vehicle_control_mode publication moved to commander, WIP

2 files changed, 5 insertions, 16 deletions

diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index 5aecac898..7cbb37cd8 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -61,23 +61,10 @@
  * Encodes the complete system state and is set by the commander app.
  */
 
-typedef enum {
-	NAV_STATE_NONE = 0,
-	NAV_STATE_READY,
-	NAV_STATE_LOITER,
-	NAV_STATE_MISSION,
-	NAV_STATE_RTL,
-	NAV_STATE_LAND,
-	NAV_STATE_MAX
-} nav_state_t;
-
 struct vehicle_control_mode_s
 {
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	main_state_t main_state;
-	nav_state_t nav_state;
-
 	bool flag_armed;
 
 	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
@@ -86,14 +73,14 @@ struct vehicle_control_mode_s
 	bool flag_system_hil_enabled;
 
 	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
-	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
+	bool flag_control_auto_enabled;			/**< true if onboard autopilot should act */
 	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 */
 	bool flag_control_position_enabled;		/**< true if position is controlled */
 	bool flag_control_altitude_enabled;		/**< true if altitude is controlled */
-	bool flag_control_climb_rate_enabled;		/**< true if climb rate is controlled */
-	bool flag_control_termination_enabled;   /**< true if flighttermination is enabled */
+	bool flag_control_climb_rate_enabled;	/**< true if climb rate is controlled */
+	bool flag_control_termination_enabled;	/**< true if flighttermination is enabled */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index a5988d3ba..1b3639e30 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -54,6 +54,8 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
+#include <navigator/navigator_state.h>
+
 /**
  * @addtogroup topics @{
  */