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

Conflicts:
	src/examples/subscriber/subscriber_params.c
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
	src/modules/uORB/topics/vehicle_attitude_setpoint.h
	src/platforms/px4_middleware.h

2 files changed, 66 insertions, 256 deletions

diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
deleted file mode 100644
index 131029061..000000000
--- a/src/modules/uORB/topics/vehicle_status.h
+++ /dev/null
@@ -1,256 +0,0 @@
-/****************************************************************************
- *
- *   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
- * 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 vehicle_status.h
- * Definition of the vehicle_status uORB topic.
- *
- * Published the state machine and the system status bitfields
- * (see SYS_STATUS mavlink message), published only by commander app.
- *
- * All apps should write to subsystem_info:
- *
- *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <julian@oes.ch>
- */
-
-#ifndef VEHICLE_STATUS_H_
-#define VEHICLE_STATUS_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <platforms/px4_defines.h>
-
-/**
- * @addtogroup topics @{
- */
-
-/**
- * Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
- */
-typedef enum {
-	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_ALTCTL,
-	MAIN_STATE_POSCTL,
-	MAIN_STATE_AUTO_MISSION,
-	MAIN_STATE_AUTO_LOITER,
-	MAIN_STATE_AUTO_RTL,
-	MAIN_STATE_ACRO,
-	MAIN_STATE_OFFBOARD,
-	MAIN_STATE_MAX
-} main_state_t;
-
-// If you change the order, add or remove arming_state_t states make sure to update the arrays
-// in state_machine_helper.cpp as well.
-typedef enum {
-	ARMING_STATE_INIT = 0,
-	ARMING_STATE_STANDBY,
-	ARMING_STATE_ARMED,
-	ARMING_STATE_ARMED_ERROR,
-	ARMING_STATE_STANDBY_ERROR,
-	ARMING_STATE_REBOOT,
-	ARMING_STATE_IN_AIR_RESTORE,
-	ARMING_STATE_MAX,
-} arming_state_t;
-
-typedef enum {
-	HIL_STATE_OFF = 0,
-	HIL_STATE_ON
-} hil_state_t;
-
-/**
- * Navigation state, i.e. "what should vehicle do".
- */
-typedef enum {
-	NAVIGATION_STATE_MANUAL = 0,		/**< Manual mode */
-	NAVIGATION_STATE_ALTCTL,		/**< Altitude control mode */
-	NAVIGATION_STATE_POSCTL,		/**< Position control mode */
-	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_TERMINATION,		/**< Termination mode */
-	NAVIGATION_STATE_OFFBOARD,
-	NAVIGATION_STATE_MAX,
-} navigation_state_t;
-
-enum VEHICLE_MODE_FLAG {
-	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
-	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
-	VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
-	VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
-	VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
-	VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
-	VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
-	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
-}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
-
-/**
- * Should match 1:1 MAVLink's MAV_TYPE ENUM
- */
-enum VEHICLE_TYPE {
-	VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */
-	VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */
-	VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */
-	VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */
-	VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */
-	VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */
-	VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */
-	VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */
-	VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */
-	VEHICLE_TYPE_ROCKET = 9, /* Rocket | */
-	VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */
-	VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */
-	VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */
-	VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */
-	VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */
-	VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
-	VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
-	VEHICLE_TYPE_KITE = 17, /* Kite | */
-	VEHICLE_TYPE_ENUM_END = 18, /*  | */
-};
-
-enum VEHICLE_BATTERY_WARNING {
-	VEHICLE_BATTERY_WARNING_NONE = 0,	/**< no battery low voltage warning active */
-	VEHICLE_BATTERY_WARNING_LOW,	/**< warning of low voltage */
-	VEHICLE_BATTERY_WARNING_CRITICAL	/**< alerting of critical voltage */
-};
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * state machine / state of vehicle.
- *
- * Encodes the complete system state and is set by the commander app.
- */
-struct vehicle_status_s {
-	/* use of a counter and timestamp recommended (but not necessary) */
-
-	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
-	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
-
-	main_state_t main_state;		    	/**< main state machine */
-	navigation_state_t nav_state;		/**< set navigation state machine to specified value */
-	arming_state_t arming_state;			/**< current arming state */
-	hil_state_t hil_state;				/**< current hil state */
-	bool failsafe;					/**< true if system is in failsafe state */
-
-	int32_t system_type;				/**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
-	int32_t	system_id;				/**< system id, inspired by MAVLink's system ID field */
-	int32_t component_id;				/**< subsystem / component id, inspired by MAVLink's component ID field */
-
-	bool is_rotary_wing;
-
-	bool condition_battery_voltage_valid;
-	bool condition_system_in_air_restore;	/**< true if we can restore in mid air */
-	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 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;
-	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 */
-	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_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;
-	uint32_t onboard_control_sensors_enabled;
-	uint32_t onboard_control_sensors_health;
-
-	float load;					/**< processor load from 0 to 1 */
-	float battery_voltage;
-	float battery_current;
-	float battery_remaining;
-
-	enum VEHICLE_BATTERY_WARNING battery_warning;    /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
-	uint16_t drop_rate_comm;
-	uint16_t errors_comm;
-	uint16_t errors_count1;
-	uint16_t errors_count2;
-	uint16_t errors_count3;
-	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;
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_status);
-
-#endif
diff --git a/src/modules/uORB/topics/vtol_vehicle_status.h b/src/modules/uORB/topics/vtol_vehicle_status.h
new file mode 100644
index 000000000..24ecca9fa
--- /dev/null
+++ b/src/modules/uORB/topics/vtol_vehicle_status.h
@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vtol_status.h
+ *
+ * Vtol status topic
+ *
+ */
+
+#ifndef TOPIC_VTOL_STATUS_H
+#define TOPIC_VTOL_STATUS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/* Indicates in which mode the vtol aircraft is in */
+struct vtol_vehicle_status_s {
+
+	uint64_t	timestamp;	/**< Microseconds since system boot */
+	bool vtol_in_rw_mode;	/*true: vtol vehicle is in rotating wing mode */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vtol_vehicle_status);
+
+#endif