commander and navigator: lot's of changes, failsafe handling in commander, navigator only for execution (WIP)

3 files changed, 30 insertions, 21 deletions

diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h
index 7c3921198..ad654a9ff 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -56,6 +56,7 @@ 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			*/
 };
 
 /**
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 85e8ef8a5..c2741a05b 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -74,14 +74,13 @@ struct position_setpoint_s
 };
 
 typedef enum {
-	NAV_STATE_NONE_ON_GROUND = 0,
-	NAV_STATE_NONE_IN_AIR,
-	NAV_STATE_AUTO_ON_GROUND,
-	NAV_STATE_LOITER,
-	NAV_STATE_MISSION,
-	NAV_STATE_RTL,
-	NAV_STATE_LAND,
-	NAV_STATE_MAX
+	NAV_STATE_MANUAL = 0,
+	NAV_STATE_POSCTL,
+	NAV_STATE_AUTO,
+	NAV_STATE_RC_LOSS,
+	NAV_STATE_DL_LOSS,
+	NAV_STATE_TERMINATION,
+	MAX_NAV_STATE
 } nav_state_t;
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index d902dc49e..259d7329e 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -63,9 +63,11 @@ 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_MAX
+	MAIN_STATE_MAX,
 } main_state_t;
 
 // If you change the order, add or remove arming_state_t states make sure to update the arrays
@@ -78,7 +80,7 @@ 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 {
@@ -88,18 +90,25 @@ typedef enum {
 
 typedef enum {
 	FAILSAFE_STATE_NORMAL = 0,		/**< Normal operation */
-	FAILSAFE_STATE_RTL,				/**< Return To Launch */
-	FAILSAFE_STATE_LAND,			/**< Land without position control */
+	FAILSAFE_STATE_RTL_RC,			/**< Return To Launch on remote control loss */
+	FAILSAFE_STATE_RTL_DL,			/**< Return To Launch on datalink loss */
+	FAILSAFE_STATE_LAND,			/**< Land as safe as possible */
 	FAILSAFE_STATE_TERMINATION,		/**< Disable motors and use parachute, can't be recovered */
-	FAILSAFE_STATE_MAX
+	FAILSAFE_STATE_MAX,
 } failsafe_state_t;
 
 typedef enum {
-	NAVIGATION_STATE_NONE = 0,
-	NAVIGATION_STATE_MISSION,
-	NAVIGATION_STATE_LOITER,
-	NAVIGATION_STATE_RTL,
-	NAVIGATION_STATE_LAND
+	NAVIGATION_STATE_MANUAL = 0,
+	NAVIGATION_STATE_ACRO,
+	NAVIGATION_STATE_ALTCTL,
+	NAVIGATION_STATE_POSCTL,
+	NAVIGATION_STATE_AUTO_MISSION,
+	NAVIGATION_STATE_AUTO_LOITER,
+	NAVIGATION_STATE_AUTO_RTL,
+	NAVIGATION_STATE_AUTO_RTL_RC,
+	NAVIGATION_STATE_AUTO_RTL_DL,
+	NAVIGATION_STATE_LAND,
+	NAVIGATION_STATE_TERMINATION,
 } navigation_state_t;
 
 enum VEHICLE_MODE_FLAG {
@@ -160,10 +169,10 @@ 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 */
+	main_state_t main_state;		    	/**< main state machine */
 	navigation_state_t set_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 */
+	hil_state_t hil_state;				/**< current hil state */
 	failsafe_state_t failsafe_state;		/**< current failsafe state */
 
 	int32_t system_type;				/**< system type, inspired by MAVLink's VEHICLE_TYPE enum */