Merged master into vision_estimate

3 files changed, 12 insertions, 11 deletions

diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 4a1932180..ec2131abd 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -60,7 +60,7 @@ enum SETPOINT_TYPE
 	SETPOINT_TYPE_TAKEOFF,		/**< takeoff setpoint */
 	SETPOINT_TYPE_LAND,		/**< land setpoint, altitude must be ignored, descend until landing */
 	SETPOINT_TYPE_IDLE,		/**< do nothing, switch off motors or keep at idle speed (MC) */
-	SETPOINT_TYPE_OFFBOARD, 	/**< setpoint set by offboard */
+	SETPOINT_TYPE_OFFBOARD, 	/**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */
 };
 
 struct position_setpoint_s
@@ -71,9 +71,9 @@ struct position_setpoint_s
 	float y;			/**< local position setpoint in m in NED */
 	float z;			/**< local position setpoint in m in NED */
 	bool position_valid;	/**< true if local position setpoint valid */
-	float vx;			/**< local velocity setpoint in m in NED */
-	float vy;			/**< local velocity setpoint in m in NED */
-	float vz;			/**< local velocity setpoint in m in NED */
+	float vx;			/**< local velocity setpoint in m/s in NED */
+	float vy;			/**< local velocity setpoint in m/s in NED */
+	float vz;			/**< local velocity setpoint in m/s in NED */
 	bool velocity_valid;		/**< true if local velocity setpoint valid */
 	double lat;			/**< latitude, in deg */
 	double lon;			/**< longitude, in deg */
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
index 33055018c..ddca19d61 100644
--- a/src/modules/uORB/topics/tecs_status.h
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -51,11 +51,13 @@
  */
 
 typedef enum {
-	TECS_MODE_NORMAL,
+	TECS_MODE_NORMAL = 0,
 	TECS_MODE_UNDERSPEED,
 	TECS_MODE_TAKEOFF,
 	TECS_MODE_LAND,
-	TECS_MODE_LAND_THROTTLELIM
+	TECS_MODE_LAND_THROTTLELIM,
+	TECS_MODE_BAD_DESCENT,
+	TECS_MODE_CLIMBOUT
 } tecs_mode;
 
  /**
@@ -65,14 +67,12 @@ struct tecs_status_s {
 	uint64_t timestamp;		/**< timestamp, in microseconds since system start */
 
 	float altitudeSp;
-	float altitude;
-	float altitudeFiltered;
+	float altitude_filtered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;
 	float airspeedSp;
-	float airspeed;
-	float airspeedFiltered;
+	float airspeed_filtered;
 	float airspeedDerivativeSp;
 	float airspeedDerivative;
 
diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
index 8988a0330..6766bb58a 100644
--- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
@@ -50,11 +50,12 @@
  */
 
 struct vehicle_local_position_setpoint_s {
+	uint64_t timestamp;	/**< timestamp of the setpoint */
 	float x;		/**< in meters NED			  		*/
 	float y;		/**< in meters NED			  		*/
 	float z;		/**< in meters NED			  		*/
 	float yaw;		/**< in radians NED -PI..+PI  		*/
-}; /**< Local position in NED frame to go to */
+}; /**< Local position in NED frame */
 
 /**
  * @}