Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

2 files changed, 16 insertions, 16 deletions

diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 76693c46e..e9e00d76c 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -57,6 +57,7 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 
 struct telemetry_status_s {
 	uint64_t timestamp;
+	uint64_t heartbeat_time;	/**< Time of last received heartbeat from remote system */
 	enum TELEMETRY_STATUS_RADIO_TYPE type;	/**< type of the radio hardware     */
 	uint8_t rssi;				/**< local signal strength                      */
 	uint8_t remote_rssi;			/**< remote signal strength                     */
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 9390ff717..5dc46dacb 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -59,7 +59,9 @@
  * @addtogroup topics @{
  */
 
-/* main state machine */
+/**
+ * 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,
@@ -89,27 +91,22 @@ typedef enum {
 	HIL_STATE_ON
 } hil_state_t;
 
-typedef enum {
-	FAILSAFE_STATE_NORMAL = 0,		/**< Normal operation */
-	FAILSAFE_STATE_RC_LOSS,			/**< Return To Launch on remote control loss */
-	FAILSAFE_STATE_DL_LOSS,			/**< Return To Launch on datalink loss */
-	FAILSAFE_STATE_LAND,			/**< Land as safe as possible */
-	FAILSAFE_STATE_TERMINATION,		/**< Disable motors and use parachute, can't be recovered */
-	FAILSAFE_STATE_MAX,
-} failsafe_state_t;
-
+/**
+ * Navigation state, i.e. "what should vehicle do".
+ */
 typedef enum {
 	NAVIGATION_STATE_MANUAL = 0,		/**< Manual mode */
-	NAVIGATION_STATE_ACRO,			/**< Acro 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 RTL mode */
-	NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS,	/**< Auto failsafe on RC loss mode */
-	NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS,	/**< Auto failsafe on datalink loss mode */
+	NAVIGATION_STATE_AUTO_RTL,		/**< Auto return to launch mode */
+	NAVIGATION_STATE_AUTO_RTGS,		/**< Auto return to groundstation on data link loss */
+	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_MAX,
 } navigation_state_t;
 
 enum VEHICLE_MODE_FLAG {
@@ -171,10 +168,10 @@ struct vehicle_status_s {
 	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 set_nav_state;		/**< set navigation state machine to specified value */
+	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 */
-	failsafe_state_t failsafe_state;		/**< current failsafe 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 */
@@ -199,6 +196,8 @@ struct vehicle_status_s {
 	bool rc_signal_lost;				/**< true if RC reception lost */
 	bool rc_input_blocked;				/**< set if RC input should be ignored */
 
+	bool data_link_lost;						/**< datalink to GCS lost */
+
 	bool offboard_control_signal_found_once;
 	bool offboard_control_signal_lost;
 	bool offboard_control_signal_weak;