Merge branch 'master' of github.com:PX4/Firmware into vision_estimate

3 files changed, 11 insertions, 8 deletions

diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index 01e14cda9..cd48d3cb2 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -58,7 +58,6 @@ struct differential_pressure_s {
 	float	differential_pressure_raw_pa;		/**< Raw differential pressure reading (may be negative) */
 	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
 	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */
-	float	voltage;				/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
 	float	temperature;				/**< Temperature provided by sensor, -1000.0f if unknown */
 
 };
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index d9dd61df1..e4b72f87c 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -98,11 +98,15 @@ struct mission_item_s {
 	unsigned do_jump_current_count;	/**< count how many times the jump has been done	*/
 };
 
+/**
+ * This topic used to notify navigator about mission changes, mission itself and new mission state
+ * must be stored in dataman before publication.
+ */
 struct mission_s
 {
-	int dataman_id;			/**< default -1, there are two offboard storage places in the dataman: 0 or 1 */
-	unsigned count;			/**< count of the missions stored in the datamanager */
-	int current_index;		/**< default -1, start at the one changed latest */
+	int dataman_id;			/**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
+	unsigned count;			/**< count of the missions stored in the dataman */
+	int current_seq;				/**< default -1, start at the one changed latest */
 };
 
 /**
diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h
index ad654a9ff..beb797e62 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -53,10 +53,10 @@
 
 struct mission_result_s
 {
-	bool mission_reached;		/**< true if mission has been reached			*/
-	unsigned mission_index_reached;	/**< index of the mission which has been reached	*/
-	unsigned index_current_mission; /**< index of the current mission			*/
-	bool mission_finished;		/**< true if mission has been completed			*/
+	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					 */
 };
 
 /**