Merge ROS into master

4 files changed, 23 insertions, 23 deletions

diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index f827e70c9..a744d58cf 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -82,7 +82,7 @@ Loiter::on_activation()
 	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
 	pos_sp_triplet->next.valid = false;
 
-	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
+	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
 
 	_navigator->set_position_setpoint_triplet_updated();
 }
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index b52b12ce7..a94082d6f 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -397,7 +397,7 @@ Mission::set_mission_items()
 		pos_sp_triplet->next.valid = false;
 
 		/* reuse setpoint for LOITER only if it's not IDLE */
-		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
+		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
 
 		set_mission_finished();
 
@@ -476,7 +476,7 @@ Mission::set_mission_items()
 	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
 
 	/* require takeoff after landing or idle */
-	if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
+	if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
 		_need_takeoff = true;
 	}
 
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index e39fb3216..52ccebac9 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -194,25 +194,25 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 
 	switch (item->nav_cmd) {
 	case NAV_CMD_IDLE:
-		sp->type = SETPOINT_TYPE_IDLE;
+		sp->type = position_setpoint_s::SETPOINT_TYPE_IDLE;
 		break;
 
 	case NAV_CMD_TAKEOFF:
-		sp->type = SETPOINT_TYPE_TAKEOFF;
+		sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
 		break;
 
 	case NAV_CMD_LAND:
-		sp->type = SETPOINT_TYPE_LAND;
+		sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
 		break;
 
 	case NAV_CMD_LOITER_TIME_LIMIT:
 	case NAV_CMD_LOITER_TURN_COUNT:
 	case NAV_CMD_LOITER_UNLIMITED:
-		sp->type = SETPOINT_TYPE_LOITER;
+		sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER;
 		break;
 
 	default:
-		sp->type = SETPOINT_TYPE_POSITION;
+		sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 		break;
 	}
 }
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index edc61dcc6..ad2349c94 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -217,7 +217,7 @@ Navigator::vehicle_status_update()
 {
 	if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) {
 		/* in case the commander is not be running */
-		_vstatus.arming_state = ARMING_STATE_STANDBY;
+		_vstatus.arming_state = vehicle_status_s::ARMING_STATE_STANDBY;
 	}
 }
 
@@ -416,25 +416,25 @@ Navigator::task_main()
 
 		/* Do stuff according to navigation state set by commander */
 		switch (_vstatus.nav_state) {
-			case NAVIGATION_STATE_MANUAL:
-			case NAVIGATION_STATE_ACRO:
-			case NAVIGATION_STATE_ALTCTL:
-			case NAVIGATION_STATE_POSCTL:
-			case NAVIGATION_STATE_LAND:
-			case NAVIGATION_STATE_TERMINATION:
-			case NAVIGATION_STATE_OFFBOARD:
+			case vehicle_status_s::NAVIGATION_STATE_MANUAL:
+			case vehicle_status_s::NAVIGATION_STATE_ACRO:
+			case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
+			case vehicle_status_s::NAVIGATION_STATE_POSCTL:
+			case vehicle_status_s::NAVIGATION_STATE_LAND:
+			case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
+			case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
 				_navigation_mode = nullptr;
 				_can_loiter_at_sp = false;
 				break;
-			case NAVIGATION_STATE_AUTO_MISSION:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
 				_pos_sp_triplet_published_invalid_once = false;
 				_navigation_mode = &_mission;
 				break;
-			case NAVIGATION_STATE_AUTO_LOITER:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 				_pos_sp_triplet_published_invalid_once = false;
 				_navigation_mode = &_loiter;
 				break;
-			case NAVIGATION_STATE_AUTO_RCRECOVER:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
 				_pos_sp_triplet_published_invalid_once = false;
 				if (_param_rcloss_obc.get() != 0) {
 					_navigation_mode = &_rcLoss;
@@ -442,11 +442,11 @@ Navigator::task_main()
 					_navigation_mode = &_rtl;
 				}
 				break;
-			case NAVIGATION_STATE_AUTO_RTL:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
 				_pos_sp_triplet_published_invalid_once = false;
 				_navigation_mode = &_rtl;
 				break;
-			case NAVIGATION_STATE_AUTO_RTGS:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
 				/* Use complex data link loss mode only when enabled via param
 				* otherwise use rtl */
 				_pos_sp_triplet_published_invalid_once = false;
@@ -456,11 +456,11 @@ Navigator::task_main()
 					_navigation_mode = &_rtl;
 				}
 				break;
-			case NAVIGATION_STATE_AUTO_LANDENGFAIL:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
 				_pos_sp_triplet_published_invalid_once = false;
 				_navigation_mode = &_engineFailure;
 				break;
-			case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
+			case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
 				_pos_sp_triplet_published_invalid_once = false;
 				_navigation_mode = &_gpsFailure;
 				break;