Merge branch 'master' into navigator_rewrite

Conflicts:
	src/drivers/gps/gps.cpp
	src/drivers/gps/mtk.cpp
	src/modules/commander/commander.cpp
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
	src/modules/navigator/mission.cpp
	src/modules/navigator/mission.h
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_state.h
	src/modules/position_estimator_inav/position_estimator_inav_main.c

src/modules/mavlink/mavlink_main.cpp

@@ -149,10 +149,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 		instance = Mavlink::get_instance(6);
 		break;
 #endif
-	}
-
-	/* no valid instance, bail */
-	if (!instance) {
+		default:
 		return;
 	}
 
@@ -211,9 +208,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 static void usage(void);
 
 Mavlink::Mavlink() :
-	next(nullptr),
 	_device_name(DEFAULT_DEVICE_NAME),
 	_task_should_exit(false),
+	next(nullptr),
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
@@ -234,7 +231,6 @@ Mavlink::Mavlink() :
 	_subscribe_to_stream_rate(0.0f),
 	_flow_control_enabled(true),
 	_message_buffer({}),
-
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
 {
@@ -736,9 +732,9 @@ int Mavlink::mavlink_pm_send_param(param_t param)
 	if (param == PARAM_INVALID) { return 1; }
 
 	/* buffers for param transmission */
-	static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
+	char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
 	float val_buf;
-	static mavlink_message_t tx_msg;
+	mavlink_message_t tx_msg;
 
 	/* query parameter type */
 	param_type_t type = param_type(param);
@@ -1543,6 +1539,8 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 void
 Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
 {
+	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+
 	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
 
 	mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len);
@@ -2039,14 +2037,14 @@ Mavlink::task_main(int argc, char *argv[])
 		if (_subscribe_to_stream != nullptr) {
 			if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
 				if (_subscribe_to_stream_rate > 0.0f) {
-					warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, _subscribe_to_stream_rate);
+					warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, (double)_subscribe_to_stream_rate);
 
 				} else {
 					warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
 				}
 
 			} else {
-				warnx("stream %s not found", _subscribe_to_stream, _device_name);
+				warnx("stream %s on device %s not found", _subscribe_to_stream, _device_name);
 			}
 
 			delete _subscribe_to_stream;
@@ -2213,7 +2211,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2048,
+		       1950,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 
@@ -2252,7 +2250,6 @@ Mavlink::stream(int argc, char *argv[])
 	const char *device_name = DEFAULT_DEVICE_NAME;
 	float rate = -1.0f;
 	const char *stream_name = nullptr;
-	int ch;
 
 	argc -= 2;
 	argv += 2;
@@ -2289,7 +2286,7 @@ Mavlink::stream(int argc, char *argv[])
 		i++;
 	}
 
-	if (!err_flag && rate >= 0.0 && stream_name != nullptr) {
+	if (!err_flag && rate >= 0.0f && stream_name != nullptr) {
 		Mavlink *inst = get_instance_for_device(device_name);
 
 		if (inst != nullptr) {

src/modules/mavlink/mavlink_main.h

@@ -221,8 +221,6 @@ private:
 	int		_mavlink_fd;
 	bool		_task_running;
 
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-
 	/* states */
 	bool		_hil_enabled;		/**< Hardware In the Loop mode */
 	bool		_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
@@ -237,7 +235,6 @@ private:
 
 	orb_advert_t	_mission_pub;
 	struct mission_s mission;
-	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
 	MAVLINK_MODE _mode;
 
 	uint8_t _mavlink_wpm_comp_id;
@@ -283,7 +280,7 @@ private:
 
 	pthread_mutex_t _message_buffer_mutex;
 
-
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
 	/**
 	 * Send one parameter.

src/modules/mavlink/mavlink_messages.cpp

@@ -125,18 +125,22 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
 
-		} else if (status->main_state == MAIN_STATE_SEATBELT) {
+		} else if (status->main_state == MAIN_STATE_ALTCTL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
 
-		} else if (status->main_state == MAIN_STATE_EASY) {
+		} else if (status->main_state == MAIN_STATE_POSCTL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
 
 		} else if (status->main_state == MAIN_STATE_AUTO) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
+
+		} else if (status->main_state == MAIN_STATE_ACRO) {
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
 		}
 
 	} else {
@@ -1139,10 +1143,10 @@ protected:
 		if (manual_sub->update(t)) {
 			mavlink_msg_manual_control_send(_channel,
 							mavlink_system.sysid,
-							manual->roll * 1000,
-							manual->pitch * 1000,
-							manual->yaw * 1000,
-							manual->throttle * 1000,
+							manual->x * 1000,
+							manual->y * 1000,
+							manual->z * 1000,
+							manual->r * 1000,
 							0);
 		}
 	}

src/modules/mavlink/mavlink_orb_subscription.cpp

@@ -63,7 +63,7 @@ MavlinkOrbSubscription::~MavlinkOrbSubscription()
 	free(_data);
 }
 
-const orb_id_t
+orb_id_t
 MavlinkOrbSubscription::get_topic()
 {
 	return _topic;

src/modules/mavlink/mavlink_orb_subscription.h

@@ -63,7 +63,7 @@ public:
 	 */
 	bool is_published();
 	void *get_data();
-	const orb_id_t get_topic();
+	orb_id_t get_topic();
 
 private:
 	const orb_id_t _topic;		/*< topic metadata */

src/modules/mavlink/mavlink_receiver.cpp

@@ -191,7 +191,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		}
 
 	}
-	
+
     /* If we've received a valid message, mark the flag indicating so.
 	   This is used in the '-w' command-line flag. */
 	_mavlink->set_has_received_messages(true);
@@ -438,10 +438,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	memset(&manual, 0, sizeof(manual));
 
 	manual.timestamp = hrt_absolute_time();
-	manual.pitch = man.x / 1000.0f;
-	manual.roll = man.y / 1000.0f;
-	manual.yaw = man.r / 1000.0f;
-	manual.throttle = man.z / 1000.0f;
+	manual.x = man.x / 1000.0f;
+	manual.y = man.y / 1000.0f;
+	manual.r = man.r / 1000.0f;
+	manual.z = man.z / 1000.0f;
 
 	if (_manual_pub < 0) {
 		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
@@ -932,6 +932,8 @@ void *MavlinkReceiver::start_helper(void *context)
 	rcv->receive_thread(NULL);
 
 	delete rcv;
+
+	return nullptr;
 }
 
 pthread_t
@@ -949,7 +951,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 3000);
+	pthread_attr_setstacksize(&receiveloop_attr, 2900);
 
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);

src/modules/mavlink/mavlink_stream.cpp

@@ -81,5 +81,9 @@ MavlinkStream::update(const hrt_abstime t)
 		/* interval expired, send message */
 		send(t);
 		_last_sent = (t / _interval) * _interval;
+
+		return 0;
 	}
+
+	return -1;
 }

src/modules/mavlink/mavlink_stream.h

@@ -63,9 +63,13 @@ public:
 	MavlinkStream *next;
 
 	MavlinkStream();
-	~MavlinkStream();
+	virtual ~MavlinkStream();
 	void set_interval(const unsigned int interval);
 	void set_channel(mavlink_channel_t channel);
+
+	/**
+	 * @return 0 if updated / sent, -1 if unchanged
+	 */
 	int update(const hrt_abstime t);
 	virtual MavlinkStream *new_instance() = 0;
 	virtual void subscribe(Mavlink *mavlink) = 0;

src/modules/mavlink/module.mk

@@ -48,3 +48,5 @@ SRCS		 += mavlink_main.cpp \
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1024