Added TeraRanger one sensor

1 files changed, 21 insertions, 3 deletions

diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index b46c00b75..8ec9d98d6 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -102,10 +102,13 @@ typedef enum {
 	NAVIGATION_STATE_AUTO_MISSION,		/**< Auto mission mode */
 	NAVIGATION_STATE_AUTO_LOITER,		/**< Auto loiter mode */
 	NAVIGATION_STATE_AUTO_RTL,		/**< Auto return to launch mode */
+	NAVIGATION_STATE_AUTO_RCRECOVER,	/**< RC recover mode */
 	NAVIGATION_STATE_AUTO_RTGS,		/**< Auto return to groundstation on data link loss */
+	NAVIGATION_STATE_AUTO_LANDENGFAIL,	/**< Auto land on engine failure */
+	NAVIGATION_STATE_AUTO_LANDGPSFAIL,	/**< Auto land on gps failure (e.g. open loop loiter down) */
 	NAVIGATION_STATE_ACRO,			/**< Acro mode */
 	NAVIGATION_STATE_LAND,			/**< Land mode */
-	NAVIGATION_STATE_DESCEND,			/**< Descend mode (no position control) */
+	NAVIGATION_STATE_DESCEND,		/**< Descend mode (no position control) */
 	NAVIGATION_STATE_TERMINATION,		/**< Termination mode */
 	NAVIGATION_STATE_OFFBOARD,
 	NAVIGATION_STATE_MAX,
@@ -186,7 +189,7 @@ struct vehicle_status_s {
 	bool condition_system_sensors_initialized;
 	bool condition_system_returned_to_home;
 	bool condition_auto_mission_available;
-	bool condition_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
+	bool condition_global_position_valid;		/**< set to true by the commander app if the quality of the position estimate is good enough to use it for navigation */
 	bool condition_launch_position_valid;		/**< indicates a valid launch position */
 	bool condition_home_position_valid;		/**< indicates a valid home position (a valid home position is not always a valid launch) */
 	bool condition_local_position_valid;
@@ -198,14 +201,26 @@ struct vehicle_status_s {
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception lost */
+	uint64_t rc_signal_lost_timestamp;		/**< Time at which the RC reception was lost */
+	bool rc_signal_lost_cmd;				/**< true if RC lost mode is commanded */
 	bool rc_input_blocked;				/**< set if RC input should be ignored */
 
-	bool data_link_lost;						/**< datalink to GCS lost */
+	bool data_link_lost;				/**< datalink to GCS lost */
+	bool data_link_lost_cmd;			/**< datalink to GCS lost mode commanded */
+	uint8_t data_link_lost_counter;			/**< counts unique data link lost events */
+	bool engine_failure;				/** Set to true if an engine failure is detected */
+	bool engine_failure_cmd;			/** Set to true if an engine failure mode is commanded */
+	bool gps_failure;				/** Set to true if a gps failure is detected */
+	bool gps_failure_cmd;				/** Set to true if a gps failure mode is commanded */
+
+	bool barometer_failure;				/** Set to true if a barometer failure is detected */
 
 	bool offboard_control_signal_found_once;
 	bool offboard_control_signal_lost;
 	bool offboard_control_signal_weak;
 	uint64_t offboard_control_signal_lost_interval;	/**< interval in microseconds without an offboard control message */
+	bool offboard_control_set_by_command; /**< true if the offboard mode was set by a mavlink command
+						    and should not be overridden by RC */
 
 	/* see SYS_STATUS mavlink message for the following */
 	uint32_t onboard_control_sensors_present;
@@ -226,6 +241,9 @@ struct vehicle_status_s {
 	uint16_t errors_count4;
 
 	bool circuit_breaker_engaged_power_check;
+	bool circuit_breaker_engaged_airspd_check;
+	bool circuit_breaker_engaged_enginefailure_check;
+	bool circuit_breaker_engaged_gpsfailure_check;
 };
 
 /**