Merge branch 'master' into navigator_rewrite_drton

4 files changed, 120 insertions, 51 deletions

diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 370c54442..829d8e57d 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -43,59 +43,43 @@
 #include "../uORB.h"
 
 /**
- * The number of RC channel inputs supported.
- * Current (Q4/2013) radios support up to 18 channels,
- * leaving at a sane value of 16.
- * This number can be greater then number of RC channels,
- * because single RC channel can be mapped to multiple
- * functions, e.g. for various mode switches.
- */
-#define RC_CHANNELS_MAPPED_MAX   16
-
-/**
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
- * the channel array chan[].
+ * the channel array channels[].
  */
 enum RC_CHANNELS_FUNCTION {
 	THROTTLE = 0,
-	ROLL     = 1,
-	PITCH    = 2,
-	YAW      = 3,
-	MODE = 4,
-	RETURN = 5,
-	POSCTL = 6,
-	LOITER = 7,
-	OFFBOARD_MODE = 8,
-	ACRO    = 9,
-	FLAPS   = 10,
-	AUX_1   = 11,
-	AUX_2   = 12,
-	AUX_3   = 13,
-	AUX_4   = 14,
-	AUX_5   = 15,
-	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+	ROLL,
+	PITCH,
+	YAW,
+	MODE,
+	RETURN,
+	POSCTL,
+	LOITER,
+	OFFBOARD_MODE,
+	ACRO,
+	FLAPS,
+	AUX_1,
+	AUX_2,
+	AUX_3,
+	AUX_4,
+	AUX_5,
+	RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */
 };
 
 /**
  * @addtogroup topics
  * @{
  */
-
 struct rc_channels_s {
-
-	uint64_t timestamp;                 /**< In microseconds since boot time. */
-	uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
-	struct {
-		float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-	} chan[RC_CHANNELS_MAPPED_MAX];
-	uint8_t chan_count;                 /**< number of valid channels */
-
-	/*String array to store the names of the functions*/
-	char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-	int8_t function[RC_CHANNELS_FUNCTION_MAX];
-	uint8_t rssi;                       /**< Overall receive signal strength */
-	bool signal_lost;		/**< control signal lost, should be checked together with topic timeout */
+	uint64_t timestamp;									/**< Timestamp in microseconds since boot time */
+	uint64_t timestamp_last_valid;						/**< Timestamp of last valid RC signal */
+	float channels[RC_CHANNELS_FUNCTION_MAX];			/**< Scaled to -1..1 (throttle: 0..1) */
+	uint8_t channel_count;								/**< Number of valid channels */
+	char function_name[RC_CHANNELS_FUNCTION_MAX][20];	/**< String array to store the names of the functions */
+	int8_t function[RC_CHANNELS_FUNCTION_MAX];			/**< Functions mapping */
+	uint8_t rssi;										/**< Receive signal strength index */
+	bool signal_lost;									/**< Control signal lost, should be checked together with topic timeout */
 }; /**< radio control channels. */
 
 /**
diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h
new file mode 100644
index 000000000..37c2faa96
--- /dev/null
+++ b/src/modules/uORB/topics/satellite_info.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @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 satellite_info.h
+ * Definition of the GNSS satellite info uORB topic.
+ */
+
+#ifndef TOPIC_SAT_INFO_H_
+#define TOPIC_SAT_INFO_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GNSS Satellite Info.
+ */
+
+#define SAT_INFO_MAX_SATELLITES  20
+
+struct satellite_info_s {
+	uint64_t timestamp;				/**< Timestamp of satellite info */
+	uint8_t count;					/**< Number of satellites in satellite info */
+	uint8_t svid[SAT_INFO_MAX_SATELLITES]; 		/**< Space vehicle ID [1..255], see scheme below  */
+	uint8_t used[SAT_INFO_MAX_SATELLITES];		/**< 0: Satellite not used, 1: used for navigation */
+	uint8_t elevation[SAT_INFO_MAX_SATELLITES];	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t azimuth[SAT_INFO_MAX_SATELLITES];	/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t snr[SAT_INFO_MAX_SATELLITES];		/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
+};
+
+/**
+ * NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs
+ * u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf
+ *
+ * GPS		1-32
+ * SBAS		120-158
+ * Galileo	211-246
+ * BeiDou	159-163, 33-64
+ * QZSS		193-197
+ * GLONASS	65-96, 255
+ *
+ */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(satellite_info);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index bbacb733a..80d65cd69 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -61,7 +61,6 @@ struct vehicle_gps_position_s {
 
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float p_variance_m;				/**< position accuracy estimate m */
 	float c_variance_rad;				/**< course accuracy estimate rad */
 	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
@@ -82,14 +81,7 @@ struct vehicle_gps_position_s {
 	uint64_t timestamp_time;			/**< Timestamp for time information */
 	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
 
-	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
-	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
-	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
-	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
-	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
-	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
-	uint8_t satellite_snr[20];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
-	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
+	uint8_t satellites_used;			/**< Number of satellites used */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 5dc46dacb..56590047f 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -191,6 +191,8 @@ struct vehicle_status_s {
 	bool condition_local_altitude_valid;
 	bool condition_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
 	bool condition_landed;					/**< true if vehicle is landed, always true if disarmed */
+	bool condition_power_input_valid;		/**< set if input power is valid */
+	float avionics_power_rail_voltage;		/**< voltage of the avionics power rail */
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception lost */
@@ -220,6 +222,8 @@ struct vehicle_status_s {
 	uint16_t errors_count2;
 	uint16_t errors_count3;
 	uint16_t errors_count4;
+
+	bool circuit_breaker_engaged_power_check;
 };
 
 /**