merged

6 files changed, 93 insertions, 24 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index f35d1fe9b..1eb63a799 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -120,6 +120,9 @@ ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setp
 #include "topics/vehicle_global_position_set_triplet.h"
 ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
 
+#include "topics/vehicle_global_velocity_setpoint.h"
+ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
+
 #include "topics/mission.h"
 ORB_DEFINE(mission, struct mission_s);
 
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index ace77438c..e768ab2f6 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -55,7 +55,6 @@
 /* control sets with pre-defined applications */
 #define ORB_ID_VEHICLE_ATTITUDE_CONTROLS	ORB_ID(actuator_controls_0)
 
-
 /**
  * @addtogroup topics
  * @{
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index d83eb45d9..67aeac372 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -64,6 +64,8 @@ struct vehicle_control_mode_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 */
 
+	bool flag_armed;
+
 	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
 
 	// XXX needs yet to be set by state machine helper
@@ -75,9 +77,10 @@ struct vehicle_control_mode_s
 	//bool flag_auto_enabled;
 	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 speed (implies direction) is controlled */
+	bool flag_control_velocity_enabled;		/**< true if horisontal speed (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 failsave_lowlevel;				/**< Set to true if low-level failsafe mode is enabled */
 	bool failsave_highlevel;			/**< Set to true if high-level failsafe mode is enabled */
diff --git a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
new file mode 100644
index 000000000..73961cdfe
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Anton Babushkin <anton.babushkin@me.com>
+ *
+ * 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 vehicle_global_velocity_setpoint.h
+ * Definition of the global velocity setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
+#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_global_velocity_setpoint_s
+{
+	float vx;		/**< in m/s NED			  		*/
+	float vy;		/**< in m/s NED			  		*/
+	float vz;		/**< in m/s NED			  		*/
+}; /**< Velocity setpoint in NED frame */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_velocity_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index 76eddeacd..26e8f335b 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -54,27 +54,27 @@
  */
 struct vehicle_local_position_s
 {
-	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
-	bool valid;				/**< true if position satisfies validity criteria of estimator */
-
-	float x;				/**< X positin in meters in NED earth-fixed frame */
-	float y;				/**< X positin in meters in NED earth-fixed frame */
-	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
-	float absolute_alt;			/**< Altitude as defined by pressure / GPS, 			LOGME */
-	float vx; 				/**< Ground X Speed (Latitude), m/s in NED				LOGME */
-	float vy;				/**< Ground Y Speed (Longitude), m/s in NED				LOGME */
-	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED				LOGME */
-	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
-
-	// TODO Add covariances here
-
+	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
+	bool xy_valid;			/**< true if x and y are valid */
+	bool z_valid;			/**< true if z is valid */
+	bool v_xy_valid;		/**< true if vy and vy are valid */
+	bool v_z_valid;			/**< true if vz is valid */
+	/* Position in local NED frame */
+	float x;				/**< X position in meters in NED earth-fixed frame */
+	float y;				/**< X position in meters in NED earth-fixed frame */
+	float z;				/**< Z position in meters in NED earth-fixed frame (negative altitude) */
+	/* Velocity in NED frame */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in NED */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in NED */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED */
 	/* Reference position in GPS / WGS84 frame */
-	uint64_t home_timestamp;/**< Time when home position was set						  */
-	int32_t home_lat;		/**< Latitude in 1E7 degrees							LOGME */
-	int32_t home_lon;		/**< Longitude in 1E7 degrees							LOGME */
-	float home_alt;			/**< Altitude in meters									LOGME */
-	float home_hdg; 		/**< Compass heading in radians -PI..+PI.					  */
-
+	bool global_xy;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
+	bool global_z;			/**< 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 */
+	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 */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index a7eb8e6bf..9f55bb874 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -68,8 +68,7 @@ typedef enum {
 
 /* navigation state machine */
 typedef enum {
-	NAVIGATION_STATE_STANDBY = 0,		// standby state, disarmed
-	NAVIGATION_STATE_DIRECT,		// true manual control, no any stabilization
+	NAVIGATION_STATE_DIRECT = 0,		// true manual control, no any stabilization
 	NAVIGATION_STATE_STABILIZE,		// attitude stabilization
 	NAVIGATION_STATE_ALTHOLD,		// attitude + altitude stabilization
 	NAVIGATION_STATE_VECTOR,		// attitude + altitude + position stabilization
@@ -203,6 +202,7 @@ struct vehicle_status_s
 	bool condition_launch_position_valid;		/**< indicates a valid launch position */
 	bool condition_home_position_valid;		/**< indicates a valid home position (a valid home position is not always a valid launch) */
 	bool condition_local_position_valid;
+	bool condition_local_altitude_valid;
 	bool condition_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
 	bool condition_landed;					/**< true if vehicle is landed, always true if disarmed */