Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

13 files changed, 58 insertions, 57 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index bb75b2af0..e992706ac 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1300,7 +1300,7 @@ int commander_thread_main(int argc, char *argv[])
 
 					/* if we have a global position, we can switch to RTL, if not, we can try to land */
 					if (status.condition_global_position_valid) {
-						status.failsafe_state = FAILSAFE_STATE_RTL_RC;
+						status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
 					} else {
 						status.failsafe_state = FAILSAFE_STATE_LAND;
 					}
@@ -1313,10 +1313,10 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
 		if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
-		    mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RTL_RC) {
+		    mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) {
 			/* if we have a global position, we can switch to RTL, if not, we can try to land */
 			if (status.condition_global_position_valid) {
-				status.failsafe_state = FAILSAFE_STATE_RTL_RC;
+				status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
 				mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished");
 			} else {
 				/* this probably doesn't make sense since we are in mission and have global position */
@@ -1719,8 +1719,8 @@ set_control_mode()
 	case NAVIGATION_STATE_AUTO_MISSION:
 	case NAVIGATION_STATE_AUTO_LOITER:
 	case NAVIGATION_STATE_AUTO_RTL:
-	case NAVIGATION_STATE_AUTO_RTL_RC:
-	case NAVIGATION_STATE_AUTO_RTL_DL:
+	case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
+	case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = true;
 		control_mode.flag_control_rates_enabled = true;
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 214480079..c52e618ef 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -406,12 +406,12 @@ void set_nav_state(struct vehicle_status_s *status)
 		}
 		break;
 
-	case FAILSAFE_STATE_RTL_RC:
-		status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_RC;
+	case FAILSAFE_STATE_RC_LOSS:
+		status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS;
 		break;
 
-	case FAILSAFE_STATE_RTL_DL:
-		status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_DL;
+	case FAILSAFE_STATE_DL_LOSS:
+		status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS;
 		break;
 
 	case FAILSAFE_STATE_LAND:
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 86e1ef548..f1cffb986 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -163,8 +163,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			break;
 
 		case NAVIGATION_STATE_AUTO_RTL:
-		case NAVIGATION_STATE_AUTO_RTL_RC:
-		case NAVIGATION_STATE_AUTO_RTL_DL:
+		case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
+		case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 035d035e1..8bbb79d5e 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -59,7 +59,7 @@ Loiter::Loiter(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* initial reset */
-	reset();
+	on_inactive();
 }
 
 Loiter::~Loiter()
@@ -67,14 +67,14 @@ Loiter::~Loiter()
 }
 
 bool
-Loiter::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	/* set loiter item, don't reuse an existing position setpoint */
 	return set_loiter_item(false, pos_sp_triplet);;
 }
 
 void
-Loiter::reset()
+Loiter::on_inactive()
 {
 }
 
diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h
index a83b53f43..685ae6141 100644
--- a/src/modules/navigator/loiter.h
+++ b/src/modules/navigator/loiter.h
@@ -63,12 +63,12 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
 	 */
-	void reset();
+	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 };
 
 #endif
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index a551df9a2..9244063b1 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -72,7 +72,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* set initial mission items */
-	reset();
+	on_inactive();
 
 }
 
@@ -81,7 +81,7 @@ Mission::~Mission()
 }
 
 void
-Mission::reset()
+Mission::on_inactive()
 {
 	_first_run = true;
 
@@ -100,7 +100,7 @@ Mission::reset()
 }
 
 bool
-Mission::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	bool updated = false;
 
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index a3dd09ecd..322aaf96a 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -78,12 +78,12 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	virtual void reset();
+	virtual void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
 	 */
-	virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 
 private:
 	/**
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 459fbdc65..888c8e7f4 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -358,8 +358,8 @@ Navigator::task_main()
 				_navigation_mode = &_loiter;
 				break;
 			case NAVIGATION_STATE_AUTO_RTL:
-			case NAVIGATION_STATE_AUTO_RTL_RC:
-			case NAVIGATION_STATE_AUTO_RTL_DL:
+			case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
+			case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 				_navigation_mode = &_rtl;
 				break;
 			case NAVIGATION_STATE_LAND:
@@ -372,21 +372,21 @@ Navigator::task_main()
 
 		/* TODO: make list of modes and loop through it */
 		if (_navigation_mode == &_mission) {
-			_update_triplet = _mission.update(&_pos_sp_triplet);
+			_update_triplet = _mission.on_active(&_pos_sp_triplet);
 		} else {
-			_mission.reset();
+			_mission.on_inactive();
 		}
 
 		if (_navigation_mode == &_rtl) {
-			_update_triplet = _rtl.update(&_pos_sp_triplet);
+			_update_triplet = _rtl.on_active(&_pos_sp_triplet);
 		} else {
-			_rtl.reset();
+			_rtl.on_inactive();
 		}
 
 		if (_navigation_mode == &_loiter) {
-			_update_triplet = _loiter.update(&_pos_sp_triplet);
+			_update_triplet = _loiter.on_active(&_pos_sp_triplet);
 		} else {
-			_loiter.reset();
+			_loiter.on_inactive();
 		}
 
 		/* if nothing is running, set position setpoint triplet invalid */
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp
index c96829190..25e767c2b 100644
--- a/src/modules/navigator/navigator_mode.cpp
+++ b/src/modules/navigator/navigator_mode.cpp
@@ -48,7 +48,7 @@ NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* set initial mission items */
-	reset();
+	on_inactive();
 }
 
 NavigatorMode::~NavigatorMode()
@@ -56,13 +56,13 @@ NavigatorMode::~NavigatorMode()
 }
 
 void
-NavigatorMode::reset()
+NavigatorMode::on_inactive()
 {
 	_first_run = true;
 }
 
 bool
-NavigatorMode::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	pos_sp_triplet->current.valid = false;
 	_first_run = false;
diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h
index 0844bb94d..cbb53d91b 100644
--- a/src/modules/navigator/navigator_mode.h
+++ b/src/modules/navigator/navigator_mode.h
@@ -68,7 +68,7 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	virtual void reset();
+	virtual void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
@@ -76,7 +76,7 @@ public:
 	 * @param position setpoint triplet to set
 	 * @return true if position setpoint triplet has been changed
 	 */
-	virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 
 protected:
 	Navigator *_navigator;
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 8888c6b62..c1b1d3f09 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -64,7 +64,7 @@ RTL::RTL(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* initial reset */
-	reset();
+	on_inactive();
 }
 
 RTL::~RTL()
@@ -72,14 +72,14 @@ RTL::~RTL()
 }
 
 void
-RTL::reset()
+RTL::on_inactive()
 {
 	_first_run = true;
 	_rtl_state = RTL_STATE_NONE;
 }
 
 bool
-RTL::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	bool updated = false;
 
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index 9836f5064..bcccf7454 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -70,7 +70,7 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	void reset();
+	void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
@@ -78,7 +78,7 @@ public:
 	 * @param position setpoint triplet that needs to be set
 	 * @return true if updated
 	 */
-	bool update(position_setpoint_triplet_s *pos_sp_triplet);
+	bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
 
 
 private:
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 259d7329e..9390ff717 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.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
@@ -45,6 +41,11 @@
  * All apps should write to subsystem_info:
  *
  *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef VEHICLE_STATUS_H_
@@ -90,25 +91,25 @@ typedef enum {
 
 typedef enum {
 	FAILSAFE_STATE_NORMAL = 0,		/**< Normal operation */
-	FAILSAFE_STATE_RTL_RC,			/**< Return To Launch on remote control loss */
-	FAILSAFE_STATE_RTL_DL,			/**< Return To Launch on datalink loss */
+	FAILSAFE_STATE_RC_LOSS,			/**< Return To Launch on remote control loss */
+	FAILSAFE_STATE_DL_LOSS,			/**< Return To Launch on datalink loss */
 	FAILSAFE_STATE_LAND,			/**< Land as safe as possible */
 	FAILSAFE_STATE_TERMINATION,		/**< Disable motors and use parachute, can't be recovered */
 	FAILSAFE_STATE_MAX,
 } failsafe_state_t;
 
 typedef enum {
-	NAVIGATION_STATE_MANUAL = 0,
-	NAVIGATION_STATE_ACRO,
-	NAVIGATION_STATE_ALTCTL,
-	NAVIGATION_STATE_POSCTL,
-	NAVIGATION_STATE_AUTO_MISSION,
-	NAVIGATION_STATE_AUTO_LOITER,
-	NAVIGATION_STATE_AUTO_RTL,
-	NAVIGATION_STATE_AUTO_RTL_RC,
-	NAVIGATION_STATE_AUTO_RTL_DL,
-	NAVIGATION_STATE_LAND,
-	NAVIGATION_STATE_TERMINATION,
+	NAVIGATION_STATE_MANUAL = 0,		/**< Manual mode */
+	NAVIGATION_STATE_ACRO,			/**< Acro mode */
+	NAVIGATION_STATE_ALTCTL,		/**< Altitude control mode */
+	NAVIGATION_STATE_POSCTL,		/**< Position control mode */
+	NAVIGATION_STATE_AUTO_MISSION,		/**< Auto mission mode */
+	NAVIGATION_STATE_AUTO_LOITER,		/**< Auto loiter mode */
+	NAVIGATION_STATE_AUTO_RTL,		/**< Auto RTL mode */
+	NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS,	/**< Auto failsafe on RC loss mode */
+	NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS,	/**< Auto failsafe on datalink loss mode */
+	NAVIGATION_STATE_LAND,			/**< Land mode */
+	NAVIGATION_STATE_TERMINATION,		/**< Termination mode */
 } navigation_state_t;
 
 enum VEHICLE_MODE_FLAG {