Merged mpc_rc into ekf_params

6 files changed, 30 insertions, 54 deletions

diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index eac6d6e98..a23d89cd2 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -44,6 +44,16 @@
 #include "../uORB.h"
 
 /**
+ * Switch position
+ */
+typedef enum {
+	SWITCH_POS_NONE = 0,	/**< switch is not mapped */
+	SWITCH_POS_ON,			/**< switch activated (value = 1) */
+	SWITCH_POS_MIDDLE,		/**< middle position (value = 0) */
+	SWITCH_POS_OFF			/**< switch not activated (value = -1) */
+} switch_pos_t;
+
+/**
  * @addtogroup topics
  * @{
  */
@@ -51,32 +61,25 @@
 struct manual_control_setpoint_s {
 	uint64_t timestamp;
 
-	float roll;			 	/**< ailerons roll / roll rate input */
-	float pitch;				/**< elevator / pitch / pitch rate */
-	float yaw;				/**< rudder / yaw rate / yaw */
-	float throttle;				/**< throttle / collective thrust / altitude */
-
-	float mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
-	float return_switch;			/**< land 2 position switch (mandatory): land, no effect */
-	float assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
-	float mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
-
 	/**
-	 * Any of the channels below may not be available and be set to NaN
+	 * Any of the channels may not be available and be set to NaN
 	 * to indicate that it does not contain valid data.
 	 */
-
-	// XXX needed or parameter?
-	//float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
-
-	float flaps;				/**< flap position */
-
+	float roll;			 	/**< ailerons roll / roll rate input, -1..1 */
+	float pitch;			/**< elevator / pitch / pitch rate, -1..1 */
+	float yaw;				/**< rudder / yaw rate / yaw, -1..1 */
+	float throttle;			/**< throttle / collective thrust / altitude, 0..1 */
+	float flaps;			/**< flap position */
 	float aux1;				/**< default function: camera yaw / azimuth */
 	float aux2;				/**< default function: camera pitch / tilt */
 	float aux3;				/**< default function: camera trigger */
 	float aux4;				/**< default function: camera roll */
 	float aux5;				/**< default function: payload drop */
 
+	switch_pos_t mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
+	switch_pos_t return_switch;			/**< land 2 position switch (mandatory): land, no effect */
+	switch_pos_t assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
+	switch_pos_t loiter_switch;		/**< mission 2 position switch (optional): mission, loiter */
 }; /**< manual control inputs */
 
 /**
diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
index 98f0e3fa2..0196ae86b 100644
--- a/src/modules/uORB/topics/optical_flow.h
+++ b/src/modules/uORB/topics/optical_flow.h
@@ -57,6 +57,7 @@ struct optical_flow_s {
 
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
+	uint64_t flow_timestamp;		/**< timestamp from flow sensor */
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 6eb20efd1..c168b2fac 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -65,7 +65,7 @@ enum RC_CHANNELS_FUNCTION {
 	MODE = 4,
 	RETURN = 5,
 	ASSISTED = 6,
-	MISSION = 7,
+	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,
 	AUX_1   = 10,
@@ -94,6 +94,7 @@ struct rc_channels_s {
 	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 */
 }; /**< radio control channels. */
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index adcd028f0..4897ca737 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -63,9 +63,6 @@
 struct vehicle_global_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
 
-	bool global_valid;		/**< true if position satisfies validity criteria of estimator */
-	bool baro_valid;		/**< true if baro_alt is valid (vel_d is also valid in this case) */
-
 	uint64_t time_gps_usec; /**< GPS timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
@@ -74,8 +71,8 @@ struct vehicle_global_position_s {
 	float vel_e;		/**< Ground east velocity, m/s							   */
 	float vel_d;		/**< Ground downside velocity, m/s						   */
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
-
-	float baro_alt;		/**< Barometric altitude (not raw baro but fused with accelerometer) */
+	float eph;
+	float epv;
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index db9637cd9..a15303ea4 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   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
@@ -35,6 +34,9 @@
 /**
  * @file vehicle_local_position.h
  * Definition of the local fused NED position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
@@ -72,8 +74,8 @@ struct vehicle_local_position_s {
 	bool xy_global;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
 	bool z_global;			/**< true if z is valid and has valid global reference (ref_alt) */
 	uint64_t ref_timestamp;	/**< Time when reference position was set */
-	int32_t ref_lat;		/**< Reference point latitude in 1E7 degrees */
-	int32_t ref_lon;		/**< Reference point longitude in 1E7 degrees */
+	double ref_lat;		/**< Reference point latitude in degrees */
+	double ref_lon;		/**< Reference point longitude in degrees */
 	float ref_alt;			/**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
 	bool landed;			/**< true if vehicle is landed */
 	/* Distance to surface */
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 256c5134c..435230432 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -95,29 +95,6 @@ typedef enum {
 	FAILSAFE_STATE_MAX
 } failsafe_state_t;
 
-typedef enum {
-	MODE_SWITCH_MANUAL = 0,
-	MODE_SWITCH_ASSISTED,
-	MODE_SWITCH_AUTO
-} mode_switch_pos_t;
-
-typedef enum {
-	ASSISTED_SWITCH_SEATBELT = 0,
-	ASSISTED_SWITCH_EASY
-} assisted_switch_pos_t;
-
-typedef enum {
-	RETURN_SWITCH_NONE = 0,
-	RETURN_SWITCH_NORMAL,
-	RETURN_SWITCH_RETURN
-} return_switch_pos_t;
-
-typedef enum {
-	MISSION_SWITCH_NONE = 0,
-	MISSION_SWITCH_LOITER,
-	MISSION_SWITCH_MISSION
-} mission_switch_pos_t;
-
 enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
 	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
@@ -189,11 +166,6 @@ struct vehicle_status_s {
 
 	bool is_rotary_wing;
 
-	mode_switch_pos_t mode_switch;
-	return_switch_pos_t return_switch;
-	assisted_switch_pos_t assisted_switch;
-	mission_switch_pos_t mission_switch;
-
 	bool condition_battery_voltage_valid;
 	bool condition_system_in_air_restore;	/**< true if we can restore in mid air */
 	bool condition_system_sensors_initialized;