Merge remote-tracking branch 'px4/ekf_home_init' into navigator_cleanup_ekf_home_init

Conflicts:
	src/modules/commander/commander.cpp
	src/modules/mc_pos_control/mc_pos_control_main.cpp
	src/modules/navigator/navigator_main.cpp
	src/modules/uORB/topics/vehicle_global_position.h

6 files changed, 16 insertions, 14 deletions

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 2b3a337b2..a23d89cd2 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -79,7 +79,7 @@ struct manual_control_setpoint_s {
 	switch_pos_t mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
 	switch_pos_t return_switch;			/**< land 2 position switch (mandatory): land, no effect */
 	switch_pos_t assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
-	switch_pos_t mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
+	switch_pos_t loiter_switch;		/**< mission 2 position switch (optional): mission, loiter */
 }; /**< manual control inputs */
 
 /**
diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
index 98f0e3fa2..0196ae86b 100644
--- a/src/modules/uORB/topics/optical_flow.h
+++ b/src/modules/uORB/topics/optical_flow.h
@@ -57,6 +57,7 @@ struct optical_flow_s {
 
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
+	uint64_t flow_timestamp;		/**< timestamp from flow sensor */
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 3246a39dd..c168b2fac 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -65,7 +65,7 @@ enum RC_CHANNELS_FUNCTION {
 	MODE = 4,
 	RETURN = 5,
 	ASSISTED = 6,
-	MISSION = 7,
+	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,
 	AUX_1   = 10,
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index cfab695f8..e32529cb4 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -61,12 +61,8 @@
  * 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 */
-
-	bool global_valid;		/**< true if position satisfies validity criteria of estimator */
-	bool baro_valid;		/**< true if baro_alt is valid (vel_d is also valid in this case) */
-
-	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						 	   */
@@ -74,8 +70,8 @@ struct vehicle_global_position_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 baro_alt;			/**< Barometric altitude (not raw baro but fused with accelerometer) */
+	float eph;
+	float epv;
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index db9637cd9..a15303ea4 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @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
@@ -35,6 +34,9 @@
 /**
  * @file vehicle_local_position.h
  * Definition of the local fused NED position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
@@ -72,8 +74,8 @@ struct vehicle_local_position_s {
 	bool xy_global;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
 	bool z_global;			/**< true if z is valid and has valid global reference (ref_alt) */
 	uint64_t ref_timestamp;	/**< Time when reference position was set */
-	int32_t ref_lat;		/**< Reference point latitude in 1E7 degrees */
-	int32_t ref_lon;		/**< Reference point longitude in 1E7 degrees */
+	double ref_lat;		/**< Reference point latitude in degrees */
+	double ref_lon;		/**< Reference point longitude in degrees */
 	float ref_alt;			/**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
 	bool landed;			/**< true if vehicle is landed */
 	/* Distance to surface */