Merge remote-tracking branch 'upstream/master' into mtecs_takeoff

9 files changed, 64 insertions, 25 deletions

diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 840cd585e..8ea611802 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -959,7 +959,7 @@ FixedwingEstimator::task_main()
 			}
 
 			// Publish results
-			if (_initialized) {
+			if (_initialized && (check == OK)) {
 
 
 
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index f4a4ce86c..a9f5f4de7 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -832,10 +832,10 @@ void Mavlink::publish_mission()
 {
 	/* Initialize mission publication if necessary */
 	if (_mission_pub < 0) {
-		_mission_pub = orb_advertise(ORB_ID(mission), &mission);
+		_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
 
 	} else {
-		orb_publish(ORB_ID(mission), _mission_pub, &mission);
+		orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission);
 	}
 }
 
@@ -1953,6 +1953,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult);
 		configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult);
 		configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult);
+		configure_stream("DISTANCE_SENSOR", 0.5f);
 		break;
 
 	case MAVLINK_MODE_CAMERA:
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 648228e3b..58af1fcb6 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -72,6 +72,7 @@
 #include <uORB/topics/navigation_capabilities.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_range_finder.h>
 
 #include "mavlink_messages.h"
 
@@ -1312,6 +1313,51 @@ protected:
 	}
 };
 
+class MavlinkStreamDistanceSensor : public MavlinkStream
+{
+public:
+	const char *get_name()
+	{
+		return "DISTANCE_SENSOR";
+	}
+
+	MavlinkStream *new_instance()
+	{
+		return new MavlinkStreamDistanceSensor();
+	}
+
+private:
+	MavlinkOrbSubscription *range_sub;
+	struct range_finder_report *range;
+
+protected:
+	void subscribe(Mavlink *mavlink)
+	{
+		range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
+		range = (struct range_finder_report *)range_sub->get_data();
+	}
+
+	void send(const hrt_abstime t)
+	{
+		(void)range_sub->update(t);
+
+		uint8_t type;
+
+		switch (range->type) {
+			case RANGE_FINDER_TYPE_LASER:
+			type = MAV_DISTANCE_SENSOR_LASER;
+			break;
+		}
+
+		uint8_t id = 0;
+		uint8_t orientation = 0;
+		uint8_t covariance = 20;
+
+		mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, 
+			range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
+	}
+};
+
 MavlinkStream *streams_list[] = {
 	new MavlinkStreamHeartbeat(),
 	new MavlinkStreamSysStatus(),
@@ -1338,6 +1384,7 @@ MavlinkStream *streams_list[] = {
 	new MavlinkStreamAttitudeControls(),
 	new MavlinkStreamNamedValueFloat(),
 	new MavlinkStreamCameraCapture(),
+	new MavlinkStreamDistanceSensor(),
 	new MavlinkStreamViconPositionEstimate(),
 	nullptr
 };
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index c44354ff0..dcca11977 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -47,4 +47,4 @@ SRCS		 += mavlink_main.cpp \
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
-MAXOPTIMIZATION		 = -Os
+MAXOPTIMIZATION	 = -Os
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 5a94b6671..bcb3c8d0a 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 {
 	struct mission_s offboard_mission;
 
-	if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
+	if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) {
 
 		/* Check mission feasibility, for now do not handle the return value,
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
@@ -543,7 +543,7 @@ Navigator::onboard_mission_update()
 {
 	struct mission_s onboard_mission;
 
-	if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
+	if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
 
 		_mission.set_onboard_mission_count(onboard_mission.count);
 		_mission.set_current_onboard_mission_index(onboard_mission.current_index);
@@ -611,7 +611,7 @@ Navigator::task_main()
 	 * do subscriptions
 	 */
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
+	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
 	_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
 	_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 1bf6f1de3..611491cf9 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -908,9 +908,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 	hrt_abstime barometer_timestamp = 0;
 	hrt_abstime differential_pressure_timestamp = 0;
 
-	/* track changes in distance status */
-	bool dist_bottom_present = false;
-
 	/* enable logging on start if needed */
 	if (log_on_start) {
 		/* check GPS topic to get GPS time */
@@ -1099,6 +1096,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.x = buf.local_pos.x;
 			log_msg.body.log_LPOS.y = buf.local_pos.y;
 			log_msg.body.log_LPOS.z = buf.local_pos.z;
+			log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom;
+			log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate;
 			log_msg.body.log_LPOS.vx = buf.local_pos.vx;
 			log_msg.body.log_LPOS.vy = buf.local_pos.vy;
 			log_msg.body.log_LPOS.vz = buf.local_pos.vz;
@@ -1108,19 +1107,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
 			log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
 			log_msg.body.log_LPOS.landed = buf.local_pos.landed;
+			log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
 			LOGBUFFER_WRITE_AND_COUNT(LPOS);
-
-			if (buf.local_pos.dist_bottom_valid) {
-				dist_bottom_present = true;
-			}
-
-			if (dist_bottom_present) {
-				log_msg.msg_type = LOG_DIST_MSG;
-				log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
-				log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
-				log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
-				LOGBUFFER_WRITE_AND_COUNT(DIST);
-			}
 		}
 
 		/* --- LOCAL POSITION SETPOINT --- */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index d0585df39..2538dcd2f 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -101,6 +101,8 @@ struct log_LPOS_s {
 	float x;
 	float y;
 	float z;
+	float ground_dist;
+	float ground_dist_rate;
 	float vx;
 	float vy;
 	float vz;
@@ -110,6 +112,7 @@ struct log_LPOS_s {
 	uint8_t xy_flags;
 	uint8_t z_flags;
 	uint8_t landed;
+	uint8_t ground_dist_flags;
 };
 
 /* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -343,7 +346,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
-	LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
+	LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
 	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
 	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
 	LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index c8a589bb7..90675bb2e 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -127,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
 ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
 
 #include "topics/mission.h"
-ORB_DEFINE(mission, struct mission_s);
+ORB_DEFINE(offboard_mission, struct mission_s);
 ORB_DEFINE(onboard_mission, struct mission_s);
 
 #include "topics/mission_result.h"
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index 9594c4c6a..ef4bc1def 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -105,7 +105,7 @@ struct mission_s
  */
 
 /* register this as object request broker structure */
-ORB_DECLARE(mission);
+ORB_DECLARE(offboard_mission);
 ORB_DECLARE(onboard_mission);
 
 #endif