Merged origin/master into batt_fixes

3 files changed, 34 insertions, 44 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 3514dca24..c6a252b55 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -169,13 +169,6 @@ ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
 #include "topics/actuator_armed.h"
 ORB_DEFINE(actuator_armed, struct actuator_armed_s);
 
-/* actuator controls, as set by actuators / mixers after limiting */
-#include "topics/actuator_controls_effective.h"
-ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
-
 #include "topics/actuator_outputs.h"
 ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h
index d7b404ad4..54d84231f 100644
--- a/src/modules/uORB/topics/actuator_controls_effective.h
+++ b/src/modules/uORB/topics/actuator_controls_effective.h
@@ -46,34 +46,34 @@
 #ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
 #define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
 
-#include <stdint.h>
-#include "../uORB.h"
-#include "actuator_controls.h"
+//#include <stdint.h>
+//#include "../uORB.h"
+//#include "actuator_controls.h"
+//
+//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
+//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
+//
+///**
+// * @addtogroup topics
+// * @{
+// */
+//
+//struct actuator_controls_effective_s {
+//	uint64_t timestamp;
+//	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
+//};
+//
+///**
+// * @}
+// */
+//
+///* actuator control sets; this list can be expanded as more controllers emerge */
+//ORB_DECLARE(actuator_controls_effective_0);
+//ORB_DECLARE(actuator_controls_effective_1);
+//ORB_DECLARE(actuator_controls_effective_2);
+//ORB_DECLARE(actuator_controls_effective_3);
+//
+///* control sets with pre-defined applications */
+//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
 
-#define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
-#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct actuator_controls_effective_s {
-	uint64_t timestamp;
-	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
-};
-
-/**
- * @}
- */
-
-/* actuator control sets; this list can be expanded as more controllers emerge */
-ORB_DECLARE(actuator_controls_effective_0);
-ORB_DECLARE(actuator_controls_effective_1);
-ORB_DECLARE(actuator_controls_effective_2);
-ORB_DECLARE(actuator_controls_effective_3);
-
-/* control sets with pre-defined applications */
-#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
-
-#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
\ No newline at end of file
+#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 5a8580143..086b2ef15 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
- *           @author Ivan Ovinnikov <oivan@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012, 2013 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
@@ -47,13 +44,13 @@
 
 /**
  * The number of RC channel inputs supported.
- * Current (Q1/2013) radios support up to 18 channels,
+ * Current (Q4/2013) radios support up to 18 channels,
  * leaving at a sane value of 15.
  * 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_MAX   15
+#define RC_CHANNELS_MAPPED_MAX   15
 
 /** 
  * This defines the mapping of the RC functions.
@@ -91,7 +88,7 @@ struct rc_channels_s {
   uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
   struct {
     float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_MAX];
+  } chan[RC_CHANNELS_MAPPED_MAX];
   uint8_t chan_count;                 /**< number of valid channels */
 
   /*String array to store the names of the functions*/