Merge commit 'aa40c69853be0dc7e79bc3084472b77f9667c1f1' into dev_ros_mcatt

Conflicts:
	makefiles/config_px4fmu-v2_test.mk

7 files changed, 117 insertions, 19 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index c9c8d16b5..6d6b3a36c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1668,7 +1668,7 @@ int commander_thread_main(int argc, char *argv[])
 				if (telemetry_lost[i] &&
 				    hrt_elapsed_time(&telemetry_last_dl_loss[i]) > datalink_regain_timeout * 1e6) {
 
-					mavlink_log_critical(mavlink_fd, "data link %i regained", i);
+					mavlink_log_info(mavlink_fd, "data link %i regained", i);
 					telemetry_lost[i] = false;
 					have_link = true;
 
@@ -1682,7 +1682,7 @@ int commander_thread_main(int argc, char *argv[])
 				telemetry_last_dl_loss[i]  = hrt_absolute_time();
 
 				if (!telemetry_lost[i]) {
-					mavlink_log_critical(mavlink_fd, "data link %i lost", i);
+					mavlink_log_info(mavlink_fd, "data link %i lost", i);
 					telemetry_lost[i] = true;
 				}
 			}
@@ -1697,7 +1697,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		} else {
 			if (!status.data_link_lost) {
-				mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
+				mavlink_log_info(mavlink_fd, "ALL DATA LINKS LOST");
 				status.data_link_lost = true;
 				status.data_link_lost_counter++;
 				status_changed = true;
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 57c1e72f3..6bb9bdee3 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -752,8 +752,7 @@ FixedwingAttitudeControl::task_main()
 				 * - manual control is disabled (another app may send the setpoint, but it should
 				 *   for sure not be set from the remote control values)
 				 */
-				if (_vcontrol_mode.flag_control_velocity_enabled ||
-						_vcontrol_mode.flag_control_position_enabled ||
+				if (_vcontrol_mode.flag_control_auto_enabled ||
 						!_vcontrol_mode.flag_control_manual_enabled) {
 					/* read in attitude setpoint from attitude setpoint uorb topic */
 					roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
@@ -770,6 +769,25 @@ FixedwingAttitudeControl::task_main()
 					if (_att_sp.yaw_reset_integral) {
 						_yaw_ctrl.reset_integrator();
 					}
+				} else if (_vcontrol_mode.flag_control_velocity_enabled) {
+ 					/* 
+					 * Velocity should be controlled and manual is enabled.
+					*/
+					roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+											+ _parameters.rollsp_offset_rad;
+					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
+					throttle_sp = _att_sp.thrust;
+
+					/* reset integrals where needed */
+					if (_att_sp.roll_reset_integral) {
+						_roll_ctrl.reset_integrator();
+					}
+					if (_att_sp.pitch_reset_integral) {
+						_pitch_ctrl.reset_integrator();
+					}
+					if (_att_sp.yaw_reset_integral) {
+						_yaw_ctrl.reset_integrator();
+					}
 				} else {
 					/*
 					 * Scale down roll and pitch as the setpoints are radians
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index f8399d10b..4c969a5ca 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -165,6 +165,9 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
+	float	_hold_alt;				/**< hold altitude for velocity mode */
+	hrt_abstime _control_position_last_called; /**<last call of control_position  */
+
 	/* land states */
 	bool land_noreturn_horizontal;
 	bool land_noreturn_vertical;
@@ -200,6 +203,8 @@ private:
 	TECS						_tecs;
 	fwPosctrl::mTecs				_mTecs;
 	bool						_was_pos_control_mode;
+	bool						_was_velocity_control_mode;
+	bool						_was_alt_control_mode;
 
 	struct {
 		float l1_period;
@@ -319,6 +324,11 @@ private:
 	void		vehicle_status_poll();
 
 	/**
+	 * Check for manual setpoint updates.
+	 */
+	bool		vehicle_manual_control_setpoint_poll();
+
+	/**
 	 * Check for airspeed updates.
 	 */
 	bool		vehicle_airspeed_poll();
@@ -441,6 +451,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
 
+	_hold_alt(0.0f),
+	_control_position_last_called(0),
+
 	land_noreturn_horizontal(false),
 	land_noreturn_vertical(false),
 	land_stayonground(false),
@@ -694,6 +707,22 @@ FixedwingPositionControl::vehicle_airspeed_poll()
 	return airspeed_updated;
 }
 
+bool
+FixedwingPositionControl::vehicle_manual_control_setpoint_poll()
+{
+	bool manual_updated;
+
+	/* Check if manual setpoint has changed */
+	orb_check(_manual_control_sub, &manual_updated);
+
+	if (manual_updated) {
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
+	}
+
+	return manual_updated;
+}
+
+
 void
 FixedwingPositionControl::vehicle_attitude_poll()
 {
@@ -854,6 +883,12 @@ bool
 FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<3> &ground_speed,
 		const struct position_setpoint_triplet_s &pos_sp_triplet)
 {
+	float dt = FLT_MIN; // Using non zero value to a avoid division by zero
+	if (_control_position_last_called > 0) {
+		dt = (float)hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
+	}
+	_control_position_last_called = hrt_absolute_time();
+
 	bool setpoint = true;
 
 	math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
@@ -890,6 +925,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 
 		_was_pos_control_mode = true;
+		_was_velocity_control_mode = false;
+
+		/* reset hold altitude */
+		_hold_alt = _global_pos.alt;
 
 		/* get circle mode */
 		bool was_circle_mode = _l1_control.circle_mode();
@@ -1211,12 +1250,59 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
+	} else if (_control_mode.flag_control_velocity_enabled) {
+		const float deadBand = (60.0f/1000.0f);
+		const float factor = 1.0f - deadBand;
+		if (!_was_velocity_control_mode) {
+			_hold_alt = _global_pos.alt;
+			_was_alt_control_mode = false;
+		}
+		_was_velocity_control_mode = true;
+		_was_pos_control_mode = false;
+		// Get demanded airspeed
+		float altctrl_airspeed = _parameters.airspeed_min +
+					  (_parameters.airspeed_max - _parameters.airspeed_min) *
+					  _manual.z;
+
+		// Get demanded vertical velocity from pitch control
+		float pitch = 0.0f;
+		if (_manual.x > deadBand) {
+			pitch = (_manual.x - deadBand) / factor;
+		} else if (_manual.x < - deadBand) {
+			pitch = (_manual.x + deadBand) / factor;
+		}
+		if (pitch > 0.0f) {
+			_hold_alt -= (_parameters.max_climb_rate * dt) * pitch;
+			_was_alt_control_mode = false;
+		} else if (pitch < 0.0f) {
+			_hold_alt -= (_parameters.max_sink_rate * dt) * pitch;
+			_was_alt_control_mode = false;
+		} else if (!_was_alt_control_mode) {
+			_hold_alt = _global_pos.alt;
+			_was_alt_control_mode = true;
+		}
+		tecs_update_pitch_throttle(_hold_alt,
+									altctrl_airspeed,
+									eas2tas,
+									math::radians(_parameters.pitch_limit_min),
+									math::radians(_parameters.pitch_limit_max),
+									_parameters.throttle_min,
+									_parameters.throttle_max,
+									_parameters.throttle_cruise,
+									false,
+									math::radians(_parameters.pitch_limit_min),
+									_global_pos.alt,
+									ground_speed,
+									TECS_MODE_NORMAL);
 	} else {
-
+		_was_velocity_control_mode = false;
 		_was_pos_control_mode = false;
 
 		/** MANUAL FLIGHT **/
 
+		/* reset hold altitude */
+		_hold_alt = _global_pos.alt;
+
 		/* no flight mode applies, do not publish an attitude setpoint */
 		setpoint = false;
 
@@ -1352,6 +1438,7 @@ FixedwingPositionControl::task_main()
 			vehicle_setpoint_poll();
 			vehicle_sensor_combined_poll();
 			vehicle_airspeed_poll();
+			vehicle_manual_control_setpoint_poll();
 			// vehicle_baro_poll();
 
 			math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e,  _global_pos.vel_d);
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index a8f956ad0..5908279d5 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -810,9 +810,6 @@ private:
 	MavlinkOrbSubscription *_airspeed_sub;
 	uint64_t _airspeed_time;
 
-	MavlinkOrbSubscription *_sensor_combined_sub;
-	uint64_t _sensor_combined_time;
-
 	/* do not allow top copying this class */
 	MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
 	MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
@@ -828,9 +825,7 @@ protected:
 		_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
 		_act_time(0),
 		_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
-		_airspeed_time(0),
-		_sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
-		_sensor_combined_time(0)
+		_airspeed_time(0)
 	{}
 
 	void send(const hrt_abstime t)
@@ -840,14 +835,12 @@ protected:
 		struct actuator_armed_s armed;
 		struct actuator_controls_s act;
 		struct airspeed_s airspeed;
-		struct sensor_combined_s sensor_combined;
 
 		bool updated = _att_sub->update(&_att_time, &att);
 		updated |= _pos_sub->update(&_pos_time, &pos);
 		updated |= _armed_sub->update(&_armed_time, &armed);
 		updated |= _act_sub->update(&_act_time, &act);
 		updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
-		updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined);
 
 		if (updated) {
 			mavlink_vfr_hud_t msg;
@@ -856,7 +849,7 @@ protected:
 			msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
 			msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
 			msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
-			msg.alt = sensor_combined.baro_alt_meter;
+			msg.alt = pos.alt;
 			msg.climb = -pos.vel_d;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
@@ -2169,7 +2162,7 @@ protected:
 			msg.id = 0;
 			msg.orientation = 0;
 			msg.min_distance = range.minimum_distance * 100;
-			msg.max_distance = range.minimum_distance * 100;
+			msg.max_distance = range.maximum_distance * 100;
 			msg.current_distance = range.distance * 100;
 			msg.covariance = 20;
 
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index 70071130d..d747b5f43 100644
--- a/src/modules/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
@@ -61,7 +61,7 @@ struct home_position_s
 
 	double lat;				/**< Latitude in degrees 			*/
 	double lon;				/**< Longitude in degrees			*/
-	float alt;				/**< Altitude in meters				*/
+	float alt;				/**< Altitude in meters	(AMSL)		*/
 
 	float x;				/**< X coordinate in meters			*/
 	float y;				/**< Y coordinate in meters			*/
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index e4b72f87c..22a8f3ecb 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -83,7 +83,7 @@ struct mission_item_s {
 	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
 	double lat;			/**< latitude in degrees				*/
 	double lon;			/**< longitude in degrees				*/
-	float altitude;			/**< altitude in meters					*/
+	float altitude;			/**< altitude in meters	(AMSL)			*/
 	float yaw;			/**< in radians NED -PI..+PI, NAN means don't change yaw		*/
 	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
 	int8_t loiter_direction;	/**< 1: positive / clockwise, -1, negative.		*/
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index f264accbb..6b4cb483b 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -65,7 +65,7 @@ enum VEHICLE_CMD {
 	VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
 	VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
 	VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
 	VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */