OFFBOARD switch added, WIP

src/modules/uORB/topics/manual_control_setpoint.h

@@ -60,15 +60,13 @@ struct manual_control_setpoint_s {
 	float return_switch;			/**< land 2 position switch (mandatory): land, no effect */
 	float assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
 	float mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
+	float offboard_switch;		/**< offboard switch (optional): offboard, onboard */
 
 	/**
 	 * Any of the channels below may not be available and be set to NaN
 	 * to indicate that it does not contain valid data.
 	 */
 
-	// XXX needed or parameter?
-	//float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
-
 	float flaps;				/**< flap position */
 
 	float aux1;				/**< default function: camera yaw / azimuth */

src/modules/uORB/topics/vehicle_status.h

@@ -64,6 +64,7 @@ typedef enum {
 	MAIN_STATE_SEATBELT,
 	MAIN_STATE_EASY,
 	MAIN_STATE_AUTO,
+	MAIN_STATE_OFFBOARD,
 } main_state_t;
 
 typedef enum {
@@ -109,6 +110,12 @@ typedef enum {
 	MISSION_SWITCH_MISSION
 } mission_switch_pos_t;
 
+typedef enum {
+	OFFBOARD_SWITCH_NONE = 0,
+	OFFBOARD_SWITCH_OFFBOARD,
+	OFFBOARD_SWITCH_ONBOARD
+} offboard_switch_pos_t;
+
 enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
 	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
@@ -184,6 +191,7 @@ struct vehicle_status_s
 	return_switch_pos_t return_switch;
 	assisted_switch_pos_t assisted_switch;
 	mission_switch_pos_t mission_switch;
+	offboard_switch_pos_t offboard_switch;
 
 	bool condition_battery_voltage_valid;
 	bool condition_system_in_air_restore;	/**< true if we can restore in mid air */