merged master, updated fixed wing

19 files changed, 119 insertions, 66 deletions

diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
index 6c9c137bb..b6b4546c2 100644
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
@@ -53,6 +53,7 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_global_position_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
@@ -116,6 +117,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 	memset(&global_pos, 0, sizeof(global_pos));
 	struct manual_control_setpoint_s manual_sp;
 	memset(&manual_sp, 0, sizeof(manual_sp));
+	struct vehicle_control_mode_s control_mode;
+	memset(&control_mode, 0, sizeof(control_mode));
 	struct vehicle_status_s vstatus;
 	memset(&vstatus, 0, sizeof(vstatus));
 
@@ -137,7 +140,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
+	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 
 	/* Setup of loop */
 	float gyro[3] = {0.0f, 0.0f, 0.0f};
@@ -178,30 +182,16 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		}
 
 		orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
-		orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
+		orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
+		orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
 
 		gyro[0] = att.rollspeed;
 		gyro[1] = att.pitchspeed;
 		gyro[2] = att.yawspeed;
 
-		/* control */
-
-		if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
-		    vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
-			/* attitude control */
-			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
-
-			/* angular rate control */
-			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
-
-			/* pass through throttle */
-			actuators.control[3] = att_sp.thrust;
-
-			/* set flaps to zero */
-			actuators.control[4] = 0.0f;
-
-		} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
-			if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+		/* set manual setpoints if required */
+		if (control_mode.flag_control_manual_enabled) {
+			if (control_mode.flag_control_attitude_enabled) {
 
 				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
 				if (vstatus.rc_signal_lost) {
@@ -234,15 +224,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 
 				att_sp.timestamp = hrt_absolute_time();
 
-				/* attitude control */
-				fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
-
-				/* angular rate control */
-				fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
-
-				/* pass through throttle */
-				actuators.control[3] = att_sp.thrust;
-
 				/* pass through flaps */
 				if (isfinite(manual_sp.flaps)) {
 					actuators.control[4] = manual_sp.flaps;
@@ -251,7 +232,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 					actuators.control[4] = 0.0f;
 				}
 
-			} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+			} else {
 				/* directly pass through values */
 				actuators.control[0] = manual_sp.roll;
 				/* positive pitch means negative actuator -> pull up */
@@ -267,6 +248,22 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 				}
 			}
 		}
+		
+		/* execute attitude control if requested */
+		if (control_mode.flag_control_attitude_enabled) {
+			/* attitude control */
+			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
+
+			/* angular rate control */
+			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
+
+			/* pass through throttle */
+			actuators.control[3] = att_sp.thrust;
+
+			/* set flaps to zero */
+			actuators.control[4] = 0.0f;
+
+		}
 
 		/* publish rates */
 		orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 1ea06d419..1eb63a799 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -37,6 +37,10 @@
  * Common object definitions without a better home.
  */
 
+/**
+ * @defgroup topics List of all uORB topics.
+ */
+
 #include <nuttx/config.h>
 
 #include <drivers/drv_orb_dev.h>
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index 26b967237..cce2eafe1 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -55,11 +55,20 @@
 /* control sets with pre-defined applications */
 #define ORB_ID_VEHICLE_ATTITUDE_CONTROLS	ORB_ID(actuator_controls_0)
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_controls_s {
 	uint64_t timestamp;
 	float	control[NUM_ACTUATOR_CONTROLS];
 };
 
+/**
+ * @}
+ */
+
 /* actuator control sets; this list can be expanded as more controllers emerge */
 ORB_DECLARE(actuator_controls_0);
 ORB_DECLARE(actuator_controls_1);
diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h
index 088c4fc8f..d7b404ad4 100644
--- a/src/modules/uORB/topics/actuator_controls_effective.h
+++ b/src/modules/uORB/topics/actuator_controls_effective.h
@@ -53,11 +53,20 @@
 #define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
 #define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_controls_effective_s {
 	uint64_t timestamp;
 	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
 };
 
+/**
+ * @}
+ */
+
 /* actuator control sets; this list can be expanded as more controllers emerge */
 ORB_DECLARE(actuator_controls_effective_0);
 ORB_DECLARE(actuator_controls_effective_1);
diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h
index bbe429073..30895ca83 100644
--- a/src/modules/uORB/topics/actuator_outputs.h
+++ b/src/modules/uORB/topics/actuator_outputs.h
@@ -52,12 +52,21 @@
 #define NUM_ACTUATOR_OUTPUTS		16
 #define NUM_ACTUATOR_OUTPUT_GROUPS	4	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_outputs_s {
 	uint64_t timestamp;				/**< output timestamp in us since system boot */
 	float	output[NUM_ACTUATOR_OUTPUTS];		/**< output data, in natural output units */
 	int noutputs;					/**< valid outputs */
 };
 
+/**
+ * @}
+ */
+
 /* actuator output sets; this list can be expanded as more drivers emerge */
 ORB_DECLARE(actuator_outputs_0);
 ORB_DECLARE(actuator_outputs_1);
diff --git a/src/modules/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h
index a9d1b83fd..9253c787d 100644
--- a/src/modules/uORB/topics/debug_key_value.h
+++ b/src/modules/uORB/topics/debug_key_value.h
@@ -47,6 +47,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
index 00cf59b28..11332d7a7 100644
--- a/src/modules/uORB/topics/esc_status.h
+++ b/src/modules/uORB/topics/esc_status.h
@@ -52,10 +52,6 @@
 #include "../uORB.h"
 
 /**
- * @addtogroup topics @{
- */
-
-/**
  * The number of ESCs supported.
  * Current (Q2/2013) we support 8 ESCs,
  */
@@ -76,7 +72,12 @@ enum ESC_CONNECTION_TYPE {
 };
 
 /**
- *
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Electronic speed controller status.
  */
 struct esc_status_s
 {
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index 253f444b3..978a3383a 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -46,11 +46,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 enum NAV_CMD {
 	NAV_CMD_WAYPOINT = 0,
 	NAV_CMD_LOITER_TURN_COUNT,
@@ -62,6 +57,11 @@ enum NAV_CMD {
 };
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Global position setpoint in WGS84 coordinates.
  *
  * This is the position the MAV is heading towards. If it of type loiter,
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 2e895c59c..7901b930a 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -44,11 +44,6 @@
 #include "../uORB.h"
 
 /**
- * @addtogroup topics
- * @{
- */
-
-/**
  * Off-board control inputs.
  * 
  * Typically sent by a ground control station / joystick or by
@@ -66,6 +61,11 @@ enum OFFBOARD_CONTROL_MODE
 	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct offboard_control_setpoint_s {
 	uint64_t timestamp;
 
diff --git a/src/modules/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h
index 8f4be3b3f..a6ad8a131 100644
--- a/src/modules/uORB/topics/omnidirectional_flow.h
+++ b/src/modules/uORB/topics/omnidirectional_flow.h
@@ -46,6 +46,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h
index 300e895c7..68964deb0 100644
--- a/src/modules/uORB/topics/parameter_update.h
+++ b/src/modules/uORB/topics/parameter_update.h
@@ -42,11 +42,20 @@
 #include <stdint.h>
 #include "../uORB.h"
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct parameter_update_s {
 	/** time at which the latest parameter was updated */
 	uint64_t	timestamp;
 };
 
+/**
+ * @}
+ */
+
 ORB_DECLARE(parameter_update);
 
 #endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 2167e44a2..5a8580143 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -46,11 +46,6 @@
 #include "../uORB.h"
 
 /**
- * @addtogroup topics
- * @{
- */
-
-/**
  * The number of RC channel inputs supported.
  * Current (Q1/2013) radios support up to 18 channels,
  * leaving at a sane value of 15.
@@ -85,6 +80,11 @@ enum RC_CHANNELS_FUNCTION
   RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct rc_channels_s {
 
 	uint64_t timestamp;                 /**< In microseconds since boot time. */
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index 9a76b5182..ad164555e 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -46,11 +46,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 enum MAGNETOMETER_MODE {
 	MAGNETOMETER_MODE_NORMAL = 0,
 	MAGNETOMETER_MODE_POSITIVE_BIAS,
@@ -58,6 +53,11 @@ enum MAGNETOMETER_MODE {
 };
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Sensor readings in raw and SI-unit form.
  *
  * These values are read from the sensors. Raw values are in sensor-specific units,
diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
index c415e832e..cfe0bf69e 100644
--- a/src/modules/uORB/topics/subsystem_info.h
+++ b/src/modules/uORB/topics/subsystem_info.h
@@ -50,10 +50,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- */
-
 enum SUBSYSTEM_TYPE
 {
 	SUBSYSTEM_TYPE_GYRO = 1,
@@ -76,6 +72,10 @@ enum SUBSYSTEM_TYPE
 };
 
 /**
+ * @addtogroup topics
+ */
+
+/**
  * State of individual sub systems
  */
 struct subsystem_info_s {
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index f30852de5..828fb31cc 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -50,6 +50,11 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
     TELEMETRY_STATUS_RADIO_TYPE_WIRE
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct telemetry_status_s {
 	uint64_t timestamp;
     enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
@@ -62,6 +67,10 @@ struct telemetry_status_s {
     uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
 };
 
+/**
+ * @}
+ */
+
 ORB_DECLARE(telemetry_status);
 
 #endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file
diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h
index c31c81d0c..4380a5ee7 100755
--- a/src/modules/uORB/topics/vehicle_attitude.h
+++ b/src/modules/uORB/topics/vehicle_attitude.h
@@ -48,6 +48,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index fac571659..31ff014de 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -46,11 +46,6 @@
 #include "../uORB.h"
 
 /**
- * @addtogroup topics
- * @{
- */
-
-/**
  * Commands for commander app.
  *
  * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
@@ -110,6 +105,10 @@ enum VEHICLE_CMD_RESULT
 	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
 
 struct vehicle_command_s
 {
diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
index 318abba89..8516b263f 100644
--- a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
+++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
@@ -60,8 +60,8 @@
  */
 struct vehicle_global_position_set_triplet_s
 {
-	bool previous_valid;
-	bool next_valid;
+	bool previous_valid;					/**< flag indicating previous position is valid */
+	bool next_valid;					/**< flag indicating next position is valid */
 
 	struct vehicle_global_position_setpoint_s previous;
 	struct vehicle_global_position_setpoint_s current;
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index e7feaa98e..6690fb2be 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -159,6 +159,10 @@ enum VEHICLE_BATTERY_WARNING {
     VEHICLE_BATTERY_WARNING_ALERT            /**< alerting of low voltage 2. stage */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
 
 /**
  * state machine / state of vehicle.