Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

Conflicts:
	src/modules/mavlink/mavlink_main.cpp

5 files changed, 8 insertions, 2 deletions

diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h
index a98d3fc3a..0f6c9aca1 100644
--- a/src/modules/uORB/topics/actuator_armed.h
+++ b/src/modules/uORB/topics/actuator_armed.h
@@ -56,6 +56,7 @@ struct actuator_armed_s {
 	bool		armed;		/**< Set to true if system is armed */
 	bool		ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool		lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+	bool		force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */
 };
 
 /**
@@ -65,4 +66,4 @@ struct actuator_armed_s {
 /* register this as object request broker structure */
 ORB_DECLARE(actuator_armed);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 673c0e491..4a1932180 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -95,6 +95,8 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s previous;
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
+
+	unsigned nav_state;				/**< report the navigation state */
 };
 
 /**
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
index c4d0c1874..33055018c 100644
--- a/src/modules/uORB/topics/tecs_status.h
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -66,6 +66,7 @@ struct tecs_status_s {
 
 	float altitudeSp;
 	float altitude;
+	float altitudeFiltered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 3347724a5..1297c1a9d 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -57,7 +57,8 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 
 struct telemetry_status_s {
 	uint64_t timestamp;
-	uint64_t heartbeat_time;	/**< Time of last received heartbeat from remote system */
+	uint64_t heartbeat_time;		/**< Time of last received heartbeat from remote system */
+	uint64_t telem_time;			/**< Time of last received telemetry status packet, 0 for none */
 	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_command.h b/src/modules/uORB/topics/vehicle_command.h
index faf8cc7db..84503887d 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -79,6 +79,7 @@ enum VEHICLE_CMD {
 	VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */