemetry_status_s tstatus;
+
+		mavlink_radio_status_t rstatus;
+		mavlink_msg_radio_status_decode(msg, &rstatus);
+
+		/* publish telemetry status topic */
+		tstatus.timestamp = hrt_absolute_time();
+		tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
+		tstatus.rssi = rstatus.rssi;
+		tstatus.remote_rssi = rstatus.remrssi;
+		tstatus.txbuf = rstatus.txbuf;
+		tstatus.noise = rstatus.noise;
+		tstatus.remote_noise = rstatus.remnoise;
+		tstatus.rxerrors = rstatus.rxerrors;
+		tstatus.fixed = rstatus.fixed;
+
+		if (telemetry_status_pub == 0) {
+			telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
+
+		} else {
+			orb_publish(ORB_ID(telemetry_status), telemetry_status_pub, &tstatus);
+		}
+	}
+
 	/*
 	 * Only decode hil messages in HIL mode.
 	 *
@@ -308,10 +345,10 @@ handle_message(mavlink_message_t *msg)
 
 		uint64_t timestamp = hrt_absolute_time();
 
-		if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_SENSOR) {
 
-			mavlink_highres_imu_t imu;
-			mavlink_msg_highres_imu_decode(msg, &imu);
+			mavlink_hil_sensor_t imu;
+			mavlink_msg_hil_sensor_decode(msg, &imu);
 
 			/* packet counter */
 			static uint16_t hil_counter = 0;
@@ -370,8 +407,34 @@ handle_message(mavlink_message_t *msg)
 			hil_sensors.magnetometer_counter = hil_counter;
 			hil_sensors.accelerometer_counter = hil_counter;
 
+			/* differential pressure */
+			hil_sensors.differential_pressure_pa = imu.diff_pressure;
+			hil_sensors.differential_pressure_counter = hil_counter;
+
+			/* airspeed from differential pressure, ambient pressure and temp */
+			struct airspeed_s airspeed;
+			airspeed.timestamp = hrt_absolute_time();
+
+			float ias = calc_indicated_airspeed(imu.diff_pressure);
+			// XXX need to fix this
+			float tas = ias;
+
+			airspeed.indicated_airspeed_m_s = ias;
+			airspeed.true_airspeed_m_s = tas;
+
+			if (pub_hil_airspeed < 0) {
+				pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+			} else {
+				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
+			}
+			//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
+
 			/* publish */
-			orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+			if (pub_hil_sensors > 0) {
+				orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+			} else {
+				pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+			}
 
 			// increment counters
 			hil_counter++;
@@ -379,21 +442,16 @@ handle_message(mavlink_message_t *msg)
 
 			// output
 			if ((timestamp - old_timestamp) > 10000000) {
-				printf("receiving hil imu at %d hz\n", hil_frames/10);
+				printf("receiving hil sensor at %d hz\n", hil_frames/10);
 				old_timestamp = timestamp;
 				hil_frames = 0;
 			}
 		}
 
-		if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_GPS) {
 
-			mavlink_gps_raw_int_t gps;
-			mavlink_msg_gps_raw_int_decode(msg, &gps);
-
-			/* packet counter */
-			static uint16_t hil_counter = 0;
-			static uint16_t hil_frames = 0;
-			static uint64_t old_timestamp = 0;
+			mavlink_hil_gps_t gps;
+			mavlink_msg_hil_gps_decode(msg, &gps);
 
 			/* gps */
 			hil_gps.timestamp_position = gps.time_usec;
@@ -412,54 +470,40 @@ handle_message(mavlink_message_t *msg)
 			/* go back to -PI..PI */
 			if (heading_rad > M_PI_F)
 				heading_rad -= 2.0f * M_PI_F;
-			hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
-			hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
-			hil_gps.vel_d_m_s = 0.0f;
+			hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
+			hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
+			hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
 			hil_gps.vel_ned_valid = true;
-			/* COG (course over ground) is speced as -PI..+PI */
+			/* COG (course over ground) is spec'ed as -PI..+PI */
 			hil_gps.cog_rad = heading_rad;
 			hil_gps.fix_type = gps.fix_type;
 			hil_gps.satellites_visible = gps.satellites_visible;
 
-			/* publish */
-			orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
-
-			// increment counters
-			hil_counter += 1 ;
-			hil_frames += 1 ;
+			/* publish GPS measurement data */
+			if (pub_hil_gps > 0) {
+				orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
+			} else {
+				pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+			}
 
-			// output
-			// if ((timestamp - old_timestamp) > 10000000) {
-			// 	printf("receiving hil gps at %d hz\n", hil_frames/10);
-			// 	old_timestamp = timestamp;
-			// 	hil_frames = 0;
-			// }
 		}
 
-		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE_QUATERNION) {
 
-			mavlink_hil_state_t hil_state;
-			mavlink_msg_hil_state_decode(msg, &hil_state);
+			mavlink_hil_state_quaternion_t hil_state;
+			mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
 
-			/* Calculate Rotation Matrix */
-			//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
-
-			if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
-				//TODO: assuming low pitch and roll values for now
-				hil_attitude.R[0][0] = cosf(hil_state.yaw);
-				hil_attitude.R[0][1] = sinf(hil_state.yaw);
-				hil_attitude.R[0][2] = 0.0f;
-
-				hil_attitude.R[1][0] = -sinf(hil_state.yaw);
-				hil_attitude.R[1][1] = cosf(hil_state.yaw);
-				hil_attitude.R[1][2] = 0.0f;
-
-				hil_attitude.R[2][0] = 0.0f;
-				hil_attitude.R[2][1] = 0.0f;
-				hil_attitude.R[2][2] = 1.0f;
+			struct airspeed_s airspeed;
+			airspeed.timestamp = hrt_absolute_time();
+			airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
+			airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
 
-				hil_attitude.R_valid = true;
+			if (pub_hil_airspeed < 0) {
+				pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+			} else {
+				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
 			}
+			warnx("IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
 
 			hil_global_pos.lat = hil_state.lat;
 			hil_global_pos.lon = hil_state.lon;
@@ -468,21 +512,48 @@ handle_message(mavlink_message_t *msg)
 			hil_global_pos.vy = hil_state.vy / 100.0f;
 			hil_global_pos.vz = hil_state.vz / 100.0f;
 
-
 			/* set timestamp and notify processes (broadcast) */
 			hil_global_pos.timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
 
-			hil_attitude.roll = hil_state.roll;
-			hil_attitude.pitch = hil_state.pitch;
-			hil_attitude.yaw = hil_state.yaw;
+			if (pub_hil_global_pos > 0) {
+				orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
+			} else {
+				pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
+			}
+
+			/* Calculate Rotation Matrix */
+			math::Quaternion q(hil_state.attitude_quaternion);
+			math::Dcm C_nb(q);
+			math::EulerAngles euler(C_nb);
+
+			/* set rotation matrix */
+			for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
+				hil_attitude.R[i][j] = C_nb(i, j);
+			
+			hil_attitude.R_valid = true;
+
+			/* set quaternion */
+			hil_attitude.q[0] = q(0);
+			hil_attitude.q[1] = q(1);
+			hil_attitude.q[2] = q(2);
+			hil_attitude.q[3] = q(3);
+			hil_attitude.q_valid = true;
+
+			hil_attitude.roll = euler.getPhi();
+			hil_attitude.pitch = euler.getTheta();
+			hil_attitude.yaw = euler.getPsi();
 			hil_attitude.rollspeed = hil_state.rollspeed;
 			hil_attitude.pitchspeed = hil_state.pitchspeed;
 			hil_attitude.yawspeed = hil_state.yawspeed;
 
 			/* set timestamp and notify processes (broadcast) */
 			hil_attitude.timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+
+			if (pub_hil_attitude > 0) {
+				orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+			} else {
+				pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
+			}
 		}
 
 		if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
@@ -553,7 +624,9 @@ receive_thread(void *arg)
 
 	while (!thread_should_exit) {
 
-		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
+		struct pollfd fds[1];
+		fds[0].fd = uart_fd;
+		fds[0].events = POLLIN;
 
 		if (poll(fds, 1, timeout) > 0) {
 			/* non-blocking read. read may return negative values */
@@ -592,7 +665,7 @@ receive_start(int uart)
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 2048);
+	pthread_attr_setstacksize(&receiveloop_attr, 3000);
 
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
index d369e05ff..4b010dd59 100644
--- a/src/modules/mavlink/missionlib.c
+++ b/src/modules/mavlink/missionlib.c
@@ -60,6 +60,7 @@
 #include <stdlib.h>
 #include <poll.h>
 
+#include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 #include <mavlink/mavlink_log.h>
@@ -73,6 +74,10 @@
 #include "mavlink_parameters.h"
 
 static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+static uint64_t loiter_start_time;
+
+static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
+	struct vehicle_global_position_setpoint_s *sp);
 
 int
 mavlink_missionlib_send_message(mavlink_message_t *msg)
@@ -123,6 +128,52 @@ uint64_t mavlink_missionlib_get_system_timestamp()
 }
 
 /**
+ * Set special vehicle setpoint fields based on current mission item.
+ *
+ * @return true if the mission item could be interpreted
+ * successfully, it return false on failure.
+ */
+bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
+	struct vehicle_global_position_setpoint_s *sp)
+{
+	switch (command) {
+		case MAV_CMD_NAV_LOITER_UNLIM:
+			sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+			break;
+		case MAV_CMD_NAV_LOITER_TIME:
+			sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+			loiter_start_time = hrt_absolute_time();
+			break;
+		// case MAV_CMD_NAV_LOITER_TURNS:
+		// 	sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT;
+		// 	break;
+		case MAV_CMD_NAV_WAYPOINT:
+			sp->nav_cmd = NAV_CMD_WAYPOINT;
+			break;
+		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+			sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
+			break;
+		case MAV_CMD_NAV_LAND:
+			sp->nav_cmd = NAV_CMD_LAND;
+			break;
+		case MAV_CMD_NAV_TAKEOFF:
+			sp->nav_cmd = NAV_CMD_TAKEOFF;
+			break;
+		default:
+			/* abort */
+			return false;
+	}
+
+	sp->loiter_radius = param3;
+	sp->loiter_direction = (param3 >= 0) ? 1 : -1;
+
+	sp->param1 = param1;
+	sp->param1 = param2;
+	sp->param1 = param3;
+	sp->param1 = param4;
+}
+
+/**
  * This callback is executed each time a waypoint changes.
  *
  * It publishes the vehicle_global_position_setpoint_s or the
@@ -133,9 +184,13 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
 {
 	static orb_advert_t global_position_setpoint_pub = -1;
+	static orb_advert_t global_position_set_triplet_pub = -1;
 	static orb_advert_t local_position_setpoint_pub = -1;
+	static unsigned last_waypoint_index = -1;
 	char buf[50] = {0};
 
+	// XXX include check if WP is supported, jump to next if not
+
 	/* Update controller setpoints */
 	if (frame == (int)MAV_FRAME_GLOBAL) {
 		/* global, absolute waypoint */
@@ -145,8 +200,9 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = false;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		set_special_fields(param1, param2, param3, param4, command, &sp);
 
-		/* Initialize publication if necessary */
+		/* Initialize setpoint publication if necessary */
 		if (global_position_setpoint_pub < 0) {
 			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
 
@@ -154,6 +210,113 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
 
+
+		/* fill triplet: previous, current, next waypoint */
+		struct vehicle_global_position_set_triplet_s triplet;
+
+		/* current waypoint is same as sp */
+		memcpy(&(triplet.current), &sp, sizeof(sp));
+
+		/*
+		 * Check if previous WP (in mission, not in execution order) 
+		 * is available and identify correct index
+		 */
+		int last_setpoint_index = -1;
+		bool last_setpoint_valid = false;
+
+		/* at first waypoint, but cycled once through mission */
+		if (index == 0 && last_waypoint_index > 0) {
+			last_setpoint_index = last_waypoint_index;
+		} else {
+			last_setpoint_index = index - 1;
+		}
+
+		while (last_setpoint_index >= 0) {
+
+			if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL &&
+				(wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
+				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
+				last_setpoint_valid = true;
+				break;
+			}
+
+			last_setpoint_index--;
+		}
+
+		/*
+		 * Check if next WP (in mission, not in execution order) 
+		 * is available and identify correct index
+		 */
+		int next_setpoint_index = -1;
+		bool next_setpoint_valid = false;
+
+		/* at last waypoint, try to re-loop through mission as default */
+		if (index == (wpm->size - 1) && wpm->size > 1) {
+			next_setpoint_index = 0;
+		} else if (wpm->size > 1) {
+			next_setpoint_index = index + 1;
+		}
+
+		while (next_setpoint_index < wpm->size - 1) {
+
+			if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
+					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
+				next_setpoint_valid = true;
+				break;
+			}
+
+			next_setpoint_index++;
+		}
+
+		/* populate last and next */
+
+		triplet.previous_valid = false;
+		triplet.next_valid = false;
+
+		if (last_setpoint_valid) {
+			triplet.previous_valid = true;
+			struct vehicle_global_position_setpoint_s sp;
+			sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f;
+			sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
+			sp.altitude = wpm->waypoints[last_setpoint_index].z;
+			sp.altitude_is_relative = false;
+			sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
+			set_special_fields(wpm->waypoints[last_setpoint_index].param1,
+				wpm->waypoints[last_setpoint_index].param2,
+				wpm->waypoints[last_setpoint_index].param3,
+				wpm->waypoints[last_setpoint_index].param4,
+				wpm->waypoints[last_setpoint_index].command, &sp);
+			memcpy(&(triplet.previous), &sp, sizeof(sp));
+		}
+
+		if (next_setpoint_valid) {
+			triplet.next_valid = true;
+			struct vehicle_global_position_setpoint_s sp;
+			sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f;
+			sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
+			sp.altitude = wpm->waypoints[next_setpoint_index].z;
+			sp.altitude_is_relative = false;
+			sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
+			set_special_fields(wpm->waypoints[next_setpoint_index].param1,
+				wpm->waypoints[next_setpoint_index].param2,
+				wpm->waypoints[next_setpoint_index].param3,
+				wpm->waypoints[next_setpoint_index].param4,
+				wpm->waypoints[next_setpoint_index].command, &sp);
+			memcpy(&(triplet.next), &sp, sizeof(sp));
+		}
+
+		/* Initialize triplet publication if necessary */
+		if (global_position_set_triplet_pub < 0) {
+			global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet);
+
+		} else {
+			orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet);
+		}
+
 		sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
@@ -164,6 +327,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = true;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		set_special_fields(param1, param2, param3, param4, command, &sp);
 
 		/* Initialize publication if necessary */
 		if (global_position_setpoint_pub < 0) {
@@ -173,6 +337,8 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
 
+
+
 		sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
@@ -192,8 +358,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		}
 
 		sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
+	} else {
+		warnx("non-navigation WP, ignoring");
+		mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring.");
+		return;
 	}
 
+	/* only set this for known waypoint types (non-navigation types would have returned earlier) */
+	last_waypoint_index = index;
+
 	mavlink_missionlib_send_gcs_string(buf);
 	printf("%s\n", buf);
 	//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index cbf08aeb2..bfccb2d38 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -40,7 +40,7 @@ SRCS		 += mavlink.c \
 			   missionlib.c \
 			   mavlink_parameters.c \
 			   mavlink_log.c \
-			   mavlink_receiver.c \
+			   mavlink_receiver.cpp \
 			   orb_listener.c \
 			   waypoints.c
 
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 56cbdb26b..a9a611998 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -72,6 +72,8 @@ struct vehicle_status_s v_status;
 struct rc_channels_s rc;
 struct rc_input_values rc_raw;
 struct actuator_safety_s safety;
+struct actuator_controls_effective_s actuators_0;
+struct vehicle_attitude_s att;
 
 struct mavlink_subscriptions mavlink_subs;
 
@@ -116,6 +118,7 @@ static void	l_debug_key_value(const struct listener *l);
 static void	l_optical_flow(const struct listener *l);
 static void	l_vehicle_rates_setpoint(const struct listener *l);
 static void	l_home(const struct listener *l);
+static void	l_airspeed(const struct listener *l);
 
 static const struct listener listeners[] = {
 	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
@@ -140,6 +143,7 @@ static const struct listener listeners[] = {
 	{l_optical_flow,		&mavlink_subs.optical_flow,	0},
 	{l_vehicle_rates_setpoint,	&mavlink_subs.rates_setpoint_sub,	0},
 	{l_home,			&mavlink_subs.home_sub,		0},
+	{l_airspeed,			&mavlink_subs.airspeed_sub,		0},
 };
 
 static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@@ -192,7 +196,7 @@ l_sensor_combined(const struct listener *l)
 					     raw.gyro_rad_s[1], raw.gyro_rad_s[2],
 					     raw.magnetometer_ga[0],
 					     raw.magnetometer_ga[1], raw.magnetometer_ga[2],
-					     raw.baro_pres_mbar, 0 /* no diff pressure yet */,
+					     raw.baro_pres_mbar, raw.differential_pressure_pa,
 					     raw.baro_alt_meter, raw.baro_temp_celcius,
 					     fields_updated);
 
@@ -202,9 +206,6 @@ l_sensor_combined(const struct listener *l)
 void
 l_vehicle_attitude(const struct listener *l)
 {
-	struct vehicle_attitude_s att;
-
-
 	/* copy attitude data into local buffer */
 	orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
 
@@ -564,28 +565,26 @@ l_manual_control_setpoint(const struct listener *l)
 void
 l_vehicle_attitude_controls(const struct listener *l)
 {
-	struct actuator_controls_effective_s actuators;
-
-	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators);
+	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators_0);
 
 	if (gcs_link) {
 		/* send, add spaces so that string buffer is at least 10 chars long */
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl0    ",
-						   actuators.control_effective[0]);
+						   actuators_0.control_effective[0]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl1    ",
-						   actuators.control_effective[1]);
+						   actuators_0.control_effective[1]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl2     ",
-						   actuators.control_effective[2]);
+						   actuators_0.control_effective[2]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl3     ",
-						   actuators.control_effective[3]);
+						   actuators_0.control_effective[3]);
 	}
 }
 
@@ -626,6 +625,22 @@ l_home(const struct listener *l)
 	mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
 }
 
+void
+l_airspeed(const struct listener *l)
+{
+	struct airspeed_s airspeed;
+
+	orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed);
+
+	float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
+	float throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1);
+	float alt = global_pos.alt;
+	float climb = global_pos.vz;
+
+	mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed,
+		((att.yaw + M_PI_F) / M_PI_F) * 180.0f, throttle, alt, climb);
+}
+
 static void *
 uorb_receive_thread(void *arg)
 {
@@ -765,6 +780,10 @@ uorb_receive_start(void)
 	mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
 	orb_set_interval(mavlink_subs.optical_flow, 200); 	/* 5Hz updates */
 
+	/* --- AIRSPEED / VFR / HUD --- */
+	mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	orb_set_interval(mavlink_subs.airspeed_sub, 200); 	/* 5Hz updates */
+
 	/* start the listener loop */
 	pthread_attr_t uorb_attr;
 	pthread_attr_init(&uorb_attr);
diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h
index 221957d46..3b968b911 100644
--- a/src/modules/mavlink/orb_topics.h
+++ b/src/modules/mavlink/orb_topics.h
@@ -52,6 +52,7 @@
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/vehicle_global_position_set_triplet.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
@@ -61,7 +62,9 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_safety.h>
 #include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/debug_key_value.h>
+#include <uORB/topics/airspeed.h>
 #include <drivers/drv_rc_input.h>
 
 struct mavlink_subscriptions {
@@ -85,6 +88,7 @@ struct mavlink_subscriptions {
 	int optical_flow;
 	int rates_setpoint_sub;
 	int home_sub;
+	int airspeed_sub;
 };
 
 extern struct mavlink_subscriptions mavlink_subs;
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c
index a131b143b..cefcca468 100644
--- a/src/modules/mavlink/waypoints.c
+++ b/src/modules/mavlink/waypoints.c
@@ -347,15 +347,24 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 {
 	static uint16_t counter;
 
-	// Do not flood the precious wireless link with debug data
-	// if (wpm->size > 0 && counter % 10 == 0) {
-	// 	printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id);
-	// }
+	if (wpm->current_active_wp_id < wpm->size) {
 
+		float orbit;
+		if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT) {
 
-	if (wpm->current_active_wp_id < wpm->size) {
+			orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
+
+		} else if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
+
+			orbit = wpm->waypoints[wpm->current_active_wp_id].param3;
+		} else {
+
+			// XXX set default orbit via param
+			orbit = 15.0f;
+		}
 
-		float orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
 		int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame;
 		float dist = -1.0f;
 
@@ -374,10 +383,9 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 		}
 
 		if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw
+
 			wpm->pos_reached = true;
 
-			if (counter % 100 == 0)
-				printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
 		}
 
 //		else
@@ -394,29 +402,47 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 
 			if (wpm->timestamp_firstinside_orbit == 0) {
 				// Announce that last waypoint was reached
-				printf("Reached waypoint %u for the first time \n", cur_wp->seq);
 				mavlink_wpm_send_waypoint_reached(cur_wp->seq);
 				wpm->timestamp_firstinside_orbit = now;
 			}
 
 			// check if the MAV was long enough inside the waypoint orbit
 			//if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
-			if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param2 * 1000) {
-				printf("Reached waypoint %u long enough \n", cur_wp->seq);
 
+			bool time_elapsed = false;
+
+			if (cur_wp->command == (int)MAV_CMD_NAV_LOITER_TIME) {
+				if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) {
+					time_elapsed = true;
+				}
+			} else if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) {
+				time_elapsed = true;
+			} else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) {
+				time_elapsed = true;
+			}
+
+			if (time_elapsed) {
 				if (cur_wp->autocontinue) {
 					cur_wp->current = 0;
 
-					if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
-						/* the last waypoint was reached, if auto continue is
-						 * activated restart the waypoint list from the beginning
-						 */
-						wpm->current_active_wp_id = 0;
+					/* only accept supported navigation waypoints, skip unknown ones */
+					do {
 
-					} else {
-						if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
-							wpm->current_active_wp_id++;
-					}
+						if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
+							/* the last waypoint was reached, if auto continue is
+							 * activated restart the waypoint list from the beginning
+							 */
+							wpm->current_active_wp_id = 0;
+
+						} else {
+							if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
+								wpm->current_active_wp_id++;
+						}
+			
+					} while (!(wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM));
 
 					// Fly to next waypoint
 					wpm->timestamp_firstinside_orbit = 0;