pulled from PX4 master

11 files changed, 315 insertions, 25 deletions

diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
index 628824efa..b45c49788 100644
--- a/src/modules/uORB/topics/esc_status.h
+++ b/src/modules/uORB/topics/esc_status.h
@@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE {
 
 /**
  * Electronic speed controller status.
+ * Unsupported float fields should be assigned NaN.
  */
 struct esc_status_s {
 	/* use of a counter and timestamp recommended (but not necessary) */
@@ -89,17 +90,17 @@ struct esc_status_s {
 	enum ESC_CONNECTION_TYPE esc_connectiontype;	/**< how ESCs connected to the system */
 
 	struct {
-		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
 		enum ESC_VENDOR esc_vendor;		/**< Vendor of current ESC */
-		uint16_t esc_version;			/**< Version of current ESC - if supported */
-		uint16_t esc_voltage;			/**< Voltage measured from current ESC - if supported */
-		uint16_t esc_current;			/**< Current measured from current ESC (100mA steps) - if supported */
-		uint16_t esc_rpm;				/**< RPM measured from current ESC - if supported */
-		uint16_t esc_temperature;		/**< Temperature measured from current ESC - if supported */
-		float    esc_setpoint;			/**< setpoint of current ESC */
+		uint32_t esc_errorcount;		/**< Number of reported errors by ESC - if supported */
+                int32_t esc_rpm;                        /**< Motor RPM, negative for reverse rotation [RPM] - if supported */
+		float esc_voltage;			/**< Voltage measured from current ESC [V] - if supported */
+		float esc_current;			/**< Current measured from current ESC [A] - if supported */
+		float esc_temperature;			/**< Temperature measured from current ESC [degC] - if supported */
+		float esc_setpoint;			/**< setpoint of current ESC */
 		uint16_t esc_setpoint_raw;		/**< setpoint of current ESC (Value sent to ESC) */
-		uint16_t esc_state;				/**< State of ESC - depend on Vendor */
-		uint16_t esc_errorcount;		/**< Number of reported errors by ESC - if supported */
+		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
+		uint16_t esc_version;			/**< Version of current ESC - if supported */
+		uint16_t esc_state;			/**< State of ESC - depend on Vendor */
 	} esc[CONNECTED_ESC_MAX];
 
 };
diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h
index beb797e62..c7d25d1f0 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -55,8 +55,11 @@ struct mission_result_s
 {
 	unsigned seq_reached;		/**< Sequence of the mission item which has been reached */
 	unsigned seq_current;		/**< Sequence of the current mission item				 */
-	bool reached;				/**< true if mission has been reached					 */
-	bool finished;				/**< true if mission has been completed					 */
+	bool reached;			/**< true if mission has been reached					 */
+	bool finished;			/**< true if mission has been completed					 */
+	bool stay_in_failsafe;		/**< true if the commander should not switch out of the failsafe mode*/
+	bool geofence_violated;		/**< true if the geofence is violated */
+	bool flight_termination;	/**< true if the navigator demands a flight termination from the commander app */
 };
 
 /**
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index d7b131e3c..72a28e501 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -53,11 +53,42 @@ enum OFFBOARD_CONTROL_MODE {
 	OFFBOARD_CONTROL_MODE_DIRECT = 0,
 	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
 	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
-	OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
-	OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
-	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
-	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
-	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
+	OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3,
+	OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4,
+	OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5,
+	OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6,
+	OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7,
+	OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10,
+	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
+};
+
+enum OFFBOARD_CONTROL_FRAME {
+	OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0,
+	OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1,
+	OFFBOARD_CONTROL_FRAME_BODY_NED = 2,
+	OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3,
+	OFFBOARD_CONTROL_FRAME_GLOBAL = 4
+};
+
+/* mappings for the ignore bitmask */
+enum {OFB_IGN_BIT_POS_X,
+	OFB_IGN_BIT_POS_Y,
+	OFB_IGN_BIT_POS_Z,
+	OFB_IGN_BIT_VEL_X,
+	OFB_IGN_BIT_VEL_Y,
+	OFB_IGN_BIT_VEL_Z,
+	OFB_IGN_BIT_ACC_X,
+	OFB_IGN_BIT_ACC_Y,
+	OFB_IGN_BIT_ACC_Z,
+	OFB_IGN_BIT_BODYRATE_X,
+	OFB_IGN_BIT_BODYRATE_Y,
+	OFB_IGN_BIT_BODYRATE_Z,
+	OFB_IGN_BIT_ATT,
+	OFB_IGN_BIT_THRUST,
+	OFB_IGN_BIT_YAW,
+	OFB_IGN_BIT_YAWRATE,
 };
 
 /**
@@ -70,10 +101,21 @@ struct offboard_control_setpoint_s {
 
 	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
 
-	float p1;	/**< ailerons roll / roll rate input */
-	float p2;	/**< elevator / pitch / pitch rate */
-	float p3;	/**< rudder / yaw rate / yaw */
-	float p4;	/**< throttle / collective thrust / altitude */
+	double position[3];	/**< lat, lon, alt / x, y, z */
+	float velocity[3];	/**< x vel, y vel, z vel */
+	float acceleration[3];	/**< x acc, y acc, z acc */
+	float attitude[4];	/**< attitude of vehicle (quaternion) */
+	float attitude_rate[3];	/**< body angular rates (x, y, z) */
+	float thrust;	/**< thrust */
+	float yaw;	/**< yaw: this is the yaw from the position_target message
+			  (not from the full attitude_target message) */
+	float yaw_rate;	/**< yaw rate: this is the yaw from the position_target message
+			  (not from the full attitude_target message) */
+
+	uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file
+			   for mapping */
+
+	bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */
 
 	float override_mode_switch;
 
@@ -87,6 +129,147 @@ struct offboard_control_setpoint_s {
  * @}
  */
 
+/**
+ * Returns true if the position setpoint at index should be ignored
+ */
+inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
+	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X +  index)));
+}
+
+/**
+ * Returns true if all position setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (!offboard_control_sp_ignore_position(offboard_control_sp, i))	{
+			return false;
+		}
+	}
+	return true;
+}
+
+/**
+ * Returns true if some position setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (offboard_control_sp_ignore_position(offboard_control_sp, i))	{
+			return true;
+		}
+	}
+	return false;
+}
+
+/**
+ * Returns true if the velocity setpoint at index should be ignored
+ */
+inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
+	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index)));
+}
+
+/**
+ * Returns true if all velocity setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i))	{
+			return false;
+		}
+	}
+	return true;
+}
+
+/**
+ * Returns true if some velocity setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (offboard_control_sp_ignore_velocity(offboard_control_sp, i))	{
+			return true;
+		}
+	}
+	return false;
+}
+
+/**
+ * Returns true if the acceleration setpoint at index should be ignored
+ */
+inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
+	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index)));
+}
+
+/**
+ * Returns true if all acceleration setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i))	{
+			return false;
+		}
+	}
+	return true;
+}
+
+/**
+ * Returns true if some acceleration setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i))	{
+			return true;
+		}
+	}
+	return false;
+}
+
+/**
+ * Returns true if the bodyrate setpoint at index should be ignored
+ */
+inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
+	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index)));
+}
+
+/**
+ * Returns true if some of the bodyrate setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i))	{
+			return true;
+		}
+	}
+	return false;
+}
+
+/**
+ * Returns true if the attitude setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT));
+}
+
+/**
+ * Returns true if the thrust setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST));
+}
+
+/**
+ * Returns true if the yaw setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW));
+}
+
+/**
+ * Returns true if the yaw rate setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE));
+}
+
+
 /* register this as object request broker structure */
 ORB_DECLARE(offboard_control_setpoint);
 
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index ec2131abd..cb2262534 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -79,10 +79,17 @@ struct position_setpoint_s
 	double lon;			/**< longitude, in deg */
 	float alt;			/**< altitude AMSL, in m */
 	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
+	bool yaw_valid;			/**< true if yaw setpoint valid */
 	float yawspeed;			/**< yawspeed (only for multirotors, in rad/s) */
+	bool yawspeed_valid;		/**< true if yawspeed setpoint valid */
 	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
 	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
+	float a_x;			//**< acceleration x setpoint */
+	float a_y;			//**< acceleration y setpoint */
+	float a_z;			//**< acceleration z setpoint */
+	bool acceleration_valid;	//*< true if acceleration setpoint is valid/should be used */
+	bool acceleration_is_force;	//*< interprete acceleration as force */
 };
 
 /**
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 8978de471..16916cc4d 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -34,6 +34,8 @@
 /**
  * @file rc_channels.h
  * Definition of the rc_channels uORB topic.
+ *
+ * @deprecated DO NOT USE FOR NEW CODE
  */
 
 #ifndef RC_CHANNELS_H_
@@ -63,10 +65,13 @@ enum RC_CHANNELS_FUNCTION {
 	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. */
+	AUX_5
 };
 
+// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS
+
+#define RC_CHANNELS_FUNCTION_MAX 18
+
 /**
  * @addtogroup topics
  * @{
@@ -76,7 +81,6 @@ struct rc_channels_s {
 	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 */
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 1297c1a9d..93193f32b 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -67,6 +67,8 @@ struct telemetry_status_s {
 	uint8_t noise;				/**< background noise level                     */
 	uint8_t remote_noise;			/**< remote background noise level              */
 	uint8_t txbuf;				/**< how full the tx buffer is as a percentage  */
+	uint8_t system_id;			/**< system id of the remote system */
+	uint8_t component_id;			/**< component id of the remote system */
 };
 
 /**
diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h
new file mode 100644
index 000000000..491096934
--- /dev/null
+++ b/src/modules/uORB/topics/test_motor.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 test_motor.h
+ *
+ * Test a single drive motor while the vehicle is disarmed
+ *
+ * Publishing values to this topic causes a single motor to spin, e.g. for
+ * ground test purposes. This topic will be ignored while the vehicle is armed.
+ *
+ */
+
+#ifndef TOPIC_TEST_MOTOR_H
+#define TOPIC_TEST_MOTOR_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_MOTOR_OUTPUTS	8
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct test_motor_s {
+	uint64_t 	timestamp;				/**< output timestamp in us since system boot */
+	unsigned 	motor_number;				/**< number of motor to spin */
+	float		value;					/**< output data, in natural output units */
+};
+
+/**
+ * @}
+ */
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(test_motor);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index 44aa50572..f264accbb 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -65,6 +65,9 @@ enum VEHICLE_CMD {
 	VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
 	VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
 	VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index b071e0fa3..78de55b7d 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -79,6 +79,7 @@ struct vehicle_control_mode_s {
 	bool flag_control_offboard_enabled;		/**< true if offboard control should be used */
 	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
 	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
+	bool flag_control_force_enabled;		/**< true if force control is mixed in */
 	bool flag_control_velocity_enabled;		/**< true if horizontal velocity (implies direction) is controlled */
 	bool flag_control_position_enabled;		/**< true if position is controlled */
 	bool flag_control_altitude_enabled;		/**< true if altitude is controlled */
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 80d65cd69..31e616f4f 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -62,7 +62,7 @@ struct vehicle_gps_position_s {
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
 	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.   */
+	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
 	float eph;					/**< GPS HDOP horizontal dilution of position in m */
 	float epv;					/**< GPS VDOP horizontal dilution of position in m */
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 973987f5c..6bd156ccd 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -104,7 +104,10 @@ 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) */
@@ -200,14 +203,25 @@ struct vehicle_status_s {
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception 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;
@@ -229,6 +243,8 @@ struct vehicle_status_s {
 
 	bool circuit_breaker_engaged_power_check;
 	bool circuit_breaker_engaged_airspd_check;
+	bool circuit_breaker_engaged_enginefailure_check;
+	bool circuit_breaker_engaged_gpsfailure_check;
 };
 
 /**