Merge remote-tracking branch 'px4/master' into pwm_ioctls

Conflicts:
	src/drivers/px4io/px4io.cpp

5 files changed, 75 insertions, 0 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 1eb63a799..3514dca24 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -87,6 +87,9 @@ ORB_DEFINE(safety, struct safety_s);
 #include "topics/battery_status.h"
 ORB_DEFINE(battery_status, struct battery_status_s);
 
+#include "topics/servorail_status.h"
+ORB_DEFINE(servorail_status, struct servorail_status_s);
+
 #include "topics/vehicle_global_position.h"
 ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index 1ffeda764..e4d2c92ce 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -53,6 +53,7 @@
  */
 struct differential_pressure_s {
 	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	uint64_t	error_count;
 	uint16_t	differential_pressure_pa;	/**< Differential pressure reading */
 	uint16_t	max_differential_pressure_pa;	/**< Maximum differential pressure reading */
 	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
diff --git a/src/modules/uORB/topics/servorail_status.h b/src/modules/uORB/topics/servorail_status.h
new file mode 100644
index 000000000..55668790b
--- /dev/null
+++ b/src/modules/uORB/topics/servorail_status.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file servorail_status.h
+ *
+ * Definition of the servorail status uORB topic.
+ */
+
+#ifndef SERVORAIL_STATUS_H_
+#define SERVORAIL_STATUS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Servorail voltages and status
+ */
+struct servorail_status_s {
+	uint64_t	timestamp;		/**< microseconds since system boot */
+	float   	voltage_v;		/**< Servo rail voltage in volts */
+	float   	rssi_v;			/**< RSSI pin voltage in volts */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(servorail_status);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
index 686fd765c..1a245132a 100644
--- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
@@ -72,6 +72,8 @@ struct vehicle_attitude_setpoint_s
 
 	float thrust;					/**< Thrust in Newton the power system should generate */
 
+	bool	roll_reset_integral;			/**< Reset roll integral part (navigation logic change) */
+
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
index 5c8ce1e4d..a56434d3b 100644
--- a/src/modules/uORB/topics/vehicle_global_position_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
@@ -72,6 +72,8 @@ struct vehicle_global_position_setpoint_s
 	float param2;
 	float param3;
 	float param4;
+	float turn_distance_xy;		/**< The distance on the plane which will mark this as reached */
+	float turn_distance_z;		/**< The distance in Z direction which will mark this as reached */
 };
 
 /**