Merged master

4 files changed, 105 insertions, 6 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 1141431cc..3d5755a46 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2014 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
@@ -148,6 +148,9 @@ ORB_DEFINE(onboard_mission, struct mission_s);
 #include "topics/mission_result.h"
 ORB_DEFINE(mission_result, struct mission_result_s);
 
+#include "topics/geofence_result.h"
+ORB_DEFINE(geofence_result, struct geofence_result_s);
+
 #include "topics/fence.h"
 ORB_DEFINE(fence, unsigned);
 
diff --git a/src/modules/uORB/topics/geofence_result.h b/src/modules/uORB/topics/geofence_result.h
new file mode 100644
index 000000000..b07e04499
--- /dev/null
+++ b/src/modules/uORB/topics/geofence_result.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 geofence_result.h
+ * Status of the plance concerning the geofence
+ *
+ * @author Ban Siesta <bansiesta@gmail.com>
+ */
+
+#ifndef TOPIC_GEOFENCE_RESULT_H
+#define TOPIC_GEOFENCE_RESULT_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct geofence_result_s
+{
+	bool geofence_violated;		/**< true if the geofence is violated */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(geofence_result);
+
+#endif
diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h
index c7d25d1f0..2ddc529a3 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2012-2014 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
@@ -37,6 +34,11 @@
 /**
  * @file mission_result.h
  * Mission results that navigator needs to pass on to commander and mavlink.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #ifndef TOPIC_MISSION_RESULT_H
@@ -58,8 +60,10 @@ struct mission_result_s
 	bool reached;			/**< true if mission has been reached					 */
 	bool finished;			/**< true if mission has been completed					 */
 	bool stay_in_failsafe;		/**< true if the commander should not switch out of the failsafe mode*/
-	bool geofence_violated;		/**< true if the geofence is violated */
 	bool flight_termination;	/**< true if the navigator demands a flight termination from the commander app */
+	bool item_do_jump_changed;	/**< true if the number of do jumps remaining has changed */
+	unsigned item_changed_index;	/**< indicate which item has changed */
+	unsigned item_do_jump_remaining;/**< set to the number of do jumps remaining for that item */
 };
 
 /**
diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h
index 82ff46ad2..beb23f61d 100644
--- a/src/modules/uORB/uORB.h
+++ b/src/modules/uORB/uORB.h
@@ -68,6 +68,33 @@ typedef const struct orb_metadata *orb_id_t;
 #define ORB_ID(_name)		&__orb_##_name
 
 /**
+ * Generates a pointer to the uORB metadata structure for
+ * a given topic.
+ *
+ * The topic must have been declared previously in scope
+ * with ORB_DECLARE().
+ *
+ * @param _name		The name of the topic.
+ * @param _count	The class ID of the topic
+ */
+#define ORB_ID_DOUBLE(_name, _count)	((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : &__orb_##_name##1)
+
+/**
+ * Generates a pointer to the uORB metadata structure for
+ * a given topic.
+ *
+ * The topic must have been declared previously in scope
+ * with ORB_DECLARE().
+ *
+ * @param _name		The name of the topic.
+ * @param _count	The class ID of the topic
+ */
+#define ORB_ID_TRIPLE(_name, _count)					\
+ 	((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : \
+			((_count == CLASS_DEVICE_SECONDARY) ? &__orb_##_name##1 : \
+				(((_count == CLASS_DEVICE_TERTIARY) ? &__orb_##_name##2 : 0))))
+
+/**
  * Declare (prototype) the uORB metadata for a topic.
  *
  * Note that optional topics are declared weak; this allows a potential