Merged master

22 files changed, 487 insertions, 110 deletions

diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp
index 5a5981617..cd0b30dd6 100644
--- a/src/modules/uORB/Publication.cpp
+++ b/src/modules/uORB/Publication.cpp
@@ -47,6 +47,7 @@
 #include "topics/vehicle_rates_setpoint.h"
 #include "topics/actuator_outputs.h"
 #include "topics/encoders.h"
+#include "topics/tecs_status.h"
 
 namespace uORB {
 
@@ -76,5 +77,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
 template class __EXPORT Publication<vehicle_rates_setpoint_s>;
 template class __EXPORT Publication<actuator_outputs_s>;
 template class __EXPORT Publication<encoders_s>;
+template class __EXPORT Publication<tecs_status_s>;
 
 }
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index c1d1a938f..44b6debc7 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -40,6 +40,7 @@
 #include "topics/parameter_update.h"
 #include "topics/actuator_controls.h"
 #include "topics/vehicle_gps_position.h"
+#include "topics/satellite_info.h"
 #include "topics/sensor_combined.h"
 #include "topics/vehicle_attitude.h"
 #include "topics/vehicle_global_position.h"
@@ -88,6 +89,7 @@ T Subscription<T>::getData() {
 template class __EXPORT Subscription<parameter_update_s>;
 template class __EXPORT Subscription<actuator_controls_s>;
 template class __EXPORT Subscription<vehicle_gps_position_s>;
+template class __EXPORT Subscription<satellite_info_s>;
 template class __EXPORT Subscription<sensor_combined_s>;
 template class __EXPORT Subscription<vehicle_attitude_s>;
 template class __EXPORT Subscription<vehicle_global_position_s>;
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 8340ca28a..679d6ea4f 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -79,6 +79,9 @@ 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/satellite_info.h"
+ORB_DEFINE(satellite_info, struct satellite_info_s);
+
 #include "topics/home_position.h"
 ORB_DEFINE(home_position, struct home_position_s);
 
@@ -187,7 +190,10 @@ ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
 
 #include "topics/telemetry_status.h"
-ORB_DEFINE(telemetry_status, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
 
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
@@ -203,3 +209,12 @@ ORB_DEFINE(encoders, struct encoders_s);
 
 #include "topics/estimator_status.h"
 ORB_DEFINE(estimator_status, struct estimator_status_report);
+
+#include "topics/vehicle_force_setpoint.h"
+ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);
+
+#include "topics/tecs_status.h"
+ORB_DEFINE(tecs_status, struct tecs_status_s);
+
+#include "topics/wind_estimate.h"
+ORB_DEFINE(wind_estimate, struct wind_estimate_s);
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/estimator_status.h b/src/modules/uORB/topics/estimator_status.h
index 5530cdb21..7f26b505b 100644
--- a/src/modules/uORB/topics/estimator_status.h
+++ b/src/modules/uORB/topics/estimator_status.h
@@ -64,9 +64,9 @@ struct estimator_status_report {
 	uint64_t timestamp;			/**< Timestamp in microseconds since boot */
 	float states[32];			/**< Internal filter states */
 	float n_states;				/**< Number of states effectively used */
-	bool states_nan;			/**< If set to true, one of the states is NaN */
-	bool covariance_nan;			/**< If set to true, the covariance matrix went NaN */
-	bool kalman_gain_nan;			/**< If set to true, the Kalman gain matrix went NaN */
+	uint8_t nan_flags;			/**< Bitmask to indicate NaN states */
+	uint8_t health_flags;			/**< Bitmask to indicate sensor health states (vel, pos, hgt) */
+	uint8_t timeout_flags;			/**< Bitmask to indicate timeout flags (vel, pos, hgt) */
 
 };
 
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index 08d11abae..70071130d 100644
--- a/src/modules/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
@@ -59,10 +59,13 @@ struct home_position_s
 {
 	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)	*/
 
-	//bool altitude_is_relative;	// TODO what means home relative altitude? we need clear definition of reference altitude then
 	double lat;				/**< Latitude in degrees 			*/
 	double lon;				/**< Longitude in degrees			*/
 	float alt;				/**< Altitude in meters				*/
+
+	float x;				/**< X coordinate in meters			*/
+	float y;				/**< Y coordinate in meters			*/
+	float z;				/**< Z coordinate in meters			*/
 };
 
 /**
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index 910b8a623..dde237adc 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -98,6 +98,7 @@ struct manual_control_setpoint_s {
 	switch_pos_t posctl_switch;			/**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
 	switch_pos_t loiter_switch;			/**< loiter 2 position switch (optional): _MISSION_, LOITER */
 	switch_pos_t acro_switch;			/**< acro 2 position switch (optional): _MANUAL_, ACRO */
+	switch_pos_t offboard_switch;		/**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
 }; /**< manual control inputs */
 
 /**
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index ef4bc1def..e4b72f87c 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,9 @@
 /**
  * @file mission.h
  * Definition of a mission consisting of mission items.
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef TOPIC_MISSION_H_
@@ -50,6 +50,7 @@
 
 /* compatible to mavlink MAV_CMD */
 enum NAV_CMD {
+	NAV_CMD_IDLE=0,
 	NAV_CMD_WAYPOINT=16,
 	NAV_CMD_LOITER_UNLIMITED=17,
 	NAV_CMD_LOITER_TURN_COUNT=18,
@@ -58,7 +59,8 @@ enum NAV_CMD {
 	NAV_CMD_LAND=21,
 	NAV_CMD_TAKEOFF=22,
 	NAV_CMD_ROI=80,
-	NAV_CMD_PATHPLANNING=81
+	NAV_CMD_PATHPLANNING=81,
+	NAV_CMD_DO_JUMP=177
 };
 
 enum ORIGIN {
@@ -91,13 +93,20 @@ struct mission_item_s {
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
 	bool autocontinue;		/**< true if next waypoint should follow after this one */
 	enum ORIGIN origin;		/**< where the waypoint has been generated		*/
+	int do_jump_mission_index;	/**< index where the do jump will go to                 */
+	unsigned do_jump_repeat_count;	/**< how many times do jump needs to be done            */
+	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 7c3921198..beb797e62 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -53,9 +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			*/
+	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					 */
 };
 
 /**
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 68d3e494b..d7b131e3c 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -69,7 +69,7 @@ struct offboard_control_setpoint_s {
 	uint64_t timestamp;
 
 	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
-	bool armed;	/**< Armed flag set, yes / no */
+
 	float p1;	/**< ailerons roll / roll rate input */
 	float p2;	/**< elevator / pitch / pitch rate */
 	float p3;	/**< rudder / yaw rate / yaw */
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 34aaa30dd..673c0e491 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
 /**
  * @file mission_item_triplet.h
  * Definition of the global WGS84 position setpoint uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
@@ -45,7 +46,6 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "../uORB.h"
-#include <navigator/navigator_state.h>
 
 /**
  * @addtogroup topics
@@ -54,21 +54,32 @@
 
 enum SETPOINT_TYPE
 {
-	SETPOINT_TYPE_NORMAL = 0,		/**< normal setpoint */
-	SETPOINT_TYPE_LOITER,			/**< loiter setpoint */
-	SETPOINT_TYPE_TAKEOFF,			/**< takeoff setpoint */
-	SETPOINT_TYPE_LAND,			/**< land setpoint, altitude must be ignored, vehicle must descend until landing */
-	SETPOINT_TYPE_IDLE,			/**< do nothing, switch off motors or keep at idle speed (MC) */
+	SETPOINT_TYPE_POSITION = 0,	/**< position setpoint */
+	SETPOINT_TYPE_VELOCITY,		/**< velocity setpoint */
+	SETPOINT_TYPE_LOITER,		/**< loiter setpoint */
+	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 */
 };
 
 struct position_setpoint_s
 {
 	bool valid;			/**< true if setpoint is valid */
 	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
+	float x;			/**< local position setpoint in m in NED */
+	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 */
+	bool velocity_valid;		/**< true if local velocity setpoint valid */
 	double lat;			/**< latitude, in deg */
 	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 */
+	float yawspeed;			/**< yawspeed (only for multirotors, in rad/s) */
 	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 */
@@ -84,8 +95,6 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s previous;
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
-
-	nav_state_t nav_state;			/**< navigation state */
 };
 
 /**
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 370c54442..8978de471 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -43,59 +43,43 @@
 #include "../uORB.h"
 
 /**
- * The number of RC channel inputs supported.
- * Current (Q4/2013) radios support up to 18 channels,
- * leaving at a sane value of 16.
- * This number can be greater then number of RC channels,
- * because single RC channel can be mapped to multiple
- * functions, e.g. for various mode switches.
- */
-#define RC_CHANNELS_MAPPED_MAX   16
-
-/**
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
- * the channel array chan[].
+ * the channel array channels[].
  */
 enum RC_CHANNELS_FUNCTION {
 	THROTTLE = 0,
-	ROLL     = 1,
-	PITCH    = 2,
-	YAW      = 3,
-	MODE = 4,
-	RETURN = 5,
-	POSCTL = 6,
-	LOITER = 7,
-	OFFBOARD_MODE = 8,
-	ACRO    = 9,
-	FLAPS   = 10,
-	AUX_1   = 11,
-	AUX_2   = 12,
-	AUX_3   = 13,
-	AUX_4   = 14,
-	AUX_5   = 15,
-	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+	ROLL,
+	PITCH,
+	YAW,
+	MODE,
+	RETURN,
+	POSCTL,
+	LOITER,
+	OFFBOARD,
+	ACRO,
+	FLAPS,
+	AUX_1,
+	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. */
 };
 
 /**
  * @addtogroup topics
  * @{
  */
-
 struct rc_channels_s {
-
-	uint64_t timestamp;                 /**< In microseconds since boot time. */
-	uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
-	struct {
-		float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-	} chan[RC_CHANNELS_MAPPED_MAX];
-	uint8_t chan_count;                 /**< number of valid channels */
-
-	/*String array to store the names of the functions*/
-	char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-	int8_t function[RC_CHANNELS_FUNCTION_MAX];
-	uint8_t rssi;                       /**< Overall receive signal strength */
-	bool signal_lost;		/**< control signal lost, should be checked together with topic timeout */
+	uint64_t timestamp;									/**< Timestamp in microseconds since boot time */
+	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 */
 }; /**< radio control channels. */
 
 /**
diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h
new file mode 100644
index 000000000..37c2faa96
--- /dev/null
+++ b/src/modules/uORB/topics/satellite_info.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 satellite_info.h
+ * Definition of the GNSS satellite info uORB topic.
+ */
+
+#ifndef TOPIC_SAT_INFO_H_
+#define TOPIC_SAT_INFO_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GNSS Satellite Info.
+ */
+
+#define SAT_INFO_MAX_SATELLITES  20
+
+struct satellite_info_s {
+	uint64_t timestamp;				/**< Timestamp of satellite info */
+	uint8_t count;					/**< Number of satellites in satellite info */
+	uint8_t svid[SAT_INFO_MAX_SATELLITES]; 		/**< Space vehicle ID [1..255], see scheme below  */
+	uint8_t used[SAT_INFO_MAX_SATELLITES];		/**< 0: Satellite not used, 1: used for navigation */
+	uint8_t elevation[SAT_INFO_MAX_SATELLITES];	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t azimuth[SAT_INFO_MAX_SATELLITES];	/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t snr[SAT_INFO_MAX_SATELLITES];		/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
+};
+
+/**
+ * NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs
+ * u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf
+ *
+ * GPS		1-32
+ * SBAS		120-158
+ * Galileo	211-246
+ * BeiDou	159-163, 33-64
+ * QZSS		193-197
+ * GLONASS	65-96, 255
+ *
+ */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(satellite_info);
+
+#endif
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
new file mode 100644
index 000000000..c4d0c1874
--- /dev/null
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 vehicle_global_position.h
+ * Definition of the global fused WGS84 position uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ */
+
+#ifndef TECS_STATUS_T_H_
+#define TECS_STATUS_T_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+typedef enum {
+	TECS_MODE_NORMAL,
+	TECS_MODE_UNDERSPEED,
+	TECS_MODE_TAKEOFF,
+	TECS_MODE_LAND,
+	TECS_MODE_LAND_THROTTLELIM
+} tecs_mode;
+
+ /**
+ * Internal values of the (m)TECS fixed wing speed alnd altitude control system
+ */
+struct tecs_status_s {
+	uint64_t timestamp;		/**< timestamp, in microseconds since system start */
+
+	float altitudeSp;
+	float altitude;
+	float flightPathAngleSp;
+	float flightPathAngle;
+	float flightPathAngleFiltered;
+	float airspeedSp;
+	float airspeed;
+	float airspeedFiltered;
+	float airspeedDerivativeSp;
+	float airspeedDerivative;
+
+	float totalEnergyRateSp;
+	float totalEnergyRate;
+	float energyDistributionRateSp;
+	float energyDistributionRate;
+
+	tecs_mode mode;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(tecs_status);
+
+#endif
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 76693c46e..3347724a5 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                     */
@@ -71,6 +72,28 @@ struct telemetry_status_s {
  * @}
  */
 
-ORB_DECLARE(telemetry_status);
+ORB_DECLARE(telemetry_status_0);
+ORB_DECLARE(telemetry_status_1);
+ORB_DECLARE(telemetry_status_2);
+ORB_DECLARE(telemetry_status_3);
+
+#define TELEMETRY_STATUS_ORB_ID_NUM	4
+
+static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
+	ORB_ID(telemetry_status_0),
+	ORB_ID(telemetry_status_1),
+	ORB_ID(telemetry_status_2),
+	ORB_ID(telemetry_status_3),
+};
+
+// This is a hack to quiet an unused-variable warning for when telemetry_status.h is
+// included but telemetry_status_orb_id is not referenced. The inline works if you
+// choose to use it, but you can continue to just directly index into the array as well.
+// If you don't use the inline this ends up being a no-op with no additional code emitted.
+extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index);
+extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index)
+{
+	return telemetry_status_orb_id[index];
+}
 
 #endif /* TOPIC_TELEMETRY_STATUS_H */
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
index d526a8ff2..8446e9c6e 100644
--- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
@@ -72,6 +72,8 @@ struct vehicle_attitude_setpoint_s {
 	float thrust;					/**< Thrust in Newton the power system should generate */
 
 	bool	roll_reset_integral;			/**< Reset roll integral part (navigation logic change) */
+	bool	pitch_reset_integral;			/**< Reset pitch integral part (navigation logic change) */
+	bool	yaw_reset_integral;			/**< Reset yaw integral part (navigation logic change) */
 
 };
 
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index ea554006f..49e2ba4b5 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -74,6 +74,7 @@ struct vehicle_control_mode_s {
 
 	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
 	bool flag_control_auto_enabled;			/**< true if onboard autopilot should act */
+	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_velocity_enabled;		/**< true if horizontal velocity (implies direction) is controlled */
diff --git a/src/modules/uORB/topics/vehicle_force_setpoint.h b/src/modules/uORB/topics/vehicle_force_setpoint.h
new file mode 100644
index 000000000..e3a7360b2
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_force_setpoint.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   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 vehicle_force_setpoint.h
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * Definition of force (NED) setpoint uORB topic. Typically this can be used
+ * by a position control app together with an attitude control app.
+ */
+
+#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_
+#define TOPIC_VEHICLE_FORCE_SETPOINT_H_
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_force_setpoint_s {
+	float x;		/**< in N NED			  		*/
+	float y;		/**< in N NED			  		*/
+	float z;		/**< in N NED			  		*/
+	float yaw;		/**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */
+}; /**< Desired force in NED frame */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_force_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index 4897ca737..e32529cb4 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -36,7 +36,7 @@
  * Definition of the global fused WGS84 position uORB topic.
  *
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
@@ -61,15 +61,14 @@
  * e.g. control inputs of the vehicle in a Kalman-filter implementation.
  */
 struct vehicle_global_position_s {
-	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
-
-	uint64_t time_gps_usec; /**< GPS timestamp in microseconds					   */
+	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start		*/
+	uint64_t time_gps_usec;		/**< GPS timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
 	float alt;			/**< Altitude AMSL in meters						 	   */
-	float vel_n; 		/**< Ground north velocity, m/s				 			   */
-	float vel_e;		/**< Ground east velocity, m/s							   */
-	float vel_d;		/**< Ground downside velocity, m/s						   */
+	float vel_n; 			/**< Ground north velocity, m/s				 			   */
+	float vel_e;			/**< Ground east velocity, m/s							   */
+	float vel_d;			/**< Ground downside velocity, m/s						   */
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
 	float eph;
 	float epv;
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 5924a324d..80d65cd69 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -61,12 +61,11 @@ struct vehicle_gps_position_s {
 
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float p_variance_m;				/**< position accuracy estimate m */
 	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.   */
 
-	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
-	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
+	float eph;					/**< GPS HDOP horizontal dilution of position in m */
+	float epv;					/**< GPS VDOP horizontal dilution of position in m */
 
 	unsigned noise_per_ms;				/**< */
 	unsigned jamming_indicator;			/**< */
@@ -82,14 +81,7 @@ struct vehicle_gps_position_s {
 	uint64_t timestamp_time;			/**< Timestamp for time information */
 	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
 
-	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
-	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
-	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
-	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
-	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
-	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
-	uint8_t satellite_snr[20];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
-	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
+	uint8_t satellites_used;			/**< Number of satellites used */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index ea20a317a..b46c00b75 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (C) 2012 - 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
@@ -45,6 +41,11 @@
  * All apps should write to subsystem_info:
  *
  *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef VEHICLE_STATUS_H_
@@ -54,19 +55,22 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-#include <navigator/navigator_state.h>
-
 /**
  * @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,
 	MAIN_STATE_POSCTL,
-	MAIN_STATE_AUTO,
+	MAIN_STATE_AUTO_MISSION,
+	MAIN_STATE_AUTO_LOITER,
+	MAIN_STATE_AUTO_RTL,
 	MAIN_STATE_ACRO,
+	MAIN_STATE_OFFBOARD,
 	MAIN_STATE_MAX
 } main_state_t;
 
@@ -80,7 +84,7 @@ typedef enum {
 	ARMING_STATE_STANDBY_ERROR,
 	ARMING_STATE_REBOOT,
 	ARMING_STATE_IN_AIR_RESTORE,
-	ARMING_STATE_MAX
+	ARMING_STATE_MAX,
 } arming_state_t;
 
 typedef enum {
@@ -88,13 +92,24 @@ typedef enum {
 	HIL_STATE_ON
 } hil_state_t;
 
+/**
+ * Navigation state, i.e. "what should vehicle do".
+ */
 typedef enum {
-	FAILSAFE_STATE_NORMAL = 0,		/**< Normal operation */
-	FAILSAFE_STATE_RTL,				/**< Return To Launch */
-	FAILSAFE_STATE_LAND,			/**< Land without position control */
-	FAILSAFE_STATE_TERMINATION,		/**< Disable motors and use parachute, can't be recovered */
-	FAILSAFE_STATE_MAX
-} failsafe_state_t;
+	NAVIGATION_STATE_MANUAL = 0,		/**< Manual 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 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_OFFBOARD,
+	NAVIGATION_STATE_MAX,
+} navigation_state_t;
 
 enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
@@ -154,12 +169,11 @@ struct vehicle_status_s {
 	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
 	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 */
-	unsigned int set_nav_state;	/**< set navigation state machine to specified value */
-	uint64_t set_nav_state_timestamp;	/**< timestamp of latest change of set_nav_state */
+	main_state_t main_state;		    	/**< main state machine */
+	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 */
+	hil_state_t hil_state;				/**< current hil 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 */
@@ -179,11 +193,15 @@ struct vehicle_status_s {
 	bool condition_local_altitude_valid;
 	bool condition_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
 	bool condition_landed;					/**< true if vehicle is landed, always true if disarmed */
+	bool condition_power_input_valid;		/**< set if input power is valid */
+	float avionics_power_rail_voltage;		/**< voltage of the avionics power rail */
 
 	bool rc_signal_found_once;
 	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;
@@ -206,6 +224,8 @@ struct vehicle_status_s {
 	uint16_t errors_count2;
 	uint16_t errors_count3;
 	uint16_t errors_count4;
+
+	bool circuit_breaker_engaged_power_check;
 };
 
 /**
diff --git a/src/modules/uORB/topics/wind_estimate.h b/src/modules/uORB/topics/wind_estimate.h
new file mode 100644
index 000000000..58333a64f
--- /dev/null
+++ b/src/modules/uORB/topics/wind_estimate.h
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   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 wind_estimate.h
+ *
+ * Wind estimate topic topic
+ *
+ */
+
+#ifndef TOPIC_WIND_ESTIMATE_H
+#define TOPIC_WIND_ESTIMATE_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/** Wind estimate */
+struct wind_estimate_s {
+
+	uint64_t	timestamp;		/**< Microseconds since system boot */
+	float		windspeed_north;	/**< Wind component in north / X direction */
+	float		windspeed_east;		/**< Wind component in east / Y direction */
+	float		covariance_north;	/**< Uncertainty - set to zero (no uncertainty) if not estimated */
+	float		covariance_east;	/**< Uncertainty - set to zero (no uncertainty) if not estimated */
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(wind_estimate);
+
+#endif
\ No newline at end of file