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

Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h

5 files changed, 69 insertions, 15 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 293412455..78fdf4de7 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -83,6 +83,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
 #include "topics/vehicle_gps_position.h"
 ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
 
+#include "topics/vehicle_land_detected.h"
+ORB_DEFINE(vehicle_land_detected, struct vehicle_land_detected_s);
+
 #include "topics/satellite_info.h"
 ORB_DEFINE(satellite_info, struct satellite_info_s);
 
diff --git a/src/modules/uORB/topics/vehicle_land_detected.h b/src/modules/uORB/topics/vehicle_land_detected.h
new file mode 100644
index 000000000..51b3568e8
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_land_detected.h
@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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_land_detected.h
+ * Land detected uORB topic
+ *
+ * @author Johan Jansen <jnsn.johan@gmail.com>
+ */
+
+#ifndef __TOPIC_VEHICLE_LANDED_H__
+#define __TOPIC_VEHICLE_LANDED_H__
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_land_detected_s {
+	uint64_t timestamp;	   /**< timestamp of the setpoint */
+	bool landed;           /**< true if vehicle is currently landed on the ground*/
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_land_detected);
+
+#endif //__TOPIC_VEHICLE_LANDED_H__
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index 5d39c897d..8b46c5a3f 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -77,7 +77,6 @@ struct vehicle_local_position_s {
 	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 */
 	float dist_bottom;		/**< Distance to bottom surface (ground) */
 	float dist_bottom_rate;		/**< Distance to bottom surface (ground) change rate */
diff --git a/src/modules/uORB/topics/vtol_vehicle_status.h b/src/modules/uORB/topics/vtol_vehicle_status.h
index 7b4e22bc8..968c2b6bd 100644
--- a/src/modules/uORB/topics/vtol_vehicle_status.h
+++ b/src/modules/uORB/topics/vtol_vehicle_status.h
@@ -55,6 +55,7 @@ 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 */
 	bool fw_permanent_stab;	/**< In fw mode stabilize attitude even if in manual mode*/
+	float airspeed_tot;		/*< Estimated airspeed over control surfaces */
 };
 
 /**
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index 149b8f6d2..3373aac83 100644
--- a/src/modules/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (Cc) 2012-2015 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
@@ -230,7 +230,7 @@ ORBDevNode::open(struct file *filp)
 		ret = CDev::open(filp);
 
 		if (ret != OK)
-			free(sd);
+			delete sd;
 
 		return ret;
 	}
@@ -817,18 +817,6 @@ uorb_main(int argc, char *argv[])
 namespace
 {
 
-void debug(const char *fmt, ...)
-{
-	va_list ap;
-
-	va_start(ap, fmt);
-	vfprintf(stderr, fmt, ap);
-	va_end(ap);
-	fprintf(stderr, "\n");
-	fflush(stderr);
-	usleep(100000);
-}
-
 /**
  * Advertise a node; don't consider it an error if the node has
  * already been advertised.