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

Conflicts:
	src/drivers/px4io/px4io.cpp
	src/modules/commander/commander.c
	src/modules/commander/state_machine_helper.c

6 files changed, 1143 insertions, 0 deletions

diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c
new file mode 100644
index 000000000..408a850d8
--- /dev/null
+++ b/src/modules/mavlink_onboard/mavlink.c
@@ -0,0 +1,535 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 mavlink.c
+ * MAVLink 1.0 protocol implementation.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#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>
+#include <float.h>
+#include <unistd.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+
+#include "orb_topics.h"
+#include "util.h"
+
+__EXPORT int mavlink_onboard_main(int argc, char *argv[]);
+
+static int mavlink_thread_main(int argc, char *argv[]);
+
+/* thread state */
+volatile bool thread_should_exit = false;
+static volatile bool thread_running = false;
+static int mavlink_task;
+
+/* pthreads */
+static pthread_t receive_thread;
+
+/* terminate MAVLink on user request - disabled by default */
+static bool mavlink_link_termination_allowed = false;
+
+mavlink_system_t mavlink_system = {
+	100,
+	50,
+	MAV_TYPE_QUADROTOR,
+	0,
+	0,
+	0
+}; // System ID, 1-255, Component/Subsystem ID, 1-255
+
+/* XXX not widely used */
+uint8_t chan = MAVLINK_COMM_0;
+
+/* XXX probably should be in a header... */
+extern pthread_t receive_start(int uart);
+
+bool mavlink_hil_enabled = false;
+
+/* protocol interface */
+static int uart;
+static int baudrate;
+bool gcs_link = true;
+
+/* interface mode */
+static enum {
+	MAVLINK_INTERFACE_MODE_OFFBOARD,
+	MAVLINK_INTERFACE_MODE_ONBOARD
+} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD;
+
+static void mavlink_update_system(void);
+static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
+static void usage(void);
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
+{
+	/* process baud rate */
+	int speed;
+
+	switch (baud) {
+	case 0:      speed = B0;      break;
+
+	case 50:     speed = B50;     break;
+
+	case 75:     speed = B75;     break;
+
+	case 110:    speed = B110;    break;
+
+	case 134:    speed = B134;    break;
+
+	case 150:    speed = B150;    break;
+
+	case 200:    speed = B200;    break;
+
+	case 300:    speed = B300;    break;
+
+	case 600:    speed = B600;    break;
+
+	case 1200:   speed = B1200;   break;
+
+	case 1800:   speed = B1800;   break;
+
+	case 2400:   speed = B2400;   break;
+
+	case 4800:   speed = B4800;   break;
+
+	case 9600:   speed = B9600;   break;
+
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	case 230400: speed = B230400; break;
+
+	case 460800: speed = B460800; break;
+
+	case 921600: speed = B921600; break;
+
+	default:
+		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
+		return -EINVAL;
+	}
+
+	/* open uart */
+	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
+	uart = open(uart_name, O_RDWR | O_NOCTTY);
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+	*is_usb = false;
+
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
+		/* Back up the original uart configuration to restore it after exit */
+		if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+			fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
+			close(uart);
+			return -1;
+		}
+
+		/* Fill the struct for the new configuration */
+		tcgetattr(uart, &uart_config);
+
+		/* Clear ONLCR flag (which appends a CR for every LF) */
+		uart_config.c_oflag &= ~ONLCR;
+
+		/* Set baud rate */
+		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+			close(uart);
+			return -1;
+		}
+
+
+		if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+			close(uart);
+			return -1;
+		}
+
+	} else {
+		*is_usb = true;
+	}
+
+	return uart;
+}
+
+void 
+mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
+{
+	write(uart, ch, (size_t)(sizeof(uint8_t) * length));
+}
+
+/*
+ * Internal function to give access to the channel status for each channel
+ */
+mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
+{
+	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+	return &m_mavlink_status[channel];
+}
+
+/*
+ * Internal function to give access to the channel buffer for each channel
+ */
+mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
+{
+	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
+	return &m_mavlink_buffer[channel];
+}
+
+void mavlink_update_system(void)
+{
+	static bool initialized = false;
+	param_t param_system_id;
+	param_t param_component_id;
+	param_t param_system_type;
+
+	if (!initialized) {
+		param_system_id = param_find("MAV_SYS_ID");
+		param_component_id = param_find("MAV_COMP_ID");
+		param_system_type = param_find("MAV_TYPE");
+	}
+
+	/* update system and component id */
+	int32_t system_id;
+	param_get(param_system_id, &system_id);
+	if (system_id > 0 && system_id < 255) {
+		mavlink_system.sysid = system_id;
+	}
+
+	int32_t component_id;
+	param_get(param_component_id, &component_id);
+	if (component_id > 0 && component_id < 255) {
+		mavlink_system.compid = component_id;
+	}
+	
+	int32_t system_type;
+	param_get(param_system_type, &system_type);
+	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
+		mavlink_system.type = system_type;
+	}
+}
+
+void
+get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed,
+	uint8_t *mavlink_state, uint8_t *mavlink_mode)
+{
+	/* reset MAVLink mode bitfield */
+	*mavlink_mode = 0;
+
+	/* set mode flags independent of system state */
+	if (v_status->flag_control_manual_enabled) {
+		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+	}
+
+	if (v_status->flag_hil_enabled) {
+		*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
+	}
+
+	/* set arming state */
+	if (v_status->flag_fmu_armed) {
+		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
+	} else {
+		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
+	}
+
+	if (v_status->flag_control_velocity_enabled) {
+		*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
+	} else {
+		*mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED;
+	}
+
+//	switch (v_status->state_machine) {
+//	case SYSTEM_STATE_PREFLIGHT:
+//		if (v_status->flag_preflight_gyro_calibration ||
+//		    v_status->flag_preflight_mag_calibration ||
+//		    v_status->flag_preflight_accel_calibration) {
+//			*mavlink_state = MAV_STATE_CALIBRATING;
+//		} else {
+//			*mavlink_state = MAV_STATE_UNINIT;
+//		}
+//		break;
+//
+//	case SYSTEM_STATE_STANDBY:
+//		*mavlink_state = MAV_STATE_STANDBY;
+//		break;
+//
+//	case SYSTEM_STATE_GROUND_READY:
+//		*mavlink_state = MAV_STATE_ACTIVE;
+//		break;
+//
+//	case SYSTEM_STATE_MANUAL:
+//		*mavlink_state = MAV_STATE_ACTIVE;
+//		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+//		break;
+//
+//	case SYSTEM_STATE_STABILIZED:
+//		*mavlink_state = MAV_STATE_ACTIVE;
+//		*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
+//		break;
+//
+//	case SYSTEM_STATE_AUTO:
+//		*mavlink_state = MAV_STATE_ACTIVE;
+//		*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
+//		break;
+//
+//	case SYSTEM_STATE_MISSION_ABORT:
+//		*mavlink_state = MAV_STATE_EMERGENCY;
+//		break;
+//
+//	case SYSTEM_STATE_EMCY_LANDING:
+//		*mavlink_state = MAV_STATE_EMERGENCY;
+//		break;
+//
+//	case SYSTEM_STATE_EMCY_CUTOFF:
+//		*mavlink_state = MAV_STATE_EMERGENCY;
+//		break;
+//
+//	case SYSTEM_STATE_GROUND_ERROR:
+//		*mavlink_state = MAV_STATE_EMERGENCY;
+//		break;
+//
+//	case SYSTEM_STATE_REBOOT:
+//		*mavlink_state = MAV_STATE_POWEROFF;
+//		break;
+//	}
+
+}
+
+/**
+ * MAVLink Protocol main function.
+ */
+int mavlink_thread_main(int argc, char *argv[])
+{
+	int ch;
+	char *device_name = "/dev/ttyS1";
+	baudrate = 57600;
+
+	struct vehicle_status_s v_status;
+	struct actuator_armed_s armed;
+
+	/* work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+
+	while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) {
+		switch (ch) {
+		case 'b':
+			baudrate = strtoul(optarg, NULL, 10);
+			if (baudrate == 0)
+				errx(1, "invalid baud rate '%s'", optarg);
+			break;
+
+		case 'd':
+			device_name = optarg;
+			break;
+
+		case 'e':
+			mavlink_link_termination_allowed = true;
+			break;
+
+		case 'o':
+			mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD;
+			break;
+
+		default:
+			usage();
+		}
+	}
+
+	struct termios uart_config_original;
+	bool usb_uart;
+
+	/* print welcome text */
+	warnx("MAVLink v1.0 serial interface starting...");
+
+	/* inform about mode */
+	warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE");
+
+	/* Flush stdout in case MAVLink is about to take it over */
+	fflush(stdout);
+
+	/* default values for arguments */
+	uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
+	if (uart < 0)
+		err(1, "could not open %s", device_name);
+
+	/* Initialize system properties */
+	mavlink_update_system();
+
+	/* start the MAVLink receiver */
+	receive_thread = receive_start(uart);
+
+	thread_running = true;
+
+	/* arm counter to go off immediately */
+	unsigned lowspeed_counter = 10;
+
+	while (!thread_should_exit) {
+
+		/* 1 Hz */
+		if (lowspeed_counter == 10) {
+			mavlink_update_system();
+
+			/* translate the current system state to mavlink state and mode */
+			uint8_t mavlink_state = 0;
+			uint8_t mavlink_mode = 0;
+			get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
+
+			/* send heartbeat */
+			mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
+
+			/* send status (values already copied in the section above) */
+			mavlink_msg_sys_status_send(chan,
+						    v_status.onboard_control_sensors_present,
+						    v_status.onboard_control_sensors_enabled,
+						    v_status.onboard_control_sensors_health,
+						    v_status.load,
+						    v_status.voltage_battery * 1000.0f,
+						    v_status.current_battery * 1000.0f,
+						    v_status.battery_remaining,
+						    v_status.drop_rate_comm,
+						    v_status.errors_comm,
+						    v_status.errors_count1,
+						    v_status.errors_count2,
+						    v_status.errors_count3,
+						    v_status.errors_count4);
+			lowspeed_counter = 0;
+		}
+		lowspeed_counter++;
+
+		/* sleep 1000 ms */
+		usleep(1000000);
+	}
+
+	/* wait for threads to complete */
+	pthread_join(receive_thread, NULL);
+
+	/* Reset the UART flags to original state */
+	if (!usb_uart)
+		tcsetattr(uart, TCSANOW, &uart_config_original);
+
+	thread_running = false;
+
+	exit(0);
+}
+
+static void
+usage()
+{
+	fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
+			"       mavlink stop\n"
+			"       mavlink status\n");
+	exit(1);
+}
+
+int mavlink_onboard_main(int argc, char *argv[])
+{
+
+	if (argc < 2) {
+		warnx("missing command");
+		usage();
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		/* this is not an error */
+		if (thread_running)
+			errx(0, "mavlink already running\n");
+
+		thread_should_exit = false;
+		mavlink_task = task_spawn("mavlink_onboard",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2048,
+					  mavlink_thread_main,
+					  (const char**)argv);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		while (thread_running) {
+			usleep(200000);
+		}
+		warnx("terminated.");
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			errx(0, "running");
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	usage();
+	/* not getting here */
+	return 0;
+}
+
diff --git a/src/modules/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h
new file mode 100644
index 000000000..3ad3bb617
--- /dev/null
+++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 mavlink_bridge_header
+ * MAVLink bridge header for UART access.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+/* MAVLink adapter header */
+#ifndef MAVLINK_BRIDGE_HEADER_H
+#define MAVLINK_BRIDGE_HEADER_H
+
+#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+/* use efficient approach, see mavlink_helpers.h */
+#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
+
+#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
+#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
+
+#include <v1.0/mavlink_types.h>
+#include <unistd.h>
+
+
+/* Struct that stores the communication settings of this system.
+   you can also define / alter these settings elsewhere, as long
+   as they're included BEFORE mavlink.h.
+   So you can set the
+
+   mavlink_system.sysid = 100; // System ID, 1-255
+   mavlink_system.compid = 50; // Component/Subsystem ID, 1-255
+
+   Lines also in your main.c, e.g. by reading these parameter from EEPROM.
+ */
+extern mavlink_system_t mavlink_system;
+
+/**
+ * @brief Send multiple chars (uint8_t) over a comm channel
+ *
+ * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
+ * @param ch Character to send
+ */
+extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
+
+mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
+
+#endif /* MAVLINK_BRIDGE_HEADER_H */
diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c
new file mode 100644
index 000000000..2d406fb9f
--- /dev/null
+++ b/src/modules/mavlink_onboard/mavlink_receiver.c
@@ -0,0 +1,331 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 mavlink_receiver.c
+ * MAVLink protocol message receive and dispatch
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+/* XXX trim includes */
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#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>
+#include <float.h>
+#include <unistd.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+
+#include "util.h"
+#include "orb_topics.h"
+
+/* XXX should be in a header somewhere */
+pthread_t receive_start(int uart);
+
+static void handle_message(mavlink_message_t *msg);
+static void *receive_thread(void *arg);
+
+static mavlink_status_t status;
+static struct vehicle_vicon_position_s vicon_position;
+static struct vehicle_command_s vcmd;
+static struct offboard_control_setpoint_s offboard_control_sp;
+
+struct vehicle_global_position_s hil_global_pos;
+struct vehicle_attitude_s hil_attitude;
+orb_advert_t pub_hil_global_pos = -1;
+orb_advert_t pub_hil_attitude = -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 void
+handle_message(mavlink_message_t *msg)
+{
+	if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
+
+		mavlink_command_long_t cmd_mavlink;
+		mavlink_msg_command_long_decode(msg, &cmd_mavlink);
+
+		if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
+			|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+			//check for MAVLINK terminate command
+			if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
+				/* This is the link shutdown command, terminate mavlink */
+				printf("[mavlink] Terminating .. \n");
+				fflush(stdout);
+				usleep(50000);
+
+				/* terminate other threads and this thread */
+				thread_should_exit = true;
+
+			} else {
+
+				/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+				vcmd.param1 = cmd_mavlink.param1;
+				vcmd.param2 = cmd_mavlink.param2;
+				vcmd.param3 = cmd_mavlink.param3;
+				vcmd.param4 = cmd_mavlink.param4;
+				vcmd.param5 = cmd_mavlink.param5;
+				vcmd.param6 = cmd_mavlink.param6;
+				vcmd.param7 = cmd_mavlink.param7;
+				vcmd.command = cmd_mavlink.command;
+				vcmd.target_system = cmd_mavlink.target_system;
+				vcmd.target_component = cmd_mavlink.target_component;
+				vcmd.source_system = msg->sysid;
+				vcmd.source_component = msg->compid;
+				vcmd.confirmation =  cmd_mavlink.confirmation;
+
+				/* check if topic is advertised */
+				if (cmd_pub <= 0) {
+					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+				}
+				/* publish */
+				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+			}
+		}
+	}
+
+	if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
+		mavlink_optical_flow_t flow;
+		mavlink_msg_optical_flow_decode(msg, &flow);
+
+		struct optical_flow_s f;
+
+		f.timestamp = hrt_absolute_time();
+		f.flow_raw_x = flow.flow_x;
+		f.flow_raw_y = flow.flow_y;
+		f.flow_comp_x_m = flow.flow_comp_m_x;
+		f.flow_comp_y_m = flow.flow_comp_m_y;
+		f.ground_distance_m = flow.ground_distance;
+		f.quality = flow.quality;
+		f.sensor_id = flow.sensor_id;
+
+		/* check if topic is advertised */
+		if (flow_pub <= 0) {
+			flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+		} else {
+			/* publish */
+			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
+		}
+
+	}
+
+	if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
+		/* Set mode on request */
+		mavlink_set_mode_t new_mode;
+		mavlink_msg_set_mode_decode(msg, &new_mode);
+
+		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+		vcmd.param1 = new_mode.base_mode;
+		vcmd.param2 = new_mode.custom_mode;
+		vcmd.param3 = 0;
+		vcmd.param4 = 0;
+		vcmd.param5 = 0;
+		vcmd.param6 = 0;
+		vcmd.param7 = 0;
+		vcmd.command = MAV_CMD_DO_SET_MODE;
+		vcmd.target_system = new_mode.target_system;
+		vcmd.target_component = MAV_COMP_ID_ALL;
+		vcmd.source_system = msg->sysid;
+		vcmd.source_component = msg->compid;
+		vcmd.confirmation = 1;
+
+		/* check if topic is advertised */
+		if (cmd_pub <= 0) {
+			cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+		} else {
+			/* create command */
+			orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+		}
+	}
+
+	/* Handle Vicon position estimates */
+	if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
+		mavlink_vicon_position_estimate_t pos;
+		mavlink_msg_vicon_position_estimate_decode(msg, &pos);
+
+		vicon_position.x = pos.x;
+		vicon_position.y = pos.y;
+		vicon_position.z = pos.z;
+
+		if (vicon_position_pub <= 0) {
+			vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
+		} else {
+			orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
+		}
+	}
+
+	/* Handle quadrotor motor setpoints */
+
+	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
+		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
+		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
+
+		if (mavlink_system.sysid < 4) {
+
+			/* switch to a receiving link mode */
+			gcs_link = false;
+
+			/* 
+			 * rate control mode - defined by MAVLink
+			 */
+
+			uint8_t ml_mode = 0;
+			bool ml_armed = false;
+
+			switch (quad_motors_setpoint.mode) {
+				case 0:
+					ml_armed = false;
+					break;
+				case 1:
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+					ml_armed = true;
+
+					break;
+				case 2:
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+					ml_armed = true;
+
+					break;
+				case 3:
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+					break;
+				case 4:
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+					break;
+			}
+
+			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1]   / (float)INT16_MAX;
+			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1]  / (float)INT16_MAX;
+			offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1]    / (float)INT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
+
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
+				ml_armed = false;
+			}
+
+			offboard_control_sp.armed = ml_armed;
+			offboard_control_sp.mode = ml_mode;
+
+			offboard_control_sp.timestamp = hrt_absolute_time();
+
+			/* check if topic has to be advertised */
+			if (offboard_control_sp_pub <= 0) {
+				offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+			} else {
+				/* Publish */
+				orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
+			}
+		}
+	}
+
+}
+
+
+/**
+ * Receive data from UART.
+ */
+static void *
+receive_thread(void *arg)
+{
+	int uart_fd = *((int*)arg);
+
+	const int timeout = 1000;
+	uint8_t ch;
+
+	mavlink_message_t msg;
+
+	prctl(PR_SET_NAME, "mavlink offb rcv", getpid());
+
+	while (!thread_should_exit) {
+
+		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
+
+		if (poll(fds, 1, timeout) > 0) {
+			/* non-blocking read until buffer is empty */
+			int nread = 0;
+
+			do {
+				nread = read(uart_fd, &ch, 1);
+
+				if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
+					/* handle generic messages and commands */
+					handle_message(&msg);
+				}
+			} while (nread > 0);
+		}
+	}
+
+	return NULL;
+}
+
+pthread_t
+receive_start(int uart)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+
+	struct sched_param param;
+  	param.sched_priority = SCHED_PRIORITY_MAX - 40;
+  	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+	pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
+	return thread;
+}
diff --git a/src/modules/mavlink_onboard/module.mk b/src/modules/mavlink_onboard/module.mk
new file mode 100644
index 000000000..a7a4980fa
--- /dev/null
+++ b/src/modules/mavlink_onboard/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012-2013 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.
+#
+############################################################################
+
+#
+# MAVLink protocol to uORB interface process (XXX hack for onboard use)
+#
+
+MODULE_COMMAND	 = mavlink_onboard
+SRCS		 = mavlink.c \
+		   mavlink_receiver.c
+
+INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h
new file mode 100644
index 000000000..f18f56243
--- /dev/null
+++ b/src/modules/mavlink_onboard/orb_topics.h
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 orb_topics.h
+ * Common sets of topics subscribed to or published by the MAVLink driver,
+ * and structures maintained by those subscriptions.
+ */
+#pragma once
+
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/rc_channels.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/vehicle_command.h>
+#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_attitude_setpoint.h>
+#include <uORB/topics/optical_flow.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/debug_key_value.h>
+#include <drivers/drv_rc_input.h>
+
+struct mavlink_subscriptions {
+	int sensor_sub;
+	int att_sub;
+	int global_pos_sub;
+	int act_0_sub;
+	int act_1_sub;
+	int act_2_sub;
+	int act_3_sub;
+	int gps_sub;
+	int man_control_sp_sub;
+	int armed_sub;
+	int actuators_sub;
+	int local_pos_sub;
+	int spa_sub;
+	int spl_sub;
+	int spg_sub;
+	int debug_key_value;
+	int input_rc_sub;
+};
+
+extern struct mavlink_subscriptions mavlink_subs;
+
+/** Global position */
+extern struct vehicle_global_position_s global_pos;
+
+/** Local position */
+extern struct vehicle_local_position_s local_pos;
+
+/** Vehicle status */
+// extern struct vehicle_status_s v_status;
+
+/** RC channels */
+extern struct rc_channels_s rc;
+
+/** Actuator armed state */
+// extern struct actuator_armed_s armed;
+
+/** Worker thread starter */
+extern pthread_t uorb_receive_start(void);
diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h
new file mode 100644
index 000000000..38a4db372
--- /dev/null
+++ b/src/modules/mavlink_onboard/util.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 util.h
+ * Utility and helper functions and data.
+ */
+
+#pragma once
+
+#include "orb_topics.h"
+
+/** MAVLink communications channel */
+extern uint8_t chan;
+
+/** Shutdown marker */
+extern volatile bool thread_should_exit;
+
+/**
+ * Translate the custom state into standard mavlink modes and state.
+ */
+extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed,
+	uint8_t *mavlink_state, uint8_t *mavlink_mode);