Merge remote-tracking branch 'upstream/master'

3 files changed, 33 insertions, 33 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 8eeeb5bd7..899a0d4a6 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1431,7 +1431,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 		if (status_sub->update(&status_time, &status)) {
 			/* switch HIL mode if required */
-			set_hil_enabled(status.hil_state == HIL_STATE_ON);
+			set_hil_enabled(status.hil_state == vehicle_status_s::HIL_STATE_ON);
 		}
 
 		/* check for requested subscriptions */
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 4a095a765..be7d91c65 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -103,13 +103,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 	*mavlink_custom_mode = 0;
 
 	/* HIL */
-	if (status->hil_state == HIL_STATE_ON) {
+	if (status->hil_state == vehicle_status_s::HIL_STATE_ON) {
 		*mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
 	}
 
 	/* arming state */
-	if (status->arming_state == ARMING_STATE_ARMED
-	    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
+	if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
+	    || status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
 		*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 	}
 
@@ -121,31 +121,31 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 
 	switch (status->nav_state) {
 
-		case NAVIGATION_STATE_MANUAL:
+		case vehicle_status_s::NAVIGATION_STATE_MANUAL:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
 			                      | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
 			break;
 
-		case NAVIGATION_STATE_ACRO:
+		case vehicle_status_s::NAVIGATION_STATE_ACRO:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
 			break;
 
-		case NAVIGATION_STATE_ALTCTL:
+		case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
 			break;
 
-		case NAVIGATION_STATE_POSCTL:
+		case vehicle_status_s::NAVIGATION_STATE_POSCTL:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
 			break;
 
-		case NAVIGATION_STATE_AUTO_MISSION:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -153,7 +153,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
 			break;
 
-		case NAVIGATION_STATE_AUTO_LOITER:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -161,9 +161,9 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
 			break;
 
-		case NAVIGATION_STATE_AUTO_RTL:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
 			/* fallthrough */
-		case NAVIGATION_STATE_AUTO_RCRECOVER:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -171,11 +171,11 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
 			break;
 
-		case NAVIGATION_STATE_LAND:
-		case NAVIGATION_STATE_AUTO_LANDENGFAIL:
-		case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
+		case vehicle_status_s::NAVIGATION_STATE_LAND:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
 			/* fallthrough */
-		case NAVIGATION_STATE_DESCEND:
+		case vehicle_status_s::NAVIGATION_STATE_DESCEND:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -183,7 +183,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
 			break;
 
-		case NAVIGATION_STATE_AUTO_RTGS:
+		case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -191,19 +191,19 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
 			break;
 
-		case NAVIGATION_STATE_TERMINATION:
+		case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
 			break;
 
-		case NAVIGATION_STATE_OFFBOARD:
+		case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
 			break;
 
-		case NAVIGATION_STATE_MAX:
+		case vehicle_status_s::NAVIGATION_STATE_MAX:
 			/* this is an unused case, ignore */
 			break;
 
@@ -212,21 +212,21 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 	*mavlink_custom_mode = custom_mode.data;
 
 	/* set system state */
-	if (status->arming_state == ARMING_STATE_INIT
-	    || status->arming_state == ARMING_STATE_IN_AIR_RESTORE
-	    || status->arming_state == ARMING_STATE_STANDBY_ERROR) {	// TODO review
+	if (status->arming_state == vehicle_status_s::ARMING_STATE_INIT
+	    || status->arming_state == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE
+	    || status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {	// TODO review
 		*mavlink_state = MAV_STATE_UNINIT;
 
-	} else if (status->arming_state == ARMING_STATE_ARMED) {
+	} else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 		*mavlink_state = MAV_STATE_ACTIVE;
 
-	} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
+	} else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
 		*mavlink_state = MAV_STATE_CRITICAL;
 
-	} else if (status->arming_state == ARMING_STATE_STANDBY) {
+	} else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
 		*mavlink_state = MAV_STATE_STANDBY;
 
-	} else if (status->arming_state == ARMING_STATE_REBOOT) {
+	} else if (status->arming_state == vehicle_status_s::ARMING_STATE_REBOOT) {
 		*mavlink_state = MAV_STATE_POWEROFF;
 
 	} else {
@@ -1431,7 +1431,7 @@ protected:
 		updated |= _pos_sp_triplet_sub->update(&_pos_sp_triplet_time, &pos_sp_triplet);
 		updated |= _status_sub->update(&_status_time, &status);
 
-		if (updated && (status.arming_state == ARMING_STATE_ARMED)) {
+		if (updated && (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state;
 			uint8_t mavlink_base_mode;
@@ -2198,7 +2198,7 @@ protected:
 		msg.param2 = 0;
 		msg.param3 = 0;
 		/* set camera capture ON/OFF depending on arming state */
-		msg.param4 = (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) ? 1 : 0;
+		msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ? 1 : 0;
 		msg.param5 = 0;
 		msg.param6 = 0;
 		msg.param7 = 0;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 16d0422c7..06153fdac 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -616,7 +616,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					pos_sp_triplet.previous.valid = false;
 					pos_sp_triplet.next.valid = false;
 					pos_sp_triplet.current.valid = true;
-					pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others
+					pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others
 
 					/* set the local pos values if the setpoint type is 'local pos' and none
 					 * of the local pos fields is set to 'ignore' */
@@ -798,7 +798,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 					att_sp.timestamp = hrt_absolute_time();
 					mavlink_quaternion_to_euler(set_attitude_target.q,
 							&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
-					mavlink_quaternion_to_dcm(set_attitude_target.q, att_sp.R_body);
+					mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
 					att_sp.R_valid = true;
 					att_sp.thrust = set_attitude_target.thrust;
 					memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
@@ -985,10 +985,10 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
 
 	} else if (tsync.tc1 > 0) {
 
-		int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; 
+		int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ;
 		int64_t dt = _time_offset - offset_ns;
 
-		if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew 
+		if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
 			_time_offset = offset_ns;
 			warnx("[timesync] Hard setting offset.");
 		} else {