Merge remote-tracking branch 'px4/beta' into beta_mavlink

Conflicts:
	src/modules/mavlink/mavlink.c
	src/modules/mavlink/mavlink_receiver.h
	src/modules/mavlink/orb_listener.c

src/modules/uORB/topics/position_setpoint_triplet.h

@@ -45,6 +45,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "../uORB.h"
+#include <navigator/navigator_state.h>
 
 /**
  * @addtogroup topics
@@ -53,10 +54,11 @@
 
 enum SETPOINT_TYPE
 {
-	SETPOINT_TYPE_NORMAL = 0,
-	SETPOINT_TYPE_LOITER,
-	SETPOINT_TYPE_TAKEOFF,
-	SETPOINT_TYPE_LAND,
+	SETPOINT_TYPE_NORMAL = 0,	/**< normal setpoint */
+	SETPOINT_TYPE_LOITER,		/**< loiter setpoint */
+	SETPOINT_TYPE_TAKEOFF,		/**< takeoff setpoint */
+	SETPOINT_TYPE_LAND,			/**< land setpoint, altitude must be ignored, vehicle must descend until landing */
+	SETPOINT_TYPE_IDLE,			/**< do nothing, switch off motors or keep at idle speed (MC) */
 };
 
 struct position_setpoint_s
@@ -82,6 +84,8 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s previous;
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
+
+	nav_state_t nav_state;		/**< navigation state */
 };
 
 /**

src/modules/uORB/topics/telemetry_status.h

@@ -58,10 +58,10 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 struct telemetry_status_s {
 	uint64_t timestamp;
     enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
-	unsigned rssi;              /**< local signal strength                      */
-    unsigned remote_rssi;       /**< remote signal strength                     */
-    unsigned rxerrors;          /**< receive errors                             */
-    unsigned fixed;             /**< count of error corrected packets           */
+    uint8_t rssi;              /**< local signal strength                      */
+    uint8_t remote_rssi;       /**< remote signal strength                     */
+    uint16_t rxerrors;          /**< receive errors                             */
+    uint16_t fixed;             /**< count of error corrected packets           */
     uint8_t noise;              /**< background noise level                     */
     uint8_t remote_noise;       /**< remote background noise level              */
     uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
@@ -73,4 +73,4 @@ struct telemetry_status_s {
 
 ORB_DECLARE(telemetry_status);
 
-#endif /* TOPIC_TELEMETRY_STATUS_H */
+#endif /* TOPIC_TELEMETRY_STATUS_H */

src/modules/uORB/topics/vehicle_control_mode.h

@@ -61,23 +61,10 @@
  * Encodes the complete system state and is set by the commander app.
  */
 
-typedef enum {
-	NAV_STATE_NONE = 0,
-	NAV_STATE_READY,
-	NAV_STATE_LOITER,
-	NAV_STATE_MISSION,
-	NAV_STATE_RTL,
-	NAV_STATE_LAND,
-	NAV_STATE_MAX
-} nav_state_t;
-
 struct vehicle_control_mode_s
 {
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	main_state_t main_state;
-	nav_state_t nav_state;
-
 	bool flag_armed;
 
 	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
@@ -86,14 +73,14 @@ struct vehicle_control_mode_s
 	bool flag_system_hil_enabled;
 
 	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_control_auto_enabled;			/**< true if onboard autopilot should act */
 	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 horizontal velocity (implies direction) is controlled */
 	bool flag_control_position_enabled;		/**< true if position is controlled */
 	bool flag_control_altitude_enabled;		/**< true if altitude is controlled */
-	bool flag_control_climb_rate_enabled;		/**< true if climb rate is controlled */
-	bool flag_control_termination_enabled;   /**< true if flighttermination is enabled */
+	bool flag_control_climb_rate_enabled;	/**< true if climb rate is controlled */
+	bool flag_control_termination_enabled;	/**< true if flighttermination is enabled */
 };
 
 /**

src/modules/uORB/topics/vehicle_global_position.h

@@ -61,17 +61,21 @@
  */
 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 */
+	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
 
+	bool global_valid;		/**< true if position satisfies validity criteria of estimator */
+	bool baro_valid;		/**< true if baro_alt is valid (vel_d is also valid in this case) */
+
+	uint64_t time_gps_usec; /**< GPS timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
-	float alt;			/**< Altitude in meters								 	   */
+	float alt;			/**< Altitude AMSL in meters						 	   */
 	float vel_n; 		/**< Ground north velocity, m/s				 			   */
 	float vel_e;		/**< Ground east velocity, m/s							   */
 	float vel_d;		/**< Ground downside velocity, m/s						   */
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
+
+	float baro_alt;		/**< Barometric altitude (not raw baro but fused with accelerometer) */
 };
 
 /**

src/modules/uORB/topics/vehicle_status.h

@@ -54,6 +54,8 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
+#include <navigator/navigator_state.h>
+
 /**
  * @addtogroup topics @{
  */
@@ -206,6 +208,7 @@ struct vehicle_status_s
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception lost */
+	bool rc_input_blocked;				/**< set if RC input should be ignored */
 
 	bool offboard_control_signal_found_once;
 	bool offboard_control_signal_lost;