Moved last libs, drivers and headers, cleaned up IO build

2026-10-17 05:53:34 +08:00 · 2013-04-28 09:54:11 +02:00
parent f57439b90e
commit 13fc670386
423 changed files with 89 additions and 1024 deletions
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build uORB
+#
+
+MODULE_COMMAND		= uorb
+
+# XXX probably excessive, 2048 should be sufficient
+MODULE_STACKSIZE	= 4096
+
+SRCS			= uORB.cpp \
+			  objects_common.cpp
@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file objects_common.cpp
+ *
+ * Common object definitions without a better home.
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/drv_orb_dev.h>
+
+#include <drivers/drv_mag.h>
+ORB_DEFINE(sensor_mag, struct mag_report);
+
+#include <drivers/drv_accel.h>
+ORB_DEFINE(sensor_accel, struct accel_report);
+
+#include <drivers/drv_gyro.h>
+ORB_DEFINE(sensor_gyro, struct gyro_report);
+
+#include <drivers/drv_baro.h>
+ORB_DEFINE(sensor_baro, struct baro_report);
+
+#include <drivers/drv_range_finder.h>
+ORB_DEFINE(sensor_range_finder, struct range_finder_report);
+
+#include <drivers/drv_pwm_output.h>
+ORB_DEFINE(output_pwm, struct pwm_output_values);
+
+#include <drivers/drv_rc_input.h>
+ORB_DEFINE(input_rc, struct rc_input_values);
+
+#include "topics/vehicle_attitude.h"
+ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
+
+#include "topics/sensor_combined.h"
+ORB_DEFINE(sensor_combined, struct sensor_combined_s);
+
+#include "topics/vehicle_gps_position.h"
+ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
+
+#include "topics/home_position.h"
+ORB_DEFINE(home_position, struct home_position_s);
+
+#include "topics/vehicle_status.h"
+ORB_DEFINE(vehicle_status, struct vehicle_status_s);
+
+#include "topics/battery_status.h"
+ORB_DEFINE(battery_status, struct battery_status_s);
+
+#include "topics/vehicle_global_position.h"
+ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
+
+#include "topics/vehicle_local_position.h"
+ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
+
+#include "topics/vehicle_vicon_position.h"
+ORB_DEFINE(vehicle_vicon_position, struct vehicle_vicon_position_s);
+
+#include "topics/vehicle_rates_setpoint.h"
+ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
+
+#include "topics/rc_channels.h"
+ORB_DEFINE(rc_channels, struct rc_channels_s);
+
+#include "topics/vehicle_command.h"
+ORB_DEFINE(vehicle_command, struct vehicle_command_s);
+
+#include "topics/vehicle_local_position_setpoint.h"
+ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
+
+#include "topics/vehicle_global_position_setpoint.h"
+ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
+
+#include "topics/vehicle_global_position_set_triplet.h"
+ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
+
+#include "topics/vehicle_attitude_setpoint.h"
+ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
+
+#include "topics/manual_control_setpoint.h"
+ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
+
+#include "topics/offboard_control_setpoint.h"
+ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
+
+#include "topics/optical_flow.h"
+ORB_DEFINE(optical_flow, struct optical_flow_s);
+
+#include "topics/omnidirectional_flow.h"
+ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
+
+#include "topics/differential_pressure.h"
+ORB_DEFINE(differential_pressure, struct differential_pressure_s);
+
+#include "topics/subsystem_info.h"
+ORB_DEFINE(subsystem_info, struct subsystem_info_s);
+
+/* actuator controls, as requested by controller */
+#include "topics/actuator_controls.h"
+ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
+ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
+ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
+ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
+ORB_DEFINE(actuator_armed, struct actuator_armed_s);
+
+/* actuator controls, as set by actuators / mixers after limiting */
+#include "topics/actuator_controls_effective.h"
+ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
+
+#include "topics/actuator_outputs.h"
+ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
+ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
+ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
+ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
+
+#include "topics/debug_key_value.h"
+ORB_DEFINE(debug_key_value, struct debug_key_value_s);
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file actuator_controls.h
+ *
+ * Actuator control topics - mixer inputs.
+ *
+ * Values published to these topics are the outputs of the vehicle control
+ * system, and are expected to be mixed and used to drive the actuators
+ * (servos, speed controls, etc.) that operate the vehicle.
+ *
+ * Each topic can be published by a single controller
+ */
+
+#ifndef TOPIC_ACTUATOR_CONTROLS_H
+#define TOPIC_ACTUATOR_CONTROLS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_ACTUATOR_CONTROLS		8
+#define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
+
+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);
+ORB_DECLARE(actuator_controls_2);
+ORB_DECLARE(actuator_controls_3);
+
+/* control sets with pre-defined applications */
+#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS	ORB_ID(actuator_controls_0)
+
+/** global 'actuator output is live' control. */
+struct actuator_armed_s {
+	bool	armed;		/**< Set to true if system is armed */
+	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+};
+
+ORB_DECLARE(actuator_armed);
+
+#endif
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file actuator_controls_effective.h
+ *
+ * Actuator control topics - mixer inputs.
+ *
+ * Values published to these topics are the outputs of the vehicle control
+ * system and mixing process; they are the control-scale values that are
+ * then fed to the actual actuator driver.
+ *
+ * Each topic can be published by a single controller
+ */
+
+#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
+#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
+
+#include <stdint.h>
+#include "../uORB.h"
+#include "actuator_controls.h"
+
+#define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
+#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
+
+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);
+ORB_DECLARE(actuator_controls_effective_2);
+ORB_DECLARE(actuator_controls_effective_3);
+
+/* control sets with pre-defined applications */
+#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
+
+#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file actuator_outputs.h
+ *
+ * Actuator output values.
+ *
+ * Values published to these topics are the outputs of the control mixing
+ * system as sent to the actuators (servos, motors, etc.) that operate
+ * the vehicle.
+ *
+ * Each topic can be published by a single output driver.
+ */
+
+#ifndef TOPIC_ACTUATOR_OUTPUTS_H
+#define TOPIC_ACTUATOR_OUTPUTS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_ACTUATOR_OUTPUTS		16
+#define NUM_ACTUATOR_OUTPUT_GROUPS	4	/**< for sanity checking */
+
+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);
+ORB_DECLARE(actuator_outputs_2);
+ORB_DECLARE(actuator_outputs_3);
+
+/* output sets with pre-defined applications */
+#define ORB_ID_VEHICLE_CONTROLS		ORB_ID(actuator_outputs_0)
+
+#endif
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file battery_status.h
+ *
+ * Definition of the battery status uORB topic.
+ */
+
+#ifndef BATTERY_STATUS_H_
+#define BATTERY_STATUS_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct battery_status_s {
+	uint64_t	timestamp;		/**< microseconds since system boot, needed to integrate */
+	float   	voltage_v;		/**< Battery voltage in volts, filtered           	 */
+	float		current_a;		/**< Battery current in amperes, filtered, -1 if unknown */
+	float		discharged_mah;		/**< Discharged amount in mAh, filtered, -1 if unknown	 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(battery_status);
+
+#endif
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file debug_key_value.h
+ * Definition of the debug named value uORB topic. Allows to send a 10-char key
+ * with a float as value.
+ */
+
+#ifndef TOPIC_DEBUG_KEY_VALUE_H_
+#define TOPIC_DEBUG_KEY_VALUE_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Key/value pair for debugging
+ */
+struct debug_key_value_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+	uint32_t timestamp_ms;		/**< in milliseconds since system start */
+	char key[10];				/**< max. 10 characters as key / name */
+	float value;				/**< the value to send as debug output */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(debug_key_value);
+
+#endif
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file differential_pressure.h
+ *
+ * Definition of differential pressure topic
+ */
+
+#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
+#define TOPIC_DIFFERENTIAL_PRESSURE_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Differential pressure and airspeed
+ */
+struct differential_pressure_s {
+	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
+	float   	static_pressure_mbar;		/**< Static / environment pressure */
+	float		differential_pressure_mbar;	/**< Differential pressure reading */
+	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
+	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
+	float		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
+	float		voltage;					/**< Voltage from the airspeed sensor (voltage divider already compensated) */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(differential_pressure);
+
+#endif
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file home_position.h
+ * Definition of the GPS home position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef TOPIC_HOME_POSITION_H_
+#define TOPIC_HOME_POSITION_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS home position in WGS84 coordinates.
+ */
+struct home_position_s
+{
+	uint64_t timestamp;             /**< Timestamp (microseconds since system boot)   */
+	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
+	
+	int32_t lat;                    /**< Latitude in 1E7 degrees */
+	int32_t lon;                    /**< Longitude in 1E7 degrees */
+	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
+	float eph_m;                   /**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;                   /**< GPS VDOP horizontal dilution of position in m */
+	float s_variance_m_s;               /**< speed accuracy estimate m/s */
+	float p_variance_m;               /**< position accuracy estimate m */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(home_position);
+
+#endif
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *	 Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *		notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *		notice, this list of conditions and the following disclaimer in
+ *		the documentation and/or other materials provided with the
+ *		distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *		used to endorse or promote products derived from this software
+ *		without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file manual_control_setpoint.h
+ * Definition of the manual_control_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
+#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct manual_control_setpoint_s {
+	uint64_t timestamp;
+
+	float roll;			 	/**< ailerons roll / roll rate input */
+	float pitch;				/**< elevator / pitch / pitch rate */
+	float yaw;				/**< rudder / yaw rate / yaw */
+	float throttle;				/**< throttle / collective thrust / altitude */
+
+	float manual_override_switch;		/**< manual override mode (mandatory) */
+	float auto_mode_switch;			/**< auto mode switch (mandatory) */
+
+	/**
+	 * Any of the channels below may not be available and be set to NaN
+	 * to indicate that it does not contain valid data.
+	 */
+	float manual_mode_switch;		/**< manual mode (man, sas, alt) switch (optional) */
+	float manual_sas_switch;		/**< sas mode (rates / attitude) switch (optional) */
+	float return_to_launch_switch;		/**< return to launch switch (0 = disabled, 1 = enabled) */
+	float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
+
+	float flaps;				/**< flap position */
+
+	float aux1;				/**< default function: camera yaw / azimuth */
+	float aux2;				/**< default function: camera pitch / tilt */
+	float aux3;				/**< default function: camera trigger */
+	float aux4;				/**< default function: camera roll */
+	float aux5;				/**< default function: payload drop */
+
+}; /**< manual control inputs */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(manual_control_setpoint);
+
+#endif
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *	 Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *		notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *		notice, this list of conditions and the following disclaimer in
+ *		the documentation and/or other materials provided with the
+ *		distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *		used to endorse or promote products derived from this software
+ *		without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file offboard_control_setpoint.h
+ * Definition of the manual_control_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Off-board control inputs.
+ * 
+ * Typically sent by a ground control station / joystick or by
+ * some off-board controller via C or SIMULINK.
+ */
+enum OFFBOARD_CONTROL_MODE
+{
+	OFFBOARD_CONTROL_MODE_DIRECT = 0,
+	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
+	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
+	OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
+	OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
+	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
+};
+
+struct offboard_control_setpoint_s {
+	uint64_t timestamp;
+
+	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
+	bool armed;	/**< Armed flag set, yes / no */
+	float p1;	/**< ailerons roll / roll rate input */
+	float p2;	/**< elevator / pitch / pitch rate */
+	float p3;	/**< rudder / yaw rate / yaw */
+	float p4;	/**< throttle / collective thrust / altitude */
+
+	float override_mode_switch;
+
+	float aux1_cam_pan_flaps;
+	float aux2_cam_tilt;
+	float aux3_cam_zoom;
+	float aux4_cam_roll;
+
+}; /**< offboard control inputs */
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(offboard_control_setpoint);
+
+#endif
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file optical_flow.h
+ * Definition of the optical flow uORB topic.
+ */
+
+#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
+#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Omnidirectional optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct omnidirectional_flow_s {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	uint16_t left[10];		/**< Left flow, in decipixels */
+	uint16_t right[10];		/**< Right flow, in decipixels */
+	float front_distance_m;		/**< Altitude / distance to object front in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(omnidirectional_flow);
+
+#endif
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file optical_flow.h
+ * Definition of the optical flow uORB topic.
+ */
+
+#ifndef TOPIC_OPTICAL_FLOW_H_
+#define TOPIC_OPTICAL_FLOW_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct optical_flow_s {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	uint16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
+	uint16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float ground_distance_m;	/**< Altitude / distance to ground in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(optical_flow);
+
+#endif
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file parameter_update.h
+ * Notification about a parameter update.
+ */
+
+#ifndef TOPIC_PARAMETER_UPDATE_H
+#define TOPIC_PARAMETER_UPDATE_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+struct parameter_update_s {
+	/** time at which the latest parameter was updated */
+	uint64_t	timestamp;
+};
+
+ORB_DECLARE(parameter_update);
+
+#endif
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
+ *           @author Ivan Ovinnikov <oivan@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rc_channels.h
+ * Definition of the rc_channels uORB topic.
+ */
+
+#ifndef RC_CHANNELS_H_
+#define RC_CHANNELS_H_
+
+#include <stdint.h>
+#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 14.
+ */
+#define RC_CHANNELS_MAX   14
+
+/** 
+ * This defines the mapping of the RC functions.
+ * The value assigned to the specific function corresponds to the entry of
+ * the channel array chan[].
+ */
+enum RC_CHANNELS_FUNCTION
+{
+  THROTTLE = 0,
+  ROLL     = 1,
+  PITCH    = 2,
+  YAW      = 3,
+  OVERRIDE = 4,
+  AUTO_MODE = 5,
+  MANUAL_MODE = 6,
+  SAS_MODE = 7,
+  RTL = 8,
+  OFFBOARD_MODE = 9,
+  FLAPS   = 10,
+  AUX_1   = 11,
+  AUX_2   = 12,
+  AUX_3   = 13,
+  AUX_4   = 14,
+  AUX_5   = 15,
+  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+};
+
+struct rc_channels_s {
+
+	uint64_t timestamp;                 /**< In microseconds since boot time. */
+  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+  struct {
+    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
+  } chan[RC_CHANNELS_MAX];
+  uint8_t chan_count;                 /**< number of valid channels */
+
+  /*String array to store the names of the functions*/
+  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+  int8_t function[RC_CHANNELS_FUNCTION_MAX];
+  uint8_t rssi;                       /**< Overall receive signal strength */
+}; /**< radio control channels. */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(rc_channels);
+
+#endif
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sensor_combined.h
+ * Definition of the sensor_combined uORB topic.
+ */
+
+#ifndef SENSOR_COMBINED_H_
+#define SENSOR_COMBINED_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+enum MAGNETOMETER_MODE {
+	MAGNETOMETER_MODE_NORMAL = 0,
+	MAGNETOMETER_MODE_POSITIVE_BIAS,
+	MAGNETOMETER_MODE_NEGATIVE_BIAS
+};
+
+/**
+ * Sensor readings in raw and SI-unit form.
+ *
+ * These values are read from the sensors. Raw values are in sensor-specific units,
+ * the scaled values are in SI-units, as visible from the ending of the variable
+ * or the comments. The use of the SI fields is in general advised, as these fields
+ * are scaled and offset-compensated where possible and do not change with board
+ * revisions and sensor updates.
+ *
+ */
+struct sensor_combined_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+
+	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
+
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot         */
+
+	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
+	uint16_t gyro_counter;			/**< Number of raw measurments taken              */
+	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	
+	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
+	uint32_t accelerometer_counter;		/**< Number of raw acc measurements taken         */
+	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	int accelerometer_mode;			/**< Accelerometer measurement mode */
+	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
+
+	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	int magnetometer_mode;			/**< Magnetometer measurement mode */
+	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
+	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
+	uint32_t magnetometer_counter;		/**< Number of raw mag measurements taken         */
+	
+	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
+	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
+	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
+	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
+	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(sensor_combined);
+
+#endif
@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *           Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file subsystem_info.h
+ * Definition of the subsystem info topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ */
+
+#ifndef TOPIC_SUBSYSTEM_INFO_H_
+#define TOPIC_SUBSYSTEM_INFO_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+enum SUBSYSTEM_TYPE
+{
+	SUBSYSTEM_TYPE_GYRO = 1,
+	SUBSYSTEM_TYPE_ACC = 2,
+	SUBSYSTEM_TYPE_MAG = 4,
+	SUBSYSTEM_TYPE_ABSPRESSURE = 8,
+	SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
+	SUBSYSTEM_TYPE_GPS = 32,
+	SUBSYSTEM_TYPE_OPTICALFLOW = 64,
+	SUBSYSTEM_TYPE_CVPOSITION = 128,
+	SUBSYSTEM_TYPE_LASERPOSITION = 256,
+	SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
+	SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
+	SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
+	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
+	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
+	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
+	SUBSYSTEM_TYPE_RANGEFINDER = 131072
+};
+
+/**
+ * State of individual sub systems
+ */
+struct subsystem_info_s {
+	bool present;
+	bool enabled;
+	bool ok;
+
+	enum SUBSYSTEM_TYPE subsystem_type;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(subsystem_info);
+
+#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
+
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_attitude.h
+ * Definition of the attitude uORB topic.
+ */
+
+#ifndef VEHICLE_ATTITUDE_H_
+#define VEHICLE_ATTITUDE_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Attitude in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct vehicle_attitude_s {
+
+	uint64_t timestamp;	/**< in microseconds since system start          */
+
+	/* This is similar to the mavlink message ATTITUDE, but for onboard use */
+
+	/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
+
+	float roll;		/**< Roll angle (rad, Tait-Bryan, NED)				*/
+	float pitch;		/**< Pitch angle (rad, Tait-Bryan, NED)				*/
+	float yaw;		/**< Yaw angle (rad, Tait-Bryan, NED)				*/
+	float rollspeed;	/**< Roll angular speed (rad/s, Tait-Bryan, NED)		*/
+	float pitchspeed;	/**< Pitch angular speed (rad/s, Tait-Bryan, NED)		*/
+	float yawspeed;		/**< Yaw angular speed (rad/s, Tait-Bryan, NED)			*/
+	float rollacc;		/**< Roll angular accelration (rad/s, Tait-Bryan, NED)		*/
+	float pitchacc;		/**< Pitch angular acceleration (rad/s, Tait-Bryan, NED)	*/
+	float yawacc;		/**< Yaw angular acceleration (rad/s, Tait-Bryan, NED)		*/
+	float rate_offsets[3];	/**< Offsets of the body angular rates from zero		*/
+	float R[3][3];		/**< Rotation matrix body to world, (Tait-Bryan, NED)		*/
+	float q[4];		/**< Quaternion (NED)						*/
+	bool R_valid;		/**< Rotation matrix valid					*/
+	bool q_valid;		/**< Quaternion valid						*/
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude);
+
+#endif
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_attitude_setpoint.h
+ * Definition of the vehicle attitude setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
+#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * vehicle attitude setpoint.
+ */
+struct vehicle_attitude_setpoint_s
+{
+	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
+
+	float roll_body;				/**< body angle in NED frame		*/
+	float pitch_body;				/**< body angle in NED frame		*/
+	float yaw_body;					/**< body angle in NED frame		*/
+	//float body_valid;				/**< Set to true if body angles are valid */
+
+	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
+	bool R_valid;					/**< Set to true if rotation matrix is valid */
+
+	float thrust;					/**< Thrust in Newton the power system should generate */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude_setpoint);
+
+#endif /* TOPIC_ARDRONE_CONTROL_H_ */
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_command.h
+ * Definition of the vehicle command uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_COMMAND_H_
+#define TOPIC_VEHICLE_COMMAND_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Commands for commander app.
+ *
+ * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD
+{
+	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	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_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|  */
+	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_ENUM_END=401, /*  | */
+};
+
+/**
+ * Commands for commander app.
+ *
+ * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD_RESULT
+{
+	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
+	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
+	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
+	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
+	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
+	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
+};
+
+
+struct vehicle_command_s
+{
+	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param4;			/**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
+	uint16_t command;		/**< Command ID, as defined MAVLink by VEHICLE_CMD enum.   */
+	uint8_t target_system;		/**< System which should execute the command  */
+	uint8_t target_component;	/**< Component which should execute the command, 0 for all components  */
+	uint8_t source_system;		/**< System sending the command  */
+	uint8_t source_component;	/**< Component sending the command  */
+	uint8_t confirmation;		/**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
+}; /**< command sent to vehicle */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_command);
+
+
+
+#endif
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_global_position.h
+ * Definition of the global fused WGS84 position uORB topic.
+ */
+
+#ifndef VEHICLE_GLOBAL_POSITION_T_H_
+#define VEHICLE_GLOBAL_POSITION_T_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+ /**
+ * Fused global position in WGS84.
+ *
+ * This struct contains the system's believ about its position. It is not the raw GPS
+ * measurement (@see vehicle_gps_position). This topic is usually published by the position
+ * estimator, which will take more sources of information into account than just GPS,
+ * e.g. control inputs of the vehicle in a Kalman-filter implementation.
+ */
+struct vehicle_global_position_s
+{
+	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
+	uint64_t time_gps_usec; /**< GPS timestamp in microseconds							  */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	int32_t lat;			/**< Latitude in 1E7 degrees							LOGME */
+	int32_t lon;			/**< Longitude in 1E7 degrees							LOGME */
+	float alt;				/**< Altitude in meters									LOGME */
+	float relative_alt;		/**< Altitude above home position in meters, 			LOGME */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in ENU				LOGME */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in ENU				LOGME */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in ENU				LOGME */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position);
+
+#endif
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_global_position_setpoint.h
+ * Definition of the global WGS84 position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
+#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+#include "vehicle_global_position_setpoint.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Global position setpoint triplet in WGS84 coordinates.
+ *
+ * This are the three next waypoints (or just the next two or one).
+ */
+struct vehicle_global_position_set_triplet_s
+{
+	bool previous_valid;
+	bool next_valid;
+
+	struct vehicle_global_position_setpoint_s previous;
+	struct vehicle_global_position_setpoint_s current;
+	struct vehicle_global_position_setpoint_s next;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position_set_triplet);
+
+#endif
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_global_position_setpoint.h
+ * Definition of the global WGS84 position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
+#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Global position setpoint in WGS84 coordinates.
+ *
+ * This is the position the MAV is heading towards. If it of type loiter,
+ * the MAV is circling around it with the given loiter radius in meters.
+ */
+struct vehicle_global_position_setpoint_s
+{
+	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
+	int32_t lat;			/**< latitude in degrees * 1E7				*/
+	int32_t lon;			/**< longitude in degrees * 1E7				*/
+	float altitude;			/**< altitude in meters					*/
+	float yaw;			/**< in radians NED -PI..+PI 				*/
+	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
+	bool is_loiter;			/**< true if loitering is enabled			*/
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position_setpoint);
+
+#endif
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_gps_position.h
+ * Definition of the GPS WGS84 uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GPS_H_
+#define TOPIC_VEHICLE_GPS_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS position in WGS84 coordinates.
+ */
+struct vehicle_gps_position_s
+{
+	uint64_t timestamp_position;			/**< Timestamp for position information */
+	int32_t lat;					/**< Latitude in 1E7 degrees */
+	int32_t lon;					/**< Longitude in 1E7 degrees */
+	int32_t alt;					/**< Altitude in 1E3 meters (millimeters) above MSL  */
+	
+	uint64_t timestamp_variance;
+	float s_variance_m_s;				/**< speed accuracy estimate m/s */
+	float p_variance_m;				/**< position accuracy estimate m */
+	float c_variance_rad;				/**< course accuracy estimate rad */
+	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
+
+	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
+
+	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
+	float vel_m_s;					/**< GPS ground speed (m/s) */
+	float vel_n_m_s;				/**< GPS ground speed in m/s */
+	float vel_e_m_s;				/**< GPS ground speed in m/s */
+	float vel_d_m_s;				/**< GPS ground speed in m/s */
+	float cog_rad;					/**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
+	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */
+
+	uint64_t timestamp_time;			/**< Timestamp for time information */
+	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+
+	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
+	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
+	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
+	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
+	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
+	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_gps_position);
+
+#endif
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_local_position.h
+ * Definition of the local fused NED position uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
+#define TOPIC_VEHICLE_LOCAL_POSITION_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Fused local position in NED.
+ */
+struct vehicle_local_position_s
+{
+	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	float x;				/**< X positin in meters in NED earth-fixed frame */
+	float y;				/**< X positin in meters in NED earth-fixed frame */
+	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
+	float absolute_alt;			/**< Altitude as defined by pressure / GPS, 			LOGME */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in NED				LOGME */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in NED				LOGME */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED				LOGME */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+
+	// TODO Add covariances here
+
+	/* Reference position in GPS / WGS84 frame */
+	uint64_t home_timestamp;/**< Time when home position was set						  */
+	int32_t home_lat;		/**< Latitude in 1E7 degrees							LOGME */
+	int32_t home_lon;		/**< Longitude in 1E7 degrees							LOGME */
+	float home_alt;			/**< Altitude in meters									LOGME */
+	float home_hdg; 		/**< Compass heading in radians -PI..+PI.					  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_local_position);
+
+#endif
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_local_position_setpoint.h
+ * Definition of the local NED position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
+#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_local_position_setpoint_s
+{
+	float x;		/**< in meters NED			  		*/
+	float y;		/**< in meters NED			  		*/
+	float z;		/**< in meters NED			  		*/
+	float yaw;		/**< in radians NED -PI..+PI  		*/
+}; /**< Local position in NED frame to go to */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_local_position_setpoint);
+
+#endif
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_rates_setpoint.h
+ * Definition of the vehicle rates setpoint topic
+ */
+
+#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_
+#define TOPIC_VEHICLE_RATES_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+struct vehicle_rates_setpoint_s
+{
+	uint64_t timestamp; /**< in microseconds since system start */
+
+	float roll;	/**< body angular rates in NED frame		*/
+	float pitch;	/**< body angular rates in NED frame		*/
+	float yaw;	/**< body angular rates in NED frame		*/
+	float thrust;	/**< thrust normalized to 0..1			*/
+
+}; /**< vehicle_rates_setpoint */
+
+ /**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_rates_setpoint);
+
+#endif
@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   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>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_status.h
+ * Definition of the vehicle_status uORB topic.
+ *
+ * Published the state machine and the system status bitfields
+ * (see SYS_STATUS mavlink message), published only by commander app.
+ *
+ * All apps should write to subsystem_info:
+ *
+ *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
+ */
+
+#ifndef VEHICLE_STATUS_H_
+#define VEHICLE_STATUS_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics @{
+ */
+
+/* State Machine */
+typedef enum
+{
+	SYSTEM_STATE_PREFLIGHT = 0,
+	SYSTEM_STATE_STANDBY = 1,
+	SYSTEM_STATE_GROUND_READY = 2,
+	SYSTEM_STATE_MANUAL = 3,
+	SYSTEM_STATE_STABILIZED = 4,
+	SYSTEM_STATE_AUTO = 5,
+	SYSTEM_STATE_MISSION_ABORT = 6,
+	SYSTEM_STATE_EMCY_LANDING = 7,
+	SYSTEM_STATE_EMCY_CUTOFF = 8,
+	SYSTEM_STATE_GROUND_ERROR = 9,
+	SYSTEM_STATE_REBOOT= 10,
+
+} commander_state_machine_t;
+
+enum VEHICLE_MODE_FLAG {
+	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
+	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
+	VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
+	VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
+	VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
+	VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
+	VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
+	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
+}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
+
+enum VEHICLE_FLIGHT_MODE {
+	VEHICLE_FLIGHT_MODE_MANUAL = 0,		/**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
+	VEHICLE_FLIGHT_MODE_STAB,		/**< attitude or rate stabilization plus velocity or position stabilization */
+	VEHICLE_FLIGHT_MODE_HOLD,		/**< hold current position (hover or loiter around position when switched) */
+	VEHICLE_FLIGHT_MODE_AUTO		/**< attitude or rate stabilization plus absolute position control and waypoints */
+};
+
+enum VEHICLE_MANUAL_CONTROL_MODE {
+	VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0,	/**< no attitude control, direct stick input mixing (only fixed wing) */
+	VEHICLE_MANUAL_CONTROL_MODE_RATES,	/**< body rates control mode */
+	VEHICLE_MANUAL_CONTROL_MODE_SAS		/**< stability augmented system (SAS) mode */
+};
+
+enum VEHICLE_MANUAL_SAS_MODE {
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0,	/**< roll, pitch and yaw absolute */
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE,	/**< roll and pitch absolute, yaw rate */
+	VEHICLE_MANUAL_SAS_MODE_SIMPLE,				/**< simple mode (includes altitude hold) */
+	VEHICLE_MANUAL_SAS_MODE_ALTITUDE			/**< altitude hold */
+};
+
+/**
+ * Should match 1:1 MAVLink's MAV_TYPE ENUM
+ */
+enum VEHICLE_TYPE {
+	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
+	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
+	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
+	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
+	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
+	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
+	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
+	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
+	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
+	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
+	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
+	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
+	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
+	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
+	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
+	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
+	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
+	VEHICLE_TYPE_KITE=17, /* Kite | */
+	VEHICLE_TYPE_ENUM_END=18, /*  | */
+};
+
+enum VEHICLE_BATTERY_WARNING {
+    VEHICLE_BATTERY_WARNING_NONE = 0,    /**< no battery low voltage warning active */
+    VEHICLE_BATTERY_WARNING_WARNING,        /**< warning of low voltage 1. stage */
+    VEHICLE_BATTERY_WARNING_ALERT            /**< aleting of low voltage 2. stage */
+};
+
+
+/**
+ * state machine / state of vehicle.
+ *
+ * Encodes the complete system state and is set by the commander app.
+ */
+struct vehicle_status_s
+{
+	/* use of a counter and timestamp recommended (but not necessary) */
+
+	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
+	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
+	uint64_t failsave_lowlevel_start_time;		/**< time when the lowlevel failsafe flag was set */
+	//uint64_t failsave_highlevel_begin; TO BE COMPLETED
+
+	commander_state_machine_t state_machine;	/**< current flight state, main state machine */
+	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< current flight mode, as defined by mode switch */
+	enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
+	enum VEHICLE_MANUAL_SAS_MODE	manual_sas_mode;	/**< current stabilization mode */
+	int32_t system_type;				/**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
+	int32_t	system_id;				/**< system id, inspired by MAVLink's system ID field */
+	int32_t component_id;				/**< subsystem / component id, inspired by MAVLink's component ID field */
+
+	/* system flags - these represent the state predicates */
+
+	bool flag_system_armed;				/**< true is motors / actuators are armed */
+	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
+	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
+	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
+
+	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
+	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
+	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
+	bool flag_control_position_enabled;		/**< true if position is controlled */
+
+	bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */
+	bool flag_preflight_mag_calibration;		/**< true if mag calibration is requested */
+	bool flag_preflight_accel_calibration;
+	bool flag_preflight_airspeed_calibration;
+
+	bool rc_signal_found_once;
+	bool rc_signal_lost;				/**< true if RC reception is terminally lost */
+	bool rc_signal_cutting_off;			/**< true if RC reception is weak / cutting off */
+	uint64_t rc_signal_lost_interval;		/**< interval in microseconds since when no RC signal is available */
+
+	bool offboard_control_signal_found_once;
+	bool offboard_control_signal_lost;
+	bool offboard_control_signal_weak;
+	uint64_t offboard_control_signal_lost_interval;	/**< interval in microseconds without an offboard control message */
+
+	bool failsave_lowlevel;				/**< Set to true if low-level failsafe mode is enabled */
+	//bool failsave_highlevel;
+
+	/* see SYS_STATUS mavlink message for the following */
+	uint32_t onboard_control_sensors_present;
+	uint32_t onboard_control_sensors_enabled;
+	uint32_t onboard_control_sensors_health;
+	float load;
+	float voltage_battery;
+	float current_battery;
+	float battery_remaining;
+	enum VEHICLE_BATTERY_WARNING battery_warning;    /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
+	uint16_t drop_rate_comm;
+	uint16_t errors_comm;
+	uint16_t errors_count1;
+	uint16_t errors_count2;
+	uint16_t errors_count3;
+	uint16_t errors_count4;
+
+	bool flag_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
+	bool flag_local_position_valid;
+	bool flag_vector_flight_mode_ok;		/**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
+	bool flag_auto_flight_mode_ok;			/**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
+	bool flag_external_manual_override_ok;		/**< external override non-fatal for system. Only true for fixed wing */
+	bool flag_valid_launch_position;		/**< indicates a valid launch position */
+	bool flag_valid_home_position;			/**< indicates a valid home position (a valid home position is not always a valid launch) */
+	bool flag_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_status);
+
+#endif
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_vicon_position.h
+ * Definition of the raw VICON Motion Capture position
+ */
+
+#ifndef TOPIC_VEHICLE_VICON_POSITION_H_
+#define TOPIC_VEHICLE_VICON_POSITION_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Fused local position in NED.
+ */
+struct vehicle_vicon_position_s
+{
+	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	float x;				/**< X positin in meters in NED earth-fixed frame */
+	float y;				/**< X positin in meters in NED earth-fixed frame */
+	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
+	float roll;
+	float pitch;
+	float yaw;
+
+	// TODO Add covariances here
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_vicon_position);
+
+#endif
@@ -0,0 +1,264 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef _UORB_UORB_H
+#define _UORB_UORB_H
+
+/**
+ * @file uORB.h
+ * API for the uORB lightweight object broker.
+ */
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+// Hack until everything is using this header
+#include <systemlib/visibility.h>
+
+/**
+ * Object metadata.
+ */
+struct orb_metadata {
+	const char *o_name;		/**< unique object name */
+	const size_t o_size;		/**< object size */
+};
+
+typedef const struct orb_metadata *orb_id_t;
+
+/**
+ * Generates a pointer to the uORB metadata structure for
+ * a given topic.
+ *
+ * The topic must have been declared previously in scope
+ * with ORB_DECLARE().
+ *
+ * @param _name		The name of the topic.
+ */
+#define ORB_ID(_name)		&__orb_##_name
+
+/**
+ * Declare (prototype) the uORB metadata for a topic.
+ *
+ * Note that optional topics are declared weak; this allows a potential
+ * subscriber to attempt to subscribe to a topic that is not known to the
+ * system at runtime.  The ORB_ID() macro will return NULL/nullptr for
+ * such a topic, and attempts to advertise or subscribe to it will
+ * return -1/ENOENT (see below).
+ *
+ * @param _name		The name of the topic.
+ */
+#if defined(__cplusplus)
+# define ORB_DECLARE(_name)		extern "C" const struct orb_metadata __orb_##_name __EXPORT
+# define ORB_DECLARE_OPTIONAL(_name)	extern "C" const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
+#else
+# define ORB_DECLARE(_name)		extern const struct orb_metadata __orb_##_name __EXPORT
+# define ORB_DECLARE_OPTIONAL(_name)	extern const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
+#endif
+
+/**
+ * Define (instantiate) the uORB metadata for a topic.
+ *
+ * The uORB metadata is used to help ensure that updates and
+ * copies are accessing the right data.
+ *
+ * Note that there must be no more than one instance of this macro
+ * for each topic.
+ *
+ * @param _name		The name of the topic.
+ * @param _struct	The structure the topic provides.
+ */
+#define ORB_DEFINE(_name, _struct)			\
+	const struct orb_metadata __orb_##_name = {	\
+		#_name,					\
+		sizeof(_struct)				\
+	}; struct hack
+
+__BEGIN_DECLS
+
+/**
+ * ORB topic advertiser handle.
+ *
+ * Advertiser handles are global; once obtained they can be shared freely
+ * and do not need to be closed or released.
+ *
+ * This permits publication from interrupt context and other contexts where
+ * a file-descriptor-based handle would not otherwise be in scope for the
+ * publisher.
+ */
+typedef intptr_t	orb_advert_t;
+
+/**
+ * Advertise as the publisher of a topic.
+ *
+ * This performs the initial advertisement of a topic; it creates the topic
+ * node in /obj if required and publishes the initial data.
+ *
+ * Any number of advertisers may publish to a topic; publications are atomic
+ * but co-ordination between publishers is not provided by the ORB. 
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @param data		A pointer to the initial data to be published.
+ *			For topics updated by interrupt handlers, the advertisement
+ *			must be performed from non-interrupt context.
+ * @return		ERROR on error, otherwise returns a handle
+ *			that can be used to publish to the topic.
+ *			If the topic in question is not known (due to an
+ *			ORB_DEFINE with no corresponding ORB_DECLARE)
+ *			this function will return -1 and set errno to ENOENT.
+ */
+extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
+
+/**
+ * Publish new data to a topic.
+ *
+ * The data is atomically published to the topic and any waiting subscribers
+ * will be notified.  Subscribers that are not waiting can check the topic
+ * for updates using orb_check and/or orb_stat.
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @handle		The handle returned from orb_advertise.
+ * @param data		A pointer to the data to be published.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
+
+/**
+ * Subscribe to a topic.
+ *
+ * The returned value is a file descriptor that can be passed to poll()
+ * in order to wait for updates to a topic, as well as topic_read,
+ * orb_check and orb_stat.
+ *
+ * Subscription will succeed even if the topic has not been advertised;
+ * in this case the topic will have a timestamp of zero, it will never
+ * signal a poll() event, checking will always return false and it cannot
+ * be copied. When the topic is subsequently advertised, poll, check,
+ * stat and copy calls will react to the initial publication that is
+ * performed as part of the advertisement.
+ *
+ * Subscription will fail if the topic is not known to the system, i.e.
+ * there is nothing in the system that has declared the topic and thus it
+ * can never be published.
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @return		ERROR on error, otherwise returns a handle
+ *			that can be used to read and update the topic.
+ *			If the topic in question is not known (due to an
+ *			ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
+ *			this function will return -1 and set errno to ENOENT.
+ */
+extern int	orb_subscribe(const struct orb_metadata *meta) __EXPORT;
+
+/**
+ * Unsubscribe from a topic.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_unsubscribe(int handle) __EXPORT;
+
+/**
+ * Fetch data from a topic.
+ *
+ * This is the only operation that will reset the internal marker that
+ * indicates that a topic has been updated for a subscriber. Once poll
+ * or check return indicating that an updaet is available, this call
+ * must be used to update the subscription.
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @param handle	A handle returned from orb_subscribe.
+ * @param buffer	Pointer to the buffer receiving the data, or NULL
+ *			if the caller wants to clear the updated flag without
+ *			using the data.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_copy(const struct orb_metadata *meta, int handle, void *buffer) __EXPORT;
+
+/**
+ * Check whether a topic has been published to since the last orb_copy.
+ *
+ * This check can be used to determine whether to copy the topic when
+ * not using poll(), or to avoid the overhead of calling poll() when the
+ * topic is likely to have updated.
+ *
+ * Updates are tracked on a per-handle basis; this call will continue to
+ * return true until orb_copy is called using the same handle. This interface
+ * should be preferred over calling orb_stat due to the race window between
+ * stat and copy that can lead to missed updates.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @param updated	Set to true if the topic has been updated since the
+ *			last time it was copied using this handle.
+ * @return		OK if the check was successful, ERROR otherwise with
+ *			errno set accordingly.
+ */
+extern int	orb_check(int handle, bool *updated) __EXPORT;
+
+/**
+ * Return the last time that the topic was updated.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @param time		Returns the absolute time that the topic was updated, or zero if it has
+ *			never been updated. Time is measured in microseconds.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_stat(int handle, uint64_t *time) __EXPORT;
+
+/**
+ * Set the minimum interval between which updates are seen for a subscription.
+ *
+ * If this interval is set, the subscriber will not see more than one update
+ * within the period.
+ *
+ * Specifically, the first time an update is reported to the subscriber a timer
+ * is started. The update will continue to be reported via poll and orb_check, but
+ * once fetched via orb_copy another update will not be reported until the timer
+ * expires.
+ *
+ * This feature can be used to pace a subscriber that is watching a topic that
+ * would otherwise update too quickly.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @param interval	An interval period in milliseconds.
+ * @return		OK on success, ERROR otherwise with ERRNO set accordingly.
+ */
+extern int	orb_set_interval(int handle, unsigned interval) __EXPORT;
+
+__END_DECLS
+
+#endif /* _UORB_UORB_H */