Merged release_v1.0.0 into master

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -13,6 +13,8 @@ then
 	# and uses the older EKF filter. However users can
 	# enable the new quaternion based complimentary
 	# filter by setting EKF_ATT_ENABLED = 0.
+	# Note that on FMUv1, the EKF att estimator is not
+	# available and the Q estimator runs instead.
 	if param compare EKF_ATT_ENABLED 1
 	then
 		attitude_estimator_ekf start

makefiles/nuttx/config_px4fmu-v1_default.mk

@@ -67,11 +67,10 @@ MODULES 	+= modules/land_detector
 # Estimation modules (EKF / other filters)
 #
 # Too high RAM usage due to static allocations
-# MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/ekf_att_pos_estimator
-# Since attitude_estimator_ekf is disabled, this app won't be
-# worthwhile on its own
-# MODULES		+= modules/position_estimator_inav
+MODULES		+= modules/attitude_estimator_q
+MODULES		+= modules/position_estimator_inav
 
 #
 # Vehicle Control

msg/actuator_direct.msg

@@ -0,0 +1,4 @@
+uint8 NUM_ACTUATORS_DIRECT = 16
+uint64 timestamp			# timestamp in us since system boot
+uint32 nvalues				# number of valid values
+float32[16] values			# actuator values, from -1 to 1

msg/actuator_outputs.msg

@@ -0,0 +1,5 @@
+uint8 NUM_ACTUATOR_OUTPUTS		= 16
+uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
+uint64 timestamp			# output timestamp in us since system boot
+uint32 noutputs				# valid outputs
+float32[16] output			# output data, in natural output units

msg/airspeed.msg

@@ -0,0 +1,4 @@
+uint64 timestamp			# microseconds since system boot, needed to integrate
+float32 indicated_airspeed_m_s		# indicated airspeed in meters per second, -1 if unknown
+float32 true_airspeed_m_s		# true airspeed in meters per second, -1 if unknown
+float32 air_temperature_celsius		# air temperature in degrees celsius, -1000 if unknown

msg/battery_status.msg

@@ -0,0 +1,5 @@
+uint64 timestamp		# microseconds since system boot, needed to integrate
+float32 voltage_v		# Battery voltage in volts, 0 if unknown
+float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
+float32 current_a		# Battery current in amperes, -1 if unknown
+float32 discharged_mah		# Discharged amount in mAh, -1 if unknown

msg/debug_key_value.msg

@@ -0,0 +1,3 @@
+uint32 timestamp_ms		# in milliseconds since system start
+int8[10] key			# max. 10 characters as key / name
+float32 value			# the value to send as debug output

msg/differential_pressure.msg

@@ -0,0 +1,6 @@
+uint64 timestamp				# Microseconds since system boot, needed to integrate
+uint64 error_count				# Number of errors detected by driver
+float32 differential_pressure_raw_pa		# Raw differential pressure reading (may be negative)
+float32 differential_pressure_filtered_pa	# Low pass filtered differential pressure reading
+float32 max_differential_pressure_pa		# Maximum differential pressure reading
+float32 temperature				# Temperature provided by sensor, -1000.0f if unknown

msg/encoders.msg

@@ -0,0 +1,5 @@
+uint8 NUM_ENCODERS = 4
+
+uint64 timestamp
+int64[4] counts			# counts of encoder
+float32[4] velocity		# counts of encoder/ second

msg/esc_report.msg

@@ -0,0 +1,11 @@
+uint8 esc_vendor					# Vendor of current ESC
+uint32 esc_errorcount					# Number of reported errors by ESC - if supported
+int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
+float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
+float32 esc_current					# Current measured from current ESC [A] - if supported
+float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
+float32 esc_setpoint					# setpoint of current ESC
+uint16 esc_setpoint_raw					# setpoint of current ESC (Value sent to ESC)
+uint16 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
+uint16 esc_version					# Version of current ESC - if supported
+uint16 esc_state					# State of ESC - depend on Vendor

msg/esc_status.msg

@@ -0,0 +1,19 @@
+uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
+
+uint8 ESC_VENDOR_GENERIC = 0				# generic ESC
+uint8 ESC_VENDOR_MIKROKOPTER = 1			# Mikrokopter
+uint8 ESC_VENDOR_GRAUPNER_HOTT = 2			# Graupner HoTT ESC
+
+uint8 ESC_CONNECTION_TYPE_PPM = 0			# Traditional PPM ESC
+uint8 ESC_CONNECTION_TYPE_SERIAL = 1			# Serial Bus connected ESC
+uint8 ESC_CONNECTION_TYPE_ONESHOOT = 2			# One Shoot PPM
+uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
+uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
+
+uint16 counter  					# incremented by the writing thread everytime new data is stored
+uint64 timestamp 					# in microseconds since system start, is set whenever the writing thread stores new data
+
+uint8 esc_count						# number of connected ESCs
+uint8 esc_connectiontype				# how ESCs connected to the system
+
+esc_report[8] esc

msg/estimator_status.msg

@@ -0,0 +1,6 @@
+uint64 timestamp		# Timestamp in microseconds since boot
+float32[32] states		# Internal filter states
+float32 n_states		# Number of states effectively used
+uint8 nan_flags			# Bitmask to indicate NaN states
+uint8 health_flags		# Bitmask to indicate sensor health states (vel, pos, hgt)
+uint8 timeout_flags		# Bitmask to indicate timeout flags (vel, pos, hgt)

msg/fence.msg

@@ -0,0 +1,4 @@
+uint8 GEOFENCE_MAX_VERTICES = 16
+
+uint32 count    			# number of actual vertices
+fence_vertex[16] vertices		# geofence positions

msg/fence_vertex.msg

@@ -0,0 +1,2 @@
+float32 lat	# latitude in degrees, worst case float precision gives us 2 meter resolution at the equator
+float32 lon	# longitude in degrees, worst case float precision gives us 2 meter resolution at the equator

msg/geofence_result.msg

@@ -0,0 +1 @@
+bool geofence_violated		# true if the geofence is violated

msg/servorail_status.msg

@@ -0,0 +1,3 @@
+uint64 timestamp		# microseconds since system boot
+float32 voltage_v		# Servo rail voltage in volts
+float32 rssi_v			# RSSI pin voltage in volts

msg/subsystem_info.msg

@@ -0,0 +1,22 @@
+uint64 SUBSYSTEM_TYPE_GYRO = 1
+uint64 SUBSYSTEM_TYPE_ACC = 2
+uint64 SUBSYSTEM_TYPE_MAG = 4
+uint64 SUBSYSTEM_TYPE_ABSPRESSURE = 8
+uint64 SUBSYSTEM_TYPE_DIFFPRESSURE = 16
+uint64 SUBSYSTEM_TYPE_GPS = 32
+uint64 SUBSYSTEM_TYPE_OPTICALFLOW = 64
+uint64 SUBSYSTEM_TYPE_CVPOSITION = 128
+uint64 SUBSYSTEM_TYPE_LASERPOSITION = 256
+uint64 SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512
+uint64 SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024
+uint64 SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048
+uint64 SUBSYSTEM_TYPE_YAWPOSITION = 4096
+uint64 SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384
+uint64 SUBSYSTEM_TYPE_POSITIONCONTROL = 32768
+uint64 SUBSYSTEM_TYPE_MOTORCONTROL = 65536
+uint64 SUBSYSTEM_TYPE_RANGEFINDER = 131072
+
+bool present
+bool enabled
+bool ok
+uint64 subsystem_type

msg/system_power.msg

@@ -0,0 +1,7 @@
+uint64 timestamp		# microseconds since system boot
+float32 voltage5V_v		# peripheral 5V rail voltage
+uint8 usb_connected		# USB is connected when 1
+uint8 brick_valid		# brick power is good when 1
+uint8 servo_valid		# servo power is good when 1
+uint8 periph_5V_OC		# peripheral overcurrent when 1
+uint8 hipower_5V_OC		# hi power peripheral overcurrent when 1

msg/tecs_status.msg

@@ -0,0 +1,26 @@
+uint8 TECS_MODE_NORMAL = 0
+uint8 TECS_MODE_UNDERSPEED = 1
+uint8 TECS_MODE_TAKEOFF = 2
+uint8 TECS_MODE_LAND = 3
+uint8 TECS_MODE_LAND_THROTTLELIM = 4
+uint8 TECS_MODE_BAD_DESCENT = 5
+uint8 TECS_MODE_CLIMBOUT = 6
+
+uint64 timestamp		# timestamp, in microseconds since system start */
+
+float32 altitudeSp
+float32 altitude_filtered
+float32 flightPathAngleSp
+float32 flightPathAngle
+float32 flightPathAngleFiltered
+float32 airspeedSp
+float32 airspeed_filtered
+float32 airspeedDerivativeSp
+float32 airspeedDerivative
+
+float32 totalEnergyRateSp
+float32 totalEnergyRate
+float32 energyDistributionRateSp
+float32 energyDistributionRate
+
+uint8 mode

msg/templates/uorb/msg.h.template

@@ -106,8 +106,10 @@ type_map = {'int8': 'int8_t',
   'float32': 'float',
   'float64': 'double',
   'bool': 'bool',
+  'char': 'char',
   'fence_vertex': 'fence_vertex',
-  'position_setpoint': 'position_setpoint'}
+  'position_setpoint': 'position_setpoint',
+  'esc_report': 'esc_report'}
 
 # Function to print a standard ros type
 def print_field_def(field):

msg/test_motor.msg

@@ -0,0 +1,5 @@
+uint8 NUM_MOTOR_OUTPUTS = 8
+
+uint64 timestamp				# output timestamp in us since system boot
+uint32 motor_number				# number of motor to spin
+float32 value					# output power, range [0..1]

msg/time_offset.msg

@@ -0,0 +1 @@
+uint64 offset_ns	# time offset between companion system and PX4, in nanoseconds

msg/vehicle_command.msg

@@ -0,0 +1,81 @@
+
+uint32 VEHICLE_CMD_CUSTOM_0 = 0				# test command
+uint32 VEHICLE_CMD_CUSTOM_1 = 1				# test command
+uint32 VEHICLE_CMD_CUSTOM_2 = 2				# test command
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20		# Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_NAV_LAND = 21			# Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90		# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_NAV_GUIDED_MASTER = 91		# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_NAV_GUIDED_ENABLE = 92		# hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 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| 
+uint32 VEHICLE_CMD_CONDITION_DELAY = 112		# Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 VEHICLE_CMD_DO_SET_MODE = 176			# Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION=185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 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| 
+uint32 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204		# Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_MOUNT_CONTROL=205			# Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| 
+uint32 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206		# Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_FENCE_ENABLE=207			# Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_PARACHUTE=208			# Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_INVERTED_FLIGHT=210		# Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220		# Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_GUIDED_MASTER=221			# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_GUIDED_LIMITS=222			# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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| 
+uint32 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)| 
+uint32 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm| 
+uint32 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| 
+uint32 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001	# Prepare a payload deployment in the flight plan
+uint32 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002	# Control a pre-programmed payload deployment
+
+uint32 VEHICLE_CMD_RESULT_ACCEPTED = 0			# Command ACCEPTED and EXECUTED |
+uint32 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1	# Command TEMPORARY REJECTED/DENIED |
+uint32 VEHICLE_CMD_RESULT_DENIED = 2			# Command PERMANENTLY DENIED |
+uint32 VEHICLE_CMD_RESULT_UNSUPPORTED = 3		# Command UNKNOWN/UNSUPPORTED |
+uint32 VEHICLE_CMD_RESULT_FAILED = 4			# Command executed, but failed |
+uint32 VEHICLE_CMD_RESULT_ENUM_END = 5			#
+
+uint32 VEHICLE_MOUNT_MODE_RETRACT = 0				# Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization |
+uint32 VEHICLE_MOUNT_MODE_NEUTRAL = 1				# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
+uint32 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2			# Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
+uint32 VEHICLE_MOUNT_MODE_RC_TARGETING = 3			# Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
+uint32 VEHICLE_MOUNT_MODE_GPS_POINT = 4				# Load neutral position and start to point to Lat,Lon,Alt |
+uint32 VEHICLE_MOUNT_MODE_ENUM_END = 5				#
+
+float32 param1			# Parameter 1, as defined by MAVLink uint32 VEHICLE_CMD enum.  
+float32 param2			# Parameter 2, as defined by MAVLink uint32 VEHICLE_CMD enum.  
+float32 param3			# Parameter 3, as defined by MAVLink uint32 VEHICLE_CMD enum.  
+float32 param4			# Parameter 4, as defined by MAVLink uint32 VEHICLE_CMD enum.  
+float64 param5			# Parameter 5, as defined by MAVLink uint32 VEHICLE_CMD enum.  
+float64 param6			# Parameter 6, as defined by MAVLink uint32 VEHICLE_CMD enum.  
+float32 param7			# Parameter 7, as defined by MAVLink uint32 VEHICLE_CMD enum.  
+uint32 command			# Command ID, as defined MAVLink by uint32 VEHICLE_CMD enum.  
+uint32 target_system		# System which should execute the command 
+uint32 target_component		# Component which should execute the command, 0 for all components 
+uint32 source_system		# System sending the command 
+uint32 source_component		# Component sending the command 
+uint8 confirmation		# 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)

msg/vehicle_land_detected.msg

@@ -0,0 +1,2 @@
+uint64 timestamp	# timestamp of the setpoint
+bool landed		# true if vehicle is currently landed on the ground

msg/vehicle_status.msg

@@ -81,6 +81,10 @@ uint8 VEHICLE_BATTERY_WARNING_NONE = 0	    # no battery low voltage warning acti
 uint8 VEHICLE_BATTERY_WARNING_LOW = 1	    # warning of low voltage
 uint8 VEHICLE_BATTERY_WARNING_CRITICAL = 2  # alerting of critical voltage
 
+uint8 RC_IN_MODE_DEFAULT = 0
+uint8 RC_IN_MODE_OFF = 1
+uint8 RC_IN_MODE_GENERATED = 2
+
 # state machine / state of vehicle.
 # Encodes the complete system state and is set by the commander app.
 uint16 counter   # incremented by the writing thread everytime new data is stored
@@ -94,8 +98,8 @@ bool failsafe				# true if system is in failsafe state
 bool calibration_enabled		# true if current calibrating parts of the system. Also sets the system to ARMING_STATE_INIT.
 
 int32 system_type			# system type, inspired by MAVLink's VEHICLE_TYPE enum
-int32 system_id				# system id, inspired by MAVLink's system ID field
-int32 component_id			# subsystem / component id, inspired by MAVLink's component ID field
+uint32 system_id			# system id, inspired by MAVLink's system ID field
+uint32 component_id			# subsystem / component id, inspired by MAVLink's component ID field
 
 bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
 bool is_vtol				# True if the system is VTOL capable
@@ -121,7 +125,8 @@ bool rc_signal_found_once
 bool rc_signal_lost				# true if RC reception lost
 uint64 rc_signal_lost_timestamp			# Time at which the RC reception was lost
 bool rc_signal_lost_cmd				# true if RC lost mode is commanded
-bool rc_input_blocked				# set if RC input should be ignored
+bool rc_input_blocked				# set if RC input should be ignored temporarily
+uint8 rc_input_mode				# set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
 
 bool data_link_lost				# datalink to GCS lost
 bool data_link_lost_cmd				# datalink to GCS lost mode commanded

msg/vehicle_vicon_position.msg

@@ -0,0 +1,10 @@
+uint64 timestamp		# time of this estimate, in microseconds since system start
+bool valid			# true if position satisfies validity criteria of estimator
+
+float32 x			# X position in meters in NED earth-fixed frame
+float32 y			# Y position in meters in NED earth-fixed frame
+float32 z			# Z position in meters in NED earth-fixed frame (negative altitude)
+float32 roll
+float32 pitch
+float32 yaw
+float32[4] q			# Attitude as quaternion

msg/vision_position_estimate.msg

@@ -0,0 +1,14 @@
+uint32 id			# ID of the estimator, commonly the component ID of the incoming message
+
+uint64 timestamp_boot		# time of this estimate, in microseconds since system start
+uint64 timestamp_computer	# timestamp provided by the companion computer, in us
+
+float32 x			# X position in meters in NED earth-fixed frame
+float32 y			# Y position in meters in NED earth-fixed frame
+float32 z			# Z position in meters in NED earth-fixed frame (negative altitude)
+
+float32 vx			# X velocity in meters per second in NED earth-fixed frame
+float32 vy			# Y velocity in meters per second in NED earth-fixed frame
+float32 vz			# Z velocity in meters per second in NED earth-fixed frame
+
+float32[4] q			# Estimated attitude as quaternion

msg/vtol_vehicle_status.msg

@@ -0,0 +1,4 @@
+uint64 timestamp		# Microseconds since system boot
+bool vtol_in_rw_mode		# true: vtol vehicle is in rotating wing mode
+bool fw_permanent_stab		# In fw mode stabilize attitude even if in manual mode
+float32 airspeed_tot		# Estimated airspeed over control surfaces

msg/wind_estimate.msg

@@ -0,0 +1,5 @@
+uint64 timestamp		# Microseconds since system boot
+float32 windspeed_north		# Wind component in north / X direction
+float32 windspeed_east		# Wind component in east / Y direction
+float32 covariance_north	# Uncertainty - set to zero (no uncertainty) if not estimated
+float32 covariance_east		# Uncertainty - set to zero (no uncertainty) if not estimated

src/drivers/airspeed/airspeed.cpp

@@ -364,7 +364,7 @@ Airspeed::update_status()
 			true,
 			true,
 			_sensor_ok,
-			SUBSYSTEM_TYPE_DIFFPRESSURE
+			subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE
 		};
 
 		if (_subsys_pub != nullptr) {

src/drivers/drv_rc_input.h

@@ -67,6 +67,21 @@
  */
 #define RC_INPUT_RSSI_MAX	100
 
+/**
+ * Minimum value
+ */
+#define RC_INPUT_LOWEST_MIN_US	500
+
+/**
+ * Maximum value
+ */
+#define RC_INPUT_HIGHEST_MAX_US	2500
+
+/**
+ * Maximum deadzone value
+ */
+#define RC_INPUT_MAX_DEADZONE_US	500
+
 /**
  * @addtogroup topics
  * @{
@@ -84,7 +99,8 @@ enum RC_INPUT_SOURCE {
 	RC_INPUT_SOURCE_PX4IO_PPM,
 	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
 	RC_INPUT_SOURCE_PX4IO_SBUS,
-	RC_INPUT_SOURCE_PX4IO_ST24
+	RC_INPUT_SOURCE_PX4IO_ST24,
+	RC_INPUT_SOURCE_MAVLINK
 };
 
 /**
@@ -103,7 +119,7 @@ struct rc_input_values {
 	/** number of channels actually being seen */
 	uint32_t		channel_count;
 
-	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
+	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception */
 	int32_t			rssi;
 
 	/**

src/drivers/gimbal/gimbal.cpp

@@ -330,13 +330,13 @@ Gimbal::cycle()
 
 		orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
 
-		if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL
-				|| cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT) {
+		if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL
+				|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT) {
 
 			_control_cmd = cmd;
 			_control_cmd_set = true;
 
-		} else if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
+		} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
 
 			_config_cmd = cmd;
 			_config_cmd_set = true;
@@ -357,10 +357,11 @@ Gimbal::cycle()
 
 	if (_control_cmd_set) {
 
-		VEHICLE_MOUNT_MODE mountMode = (VEHICLE_MOUNT_MODE)_control_cmd.param7;
+		unsigned mountMode = _control_cmd.param7;
 		debug("control_cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", _control_cmd.command, mountMode, (double)_control_cmd.param1, (double)_control_cmd.param2);
 
-		if (_control_cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
+		if (_control_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL &&
+			mountMode == vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
 			/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
 			roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * _control_cmd.param1;
 			pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * _control_cmd.param2;
@@ -369,7 +370,8 @@ Gimbal::cycle()
 			updated = true;
 		}
 
-		if (_control_cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
+		if (_control_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT &&
+			mountMode == vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
 			float gimbalDirectionQuat[] = {_control_cmd.param1, _control_cmd.param2, _control_cmd.param3, _control_cmd.param4};
 			math::Vector<3> gimablDirectionEuler = math::Quaternion(gimbalDirectionQuat).to_dcm().to_euler();
 

src/drivers/hott/messages.cpp

@@ -111,9 +111,9 @@ publish_gam_message(const uint8_t *buffer)
 	// Publish it.
 	esc.timestamp = hrt_absolute_time();
 	esc.esc_count = 1;
-	esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
+	esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_PPM;
 
-	esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
+	esc.esc[0].esc_vendor = esc_status_s::ESC_VENDOR_GRAUPNER_HOTT;
 	esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
 	esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
 	esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;

src/drivers/mb12xx/mb12xx.cpp

@@ -621,7 +621,7 @@ MB12XX::start()
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_RANGEFINDER
+		subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
 	};
 	static orb_advert_t pub = nullptr;
 

src/drivers/mkblctrl/mkblctrl.cpp

@@ -601,11 +601,11 @@ MK::task_main()
 			esc.counter++;
 			esc.timestamp = hrt_absolute_time();
 			esc.esc_count = (uint8_t) _num_outputs;
-			esc.esc_connectiontype = ESC_CONNECTION_TYPE_I2C;
+			esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_I2C;
 
 			for (unsigned int i = 0; i < _num_outputs; i++) {
 				esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
-				esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
+				esc.esc[i].esc_vendor = esc_status_s::ESC_VENDOR_MIKROKOPTER;
 				esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
 				esc.esc[i].esc_voltage = 0.0F;
 				esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;

src/drivers/px4flow/px4flow.cpp

@@ -568,7 +568,7 @@ PX4FLOW::start()
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_OPTICALFLOW
+		subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW
 	};
 	static orb_advert_t pub = nullptr;
 

src/drivers/px4fmu/fmu.cpp

@@ -67,6 +67,7 @@
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <systemlib/board_serial.h>
+#include <systemlib/param/param.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_rc_input.h>
 
@@ -77,6 +78,7 @@
 #include <uORB/topics/actuator_controls_3.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/parameter_update.h>
 
 
 #ifdef HRT_PPM_CHANNEL
@@ -132,6 +134,7 @@ private:
 	unsigned	_current_update_rate;
 	int		_task;
 	int		_armed_sub;
+	int		_param_sub;
 	orb_advert_t	_outputs_pub;
 	actuator_armed_s	_armed;
 	unsigned	_num_outputs;
@@ -157,6 +160,7 @@ private:
 	uint16_t	_disarmed_pwm[_max_actuators];
 	uint16_t	_min_pwm[_max_actuators];
 	uint16_t	_max_pwm[_max_actuators];
+	uint16_t	_reverse_pwm_mask;
 	unsigned	_num_failsafe_set;
 	unsigned	_num_disarmed_set;
 
@@ -167,9 +171,10 @@ private:
 					 uint8_t control_group,
 					 uint8_t control_index,
 					 float &input);
-	void	subscribe();
+	void		subscribe();
 	int		set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
 	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+	void		update_pwm_rev_mask();
 
 	struct GPIOConfig {
 		uint32_t	input;
@@ -253,6 +258,7 @@ PX4FMU::PX4FMU() :
 	_current_update_rate(0),
 	_task(-1),
 	_armed_sub(-1),
+	_param_sub(-1),
 	_outputs_pub(nullptr),
 	_armed{},
 	_num_outputs(0),
@@ -269,6 +275,7 @@ PX4FMU::PX4FMU() :
 	_pwm_limit{},
 	_failsafe_pwm{0},
 	_disarmed_pwm{0},
+	_reverse_pwm_mask(0),
 	_num_failsafe_set(0),
 	_num_disarmed_set(0)
 {
@@ -543,6 +550,26 @@ PX4FMU::subscribe()
 	}
 }
 
+void
+PX4FMU::update_pwm_rev_mask()
+{
+	_reverse_pwm_mask = 0;
+
+	for (unsigned i = 0; i < _max_actuators; i++) {
+		char pname[16];
+		int32_t ival;
+
+		/* fill the channel reverse mask from parameters */
+		sprintf(pname, "PWM_AUX_REV%d", i + 1);
+		param_t param_h = param_find(pname);
+
+		if (param_h != PARAM_INVALID) {
+			param_get(param_h, &ival);
+			_reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
+		}
+	}
+}
+
 void
 PX4FMU::task_main()
 {
@@ -550,6 +577,7 @@ PX4FMU::task_main()
 	_current_update_rate = 0;
 
 	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	_param_sub = orb_subscribe(ORB_ID(parameter_update));
 
 	/* advertise the mixed control outputs */
 	actuator_outputs_s outputs;
@@ -567,7 +595,7 @@ PX4FMU::task_main()
 	/* initialize PWM limit lib */
 	pwm_limit_init(&_pwm_limit);
 
-	log("starting");
+	update_pwm_rev_mask();
 
 	/* loop until killed */
 	while (!_task_should_exit) {
@@ -684,7 +712,7 @@ PX4FMU::task_main()
 				uint16_t pwm_limited[num_outputs];
 
 				/* the PWM limit call takes care of out of band errors and constrains */
-				pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
+				pwm_limit_calc(_servo_armed, num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
 
 				/* output to the servos */
 				for (unsigned i = 0; i < num_outputs; i++) {
@@ -723,6 +751,14 @@ PX4FMU::task_main()
 			}
 		}
 
+		orb_check(_param_sub, &updated);
+		if (updated) {
+			parameter_update_s pupdate;
+			orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
+
+			update_pwm_rev_mask();
+		}
+
 #ifdef HRT_PPM_CHANNEL
 
 		// see if we have new PPM input data
@@ -768,6 +804,7 @@ PX4FMU::task_main()
 		}
 	}
 	::close(_armed_sub);
+	::close(_param_sub);
 
 	/* make sure servos are off */
 	up_pwm_servo_deinit();

src/drivers/px4fmu/module.mk

@@ -3,7 +3,8 @@
 #
 
 MODULE_COMMAND	 = fmu
-SRCS		 = fmu.cpp
+SRCS		 = fmu.cpp \
+		   px4fmu_params.c
 
 MODULE_STACKSIZE = 1200
 

src/drivers/px4fmu/px4fmu_params.c

@@ -32,36 +32,78 @@
  ****************************************************************************/
 
 /**
- * @file time_offset.h
- * Time synchronisation offset
+ * @file px4fmu_params.c
+ *
+ * Parameters defined by the PX4FMU driver
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#ifndef TOPIC_TIME_OFFSET_H_
-#define TOPIC_TIME_OFFSET_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
 
 /**
- * @addtogroup topics
- * @{
+ * Invert direction of aux output channel 1
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
  */
+PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
 
 /**
- * Timesync offset for synchronisation with companion computer, GCS, etc.
+ * Invert direction of aux output channel 2
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
  */
-struct time_offset_s {
-
-	uint64_t offset_ns;		/**< time offset between companion system and PX4, in nanoseconds */
-
-};
+PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
 
 /**
- * @}
+ * Invert direction of aux output channel 3
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
  */
+PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
 
-/* register this as object request broker structure */
-ORB_DECLARE(time_offset);
+/**
+ * Invert direction of aux output channel 4
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
 
-#endif /* TOPIC_TIME_OFFSET_H_ */
+/**
+ * Invert direction of aux output channel 5
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
+
+/**
+ * Invert direction of aux output channel 6
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);

src/drivers/px4io/module.mk

@@ -40,7 +40,8 @@ MODULE_COMMAND		= px4io
 SRCS			= px4io.cpp \
 			  px4io_uploader.cpp \
 			  px4io_serial.cpp \
-			  px4io_i2c.cpp
+			  px4io_i2c.cpp \
+			  px4io_params.c
 
 # XXX prune to just get UART registers
 INCLUDE_DIRS    += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common

src/drivers/px4io/px4io.cpp

@@ -281,6 +281,7 @@ private:
 	int			_t_actuator_armed;	///< system armed control topic
 	int 			_t_vehicle_control_mode;///< vehicle control mode topic
 	int			_t_param;		///< parameter update topic
+	bool			_param_update_force;	///< force a parameter update
 	int			_t_vehicle_command;	///< vehicle command topic
 
 	/* advertised topics */
@@ -514,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_t_actuator_armed(-1),
 	_t_vehicle_control_mode(-1),
 	_t_param(-1),
+	_param_update_force(false),
 	_t_vehicle_command(-1),
 	_to_input_rc(nullptr),
 	_to_outputs(nullptr),
@@ -766,7 +768,7 @@ PX4IO::init()
 		cmd.param5 = 0;
 		cmd.param6 = 0;
 		cmd.param7 = 0;
-		cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
+		cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
 
 		/* ask to confirm command */
 		cmd.confirmation =  1;
@@ -917,6 +919,8 @@ PX4IO::task_main()
 	fds[0].fd = _t_actuator_controls_0;
 	fds[0].events = POLLIN;
 
+	_param_update_force = true;
+
 	/* lock against the ioctl handler */
 	lock();
 
@@ -1005,7 +1009,7 @@ PX4IO::task_main()
 				orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
 
 				// Check for a DSM pairing command
-				if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
+				if (((int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
 					dsm_bind_ioctl((int)cmd.param2);
 				}
 			}
@@ -1017,7 +1021,8 @@ PX4IO::task_main()
 			 */
 			orb_check(_t_param, &updated);
 
-			if (updated) {
+			if (updated || _param_update_force) {
+				_param_update_force = false;
 				parameter_update_s pupdate;
 				orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
 
@@ -1089,6 +1094,26 @@ PX4IO::task_main()
 				param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
 				param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
 
+				/*
+				 * Set invert mask for PWM outputs (does not apply to S.Bus)
+				 */
+				int16_t pwm_invert_mask = 0;
+
+				for (unsigned i = 0; i < _max_actuators; i++) {
+					char pname[16];
+					int32_t ival;
+
+					/* fill the channel reverse mask from parameters */
+					sprintf(pname, "PWM_MAIN_REV%d", i + 1);
+					param_t param_h = param_find(pname);
+
+					if (param_h != PARAM_INVALID) {
+						param_get(param_h, &ival);
+						pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
+					}
+				}
+
+				(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
 			}
 
 		}
@@ -2095,7 +2120,15 @@ PX4IO::print_status(bool extended_status)
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
 
+	uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
+
 	printf("\n");
+	printf("reversed outputs: [");
+	for (unsigned i = 0; i < _max_actuators; i++) {
+		printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
+	}
+	printf("]\n");
+
 	uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
 	printf("%d raw R/C inputs", raw_inputs);
 

src/drivers/px4io/px4io_params.c

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 px4io_params.c
+ *
+ * Parameters defined by the PX4IO driver
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Invert direction of main output channel 1
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
+
+/**
+ * Invert direction of main output channel 2
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
+
+/**
+ * Invert direction of main output channel 3
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
+
+/**
+ * Invert direction of main output channel 4
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
+
+/**
+ * Invert direction of main output channel 5
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
+
+/**
+ * Invert direction of main output channel 6
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
+
+/**
+ * Invert direction of main output channel 7
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
+
+/**
+ * Invert direction of main output channel 8
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);

src/drivers/trone/trone.cpp

@@ -619,7 +619,7 @@ TRONE::start()
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_RANGEFINDER
+		subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
 	};
 	static orb_advert_t pub = nullptr;
 

src/lib/conversion/rotation.cpp

@@ -41,7 +41,7 @@
 #include "rotation.h"
 
 __EXPORT void
-get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix)
+get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix)
 {
 	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
 	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
@@ -199,5 +199,10 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
         y = -y;
         return;
     }
+    case ROTATION_PITCH_90_YAW_180: {
+        tmp = x; x = z; z = tmp;
+        y = -y;
+        return;
+    }
     }
 }

src/lib/conversion/rotation.h

@@ -76,6 +76,7 @@ enum Rotation {
 	ROTATION_PITCH_270           = 25,
 	ROTATION_ROLL_270_YAW_270    = 26,
 	ROTATION_ROLL_180_PITCH_270  = 27,
+	ROTATION_PITCH_90_YAW_180    = 28,
 	ROTATION_MAX
 };
 
@@ -113,14 +114,15 @@ const rot_lookup_t rot_lookup[] = {
 	{  0,  90,   0 },
 	{  0, 270,   0 },
 	{270,   0, 270 },
-	{180, 270,   0 }
+	{180, 270,   0 },
+	{  0,  90, 180 }
 };
 
 /**
  * Get the rotation matrix
  */
 __EXPORT void
-get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix);
+get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix);
 
 
 /**

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -290,7 +290,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	math::Matrix<3, 3> R_decl;
 	R_decl.identity();
 
-	struct vision_position_estimate vision {};
+	struct vision_position_estimate_s vision {};
 
 	/* register the perf counter */
 	perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");

src/modules/bottle_drop/bottle_drop.cpp

@@ -152,7 +152,7 @@ private:
 
 	void		handle_command(struct vehicle_command_s *cmd);
 
-	void		answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESULT result);
+	void		answer_command(struct vehicle_command_s *cmd, unsigned result);
 
 	/**
 	 * Set the actuators
@@ -725,7 +725,7 @@ void
 BottleDrop::handle_command(struct vehicle_command_s *cmd)
 {
 	switch (cmd->command) {
-	case VEHICLE_CMD_CUSTOM_0:
+	case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
 		/*
 		 * param1 and param2 set to 1: open and drop
 		 * param1 set to 1: open
@@ -746,10 +746,10 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
 			mavlink_log_critical(_mavlink_fd, "closing bay");
 		}
 
-		answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+		answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 		break;
 
-	case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
+	case vehicle_command_s::VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
 
 		switch ((int)(cmd->param1 + 0.5f)) {
 		case 0:
@@ -777,10 +777,10 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
 		mavlink_log_info(_mavlink_fd, "got target: %8.4f, %8.4f, %8.4f", (double)_target_position.lat,
 			(double)_target_position.lon, (double)_target_position.alt);
 		map_projection_init(&ref, _target_position.lat, _target_position.lon);
-		answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+		answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 		break;
 
-	case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
+	case vehicle_command_s::VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
 
 		if (cmd->param1 < 0) {
 
@@ -813,7 +813,7 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
 			}
 		}
 
-		answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+		answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 		break;
 
 	default:
@@ -822,25 +822,25 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
 }
 
 void
-BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESULT result)
+BottleDrop::answer_command(struct vehicle_command_s *cmd, unsigned result)
 {
 	switch (result) {
-	case VEHICLE_CMD_RESULT_ACCEPTED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
 		break;
 
-	case VEHICLE_CMD_RESULT_DENIED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_DENIED:
 		mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command);
 		break;
 
-	case VEHICLE_CMD_RESULT_FAILED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_FAILED:
 		mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command);
 		break;
 
-	case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
 		mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command);
 		break;
 
-	case VEHICLE_CMD_RESULT_UNSUPPORTED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
 		mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command);
 		break;
 

src/modules/commander/calibration_routines.cpp

@@ -509,14 +509,14 @@ void calibrate_cancel_unsubscribe(int cmd_sub)
 	orb_unsubscribe(cmd_sub);
 }
 
-static void calibrate_answer_command(int mavlink_fd, struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result)
+static void calibrate_answer_command(int mavlink_fd, struct vehicle_command_s &cmd, unsigned result)
 {
 	switch (result) {
-		case VEHICLE_CMD_RESULT_ACCEPTED:
+		case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
 			tune_positive(true);
 			break;
 			
-		case VEHICLE_CMD_RESULT_DENIED:
+		case vehicle_command_s::VEHICLE_CMD_RESULT_DENIED:
 			mavlink_log_critical(mavlink_fd, "command denied during calibration: %u", cmd.command);
 			tune_negative(true);
 			break;
@@ -538,18 +538,18 @@ bool calibrate_cancel_check(int mavlink_fd, int cancel_sub)
 		
 		orb_copy(ORB_ID(vehicle_command), cancel_sub, &cmd);
 		
-		if (cmd.command == VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
+		if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
 		    (int)cmd.param1 == 0 &&
 		    (int)cmd.param2 == 0 &&
 		    (int)cmd.param3 == 0 &&
 		    (int)cmd.param4 == 0 &&
 		    (int)cmd.param5 == 0 &&
 		    (int)cmd.param6 == 0) {
-			calibrate_answer_command(mavlink_fd, cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+			calibrate_answer_command(mavlink_fd, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 			mavlink_log_critical(mavlink_fd, CAL_QGC_CANCELLED_MSG);
 			return true;
 		} else {
-			calibrate_answer_command(mavlink_fd, cmd, VEHICLE_CMD_RESULT_DENIED);
+			calibrate_answer_command(mavlink_fd, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
 		}
 	}
 	

src/modules/commander/commander.cpp

@@ -252,7 +252,7 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
  */
 void *commander_low_prio_loop(void *arg);
 
-void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result);
+void answer_command(struct vehicle_command_s &cmd, unsigned result);
 
 
 int commander_main(int argc, char *argv[])
@@ -463,11 +463,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 	}
 
 	/* result of the command */
-	enum VEHICLE_CMD_RESULT cmd_result = VEHICLE_CMD_RESULT_UNSUPPORTED;
+	unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
 
 	/* request to set different system mode */
 	switch (cmd->command) {
-	case VEHICLE_CMD_DO_SET_MODE: {
+	case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
 			uint8_t base_mode = (uint8_t)cmd->param1;
 			uint8_t custom_main_mode = (uint8_t)cmd->param2;
 
@@ -528,15 +528,15 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 			}
 
 			if (hil_ret != TRANSITION_DENIED && arming_ret != TRANSITION_DENIED && main_ret != TRANSITION_DENIED) {
-				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
-				cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
 		}
 		break;
 
-	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
+	case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: {
 
 			// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
 			// for logic state parameters
@@ -556,7 +556,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 					// Refuse to arm if preflight checks have failed
 					if ((!status.hil_state) != vehicle_status_s::HIL_STATE_ON && !status.condition_system_sensors_initialized) {
 						mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed.");
-						cmd_result = VEHICLE_CMD_RESULT_DENIED;			
+						cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;			
 						break;
 					}
 					
@@ -566,16 +566,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 
 				if (arming_res == TRANSITION_DENIED) {
 					mavlink_log_critical(mavlink_fd, "REJECTING component arm cmd");
-					cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 
 				} else {
-					cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 				}
 			}
 		}
 		break;
 
-	case VEHICLE_CMD_OVERRIDE_GOTO: {
+	case vehicle_command_s::VEHICLE_CMD_OVERRIDE_GOTO: {
 			// TODO listen vehicle_command topic directly from navigator (?)
 
 			// Increase by 0.5f and rely on the integer cast
@@ -586,12 +586,12 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 			if (mav_goto == 0) {	// MAV_GOTO_DO_HOLD
 				status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
 				mavlink_log_critical(mavlink_fd, "Pause mission cmd");
-				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else if (mav_goto == 1) {	// MAV_GOTO_DO_CONTINUE
 				status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
 				mavlink_log_critical(mavlink_fd, "Continue mission cmd");
-				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
 				mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
@@ -607,7 +607,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		break;
 
 		/* Flight termination */
-	case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
+	case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
 			if (cmd->param1 > 0.5f) {
 				//XXX update state machine?
 				armed_local->force_failsafe = true;
@@ -649,11 +649,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				warnx("rc loss mode commanded");
 			}
 
-			cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+			cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 		}
 		break;
 
-	case VEHICLE_CMD_DO_SET_HOME: {
+	case vehicle_command_s::VEHICLE_CMD_DO_SET_HOME: {
 			bool use_current = cmd->param1 > 0.5f;
 
 			if (use_current) {
@@ -665,10 +665,10 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 
 					home->timestamp = hrt_absolute_time();
 
-					cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 				} else {
-					cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 				}
 
 			} else {
@@ -679,10 +679,10 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 
 				home->timestamp = hrt_absolute_time();
 
-				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 			}
 
-			if (cmd_result == VEHICLE_CMD_RESULT_ACCEPTED) {
+			if (cmd_result == vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED) {
 				warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt);
 				mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt);
 
@@ -700,16 +700,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		}
 		break;
 
-	case VEHICLE_CMD_NAV_GUIDED_ENABLE: {
+	case vehicle_command_s::VEHICLE_CMD_NAV_GUIDED_ENABLE: {
 			transition_result_t res = TRANSITION_DENIED;
-			static main_state_t main_state_pre_offboard =vehicle_status_s::MAIN_STATE_MANUAL;
+			static main_state_t main_state_pre_offboard = vehicle_status_s::MAIN_STATE_MANUAL;
 
-			if (status_local->main_state !=vehicle_status_s::MAIN_STATE_OFFBOARD) {
+			if (status_local->main_state != vehicle_status_s::MAIN_STATE_OFFBOARD) {
 				main_state_pre_offboard = status_local->main_state;
 			}
 
 			if (cmd->param1 > 0.5f) {
-				res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_OFFBOARD);
+				res = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_OFFBOARD);
 
 				if (res == TRANSITION_DENIED) {
 					print_reject_mode(status_local, "OFFBOARD");
@@ -729,35 +729,35 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		}
 		break;
 
-	case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
-	case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
-	case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
-	case VEHICLE_CMD_PREFLIGHT_STORAGE:
-	case VEHICLE_CMD_CUSTOM_0:
-	case VEHICLE_CMD_CUSTOM_1:
-	case VEHICLE_CMD_CUSTOM_2:
-	case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
-	case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
-	case VEHICLE_CMD_DO_MOUNT_CONTROL:
-	case VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
-	case VEHICLE_CMD_DO_MOUNT_CONFIGURE:
+	case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
+	case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
+	case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
+	case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE:
+	case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
+	case vehicle_command_s::VEHICLE_CMD_CUSTOM_1:
+	case vehicle_command_s::VEHICLE_CMD_CUSTOM_2:
+	case vehicle_command_s::VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
+	case vehicle_command_s::VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
+	case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL:
+	case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
+	case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE:
 		/* ignore commands that handled in low prio loop */
 		break;
 
 	default:
 		/* Warn about unsupported commands, this makes sense because only commands
 		 * to this component ID (or all) are passed by mavlink. */
-		answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
+		answer_command(*cmd, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
 		break;
 	}
 
-	if (cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
+	if (cmd_result != vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		/* already warned about unsupported commands in "default" case */
 		answer_command(*cmd, cmd_result);
 	}
 
 	/* send any requested ACKs */
-	if (cmd->confirmation > 0 && cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
+	if (cmd->confirmation > 0 && cmd_result != vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		/* send acknowledge command */
 		// XXX TODO
 	}
@@ -835,6 +835,7 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_ef_time_thres = param_find("COM_EF_TIME");
 	param_t _param_autostart_id = param_find("SYS_AUTOSTART");
 	param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
+	param_t _param_rc_in_off = param_find("COM_RC_IN_MODE");
 
 	const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
 	main_states_str[vehicle_status_s::MAIN_STATE_MANUAL]			= "MANUAL";
@@ -895,6 +896,7 @@ int commander_thread_main(int argc, char *argv[])
 	status.condition_landed = true;	// initialize to safe value
 	// We want to accept RC inputs as default
 	status.rc_input_blocked = false;
+	status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
 	status.main_state =vehicle_status_s::MAIN_STATE_MANUAL;
 	status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
 	status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
@@ -1139,7 +1141,7 @@ int commander_thread_main(int argc, char *argv[])
 	}
 
 	// Run preflight check
-	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
+	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
 	if (!status.condition_system_sensors_initialized) {
 		set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
 	}
@@ -1154,6 +1156,7 @@ int commander_thread_main(int argc, char *argv[])
 	int32_t datalink_loss_enabled = false;
 	int32_t datalink_loss_timeout = 10;
 	float rc_loss_timeout = 0.5;
+	int32_t rc_in_off = 0;
 	int32_t datalink_regain_timeout = 0;
 
 	/* Thresholds for engine failure detection */
@@ -1240,6 +1243,8 @@ int commander_thread_main(int argc, char *argv[])
 			param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
 			param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
 			param_get(_param_rc_loss_timeout, &rc_loss_timeout);
+			param_get(_param_rc_in_off, &rc_in_off);
+			status.rc_input_mode = rc_in_off;
 			param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
 			param_get(_param_ef_throttle_thres, &ef_throttle_thres);
 			param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
@@ -1312,7 +1317,8 @@ int commander_thread_main(int argc, char *argv[])
 					}
 
 					/* provide RC and sensor status feedback to the user */
-					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
+					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
+						!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -1485,20 +1491,20 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* Update land detector */
 		orb_check(land_detector_sub, &updated);
-		if(updated) {
+		if (updated) {
 			orb_copy(ORB_ID(vehicle_land_detected), land_detector_sub, &land_detector);
 		}
 
-		if (status.condition_local_altitude_valid) {
+		if (updated && status.condition_local_altitude_valid) {
 			if (status.condition_landed != land_detector.landed) {
 				status.condition_landed = land_detector.landed;
 				status_changed = true;
 
 				if (status.condition_landed) {
-					mavlink_log_critical(mavlink_fd, "LANDED MODE");
+					mavlink_log_critical(mavlink_fd, "LANDING DETECTED");
 
 				} else {
-					mavlink_log_critical(mavlink_fd, "IN AIR MODE");
+					mavlink_log_critical(mavlink_fd, "TAKEOFF DETECTED");
 				}
 			}
 		}
@@ -1714,12 +1720,12 @@ int commander_thread_main(int argc, char *argv[])
 		} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
 
 		/* RC input check */
-		if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
+		if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
 		    hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
 				status.rc_signal_found_once = true;
-				mavlink_log_critical(mavlink_fd, "detected RC signal first time");
+				mavlink_log_info(mavlink_fd, "Detected RC signal first time");
 				status_changed = true;
 
 			} else {
@@ -2566,30 +2572,30 @@ print_reject_arm(const char *msg)
 	}
 }
 
-void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result)
+void answer_command(struct vehicle_command_s &cmd, unsigned result)
 {
 	switch (result) {
-	case VEHICLE_CMD_RESULT_ACCEPTED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
 			tune_positive(true);
 		break;
 
-	case VEHICLE_CMD_RESULT_DENIED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_DENIED:
 		mavlink_log_critical(mavlink_fd, "command denied: %u", cmd.command);
 		tune_negative(true);
 		break;
 
-	case VEHICLE_CMD_RESULT_FAILED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_FAILED:
 		mavlink_log_critical(mavlink_fd, "command failed: %u", cmd.command);
 		tune_negative(true);
 		break;
 
-	case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
 		/* this needs additional hints to the user - so let other messages pass and be spoken */
 		mavlink_log_critical(mavlink_fd, "command temporarily rejected: %u", cmd.command);
 		tune_negative(true);
 		break;
 
-	case VEHICLE_CMD_RESULT_UNSUPPORTED:
+	case vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
 		mavlink_log_critical(mavlink_fd, "command unsupported: %u", cmd.command);
 		tune_negative(true);
 		break;
@@ -2655,49 +2661,49 @@ void *commander_low_prio_loop(void *arg)
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
 
 			/* ignore commands the high-prio loop handles */
-			if (cmd.command == VEHICLE_CMD_DO_SET_MODE ||
-			    cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM ||
-			    cmd.command == VEHICLE_CMD_NAV_TAKEOFF ||
-			    cmd.command == VEHICLE_CMD_DO_SET_SERVO) {
+			if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_MODE ||
+			    cmd.command == vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM ||
+			    cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF ||
+			    cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_SERVO) {
 				continue;
 			}
 
 			/* only handle low-priority commands here */
 			switch (cmd.command) {
 
-			case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
+			case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
 				if (is_safe(&status, &safety, &armed)) {
 
 					if (((int)(cmd.param1)) == 1) {
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						usleep(100000);
 						/* reboot */
 						px4_systemreset(false);
 
 					} else if (((int)(cmd.param1)) == 3) {
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						usleep(100000);
 						/* reboot to bootloader */
 						px4_systemreset(true);
 
 					} else {
-						answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
 					}
 
 				} else {
-					answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
+					answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
 				}
 
 				break;
 
-			case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
+			case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
 
 					int calib_ret = ERROR;
 
 					/* try to go to INIT/PREFLIGHT arming state */
 					if (TRANSITION_DENIED == arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
 							false /* fRunPreArmChecks */, mavlink_fd)) {
-						answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
 						break;
 					} else {
 						status.calibration_enabled = true;
@@ -2705,21 +2711,21 @@ void *commander_low_prio_loop(void *arg)
 
 					if ((int)(cmd.param1) == 1) {
 						/* gyro calibration */
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_gyro_calibration(mavlink_fd);
 
 					} else if ((int)(cmd.param2) == 1) {
 						/* magnetometer calibration */
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_mag_calibration(mavlink_fd);
 
 					} else if ((int)(cmd.param3) == 1) {
 						/* zero-altitude pressure calibration */
-						answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
 
 					} else if ((int)(cmd.param4) == 1) {
 						/* RC calibration */
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						/* disable RC control input completely */
 						status.rc_input_blocked = true;
 						calib_ret = OK;
@@ -2727,31 +2733,31 @@ void *commander_low_prio_loop(void *arg)
 
 					} else if ((int)(cmd.param4) == 2) {
 						/* RC trim calibration */
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_trim_calibration(mavlink_fd);
 
 					} else if ((int)(cmd.param5) == 1) {
 						/* accelerometer calibration */
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_accel_calibration(mavlink_fd);
 					} else if ((int)(cmd.param5) == 2) {
 						// board offset calibration
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_level_calibration(mavlink_fd);
 					} else if ((int)(cmd.param6) == 1) {
 						/* airspeed calibration */
-						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_airspeed_calibration(mavlink_fd);
 
 					} else if ((int)(cmd.param7) == 1) {
 						/* do esc calibration */
-						answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED);
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_esc_calibration(mavlink_fd, &armed);
 						
 					} else if ((int)(cmd.param4) == 0) {
 						/* RC calibration ended - have we been in one worth confirming? */
 						if (status.rc_input_blocked) {
-							answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 							/* enable RC control input */
 							status.rc_input_blocked = false;
 							mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
@@ -2778,7 +2784,8 @@ void *commander_low_prio_loop(void *arg)
 							checkAirspeed = true;
 						}
 
-						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
+						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
+							!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 
 						arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
 
@@ -2789,14 +2796,14 @@ void *commander_low_prio_loop(void *arg)
 					break;
 				}
 
-			case VEHICLE_CMD_PREFLIGHT_STORAGE: {
+			case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE: {
 
 					if (((int)(cmd.param1)) == 0) {
 						int ret = param_load_default();
 
 						if (ret == OK) {
 							mavlink_log_info(mavlink_fd, "settings loaded");
-							answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 
 						} else {
 							mavlink_log_critical(mavlink_fd, "settings load ERROR");
@@ -2810,7 +2817,7 @@ void *commander_low_prio_loop(void *arg)
 								mavlink_log_critical(mavlink_fd, "ERROR: %s", strerror(ret));
 							}
 
-							answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
+							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
 						}
 
 					} else if (((int)(cmd.param1)) == 1) {
@@ -2824,7 +2831,7 @@ void *commander_low_prio_loop(void *arg)
 							}
 
 							/* do not spam MAVLink, but provide the answer / green led mechanism */
-							answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 
 						} else {
 							mavlink_log_critical(mavlink_fd, "settings save error");
@@ -2838,14 +2845,14 @@ void *commander_low_prio_loop(void *arg)
 								mavlink_log_critical(mavlink_fd, "ERROR: %s", strerror(ret));
 							}
 
-							answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
+							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
 						}
 					}
 
 					break;
 				}
 
-			case VEHICLE_CMD_START_RX_PAIR:
+			case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
 				/* handled in the IO driver */
 				break;
 
@@ -2855,8 +2862,8 @@ void *commander_low_prio_loop(void *arg)
 			}
 
 			/* send any requested ACKs */
-			if (cmd.confirmation > 0 && cmd.command != VEHICLE_CMD_DO_SET_MODE
-			    && cmd.command != VEHICLE_CMD_COMPONENT_ARM_DISARM) {
+			if (cmd.confirmation > 0 && cmd.command != vehicle_command_s::VEHICLE_CMD_DO_SET_MODE
+			    && cmd.command != vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM) {
 				/* send acknowledge command */
 				// XXX TODO
 			}

src/modules/commander/commander_params.c

@@ -195,3 +195,17 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
  * @max 1
  */
 PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
+
+/**
+ * RC control input mode
+ *
+ * The default value of 0 requires a valid RC transmitter setup.
+ * Setting this to 1 disables RC input handling and the associated checks. A value of
+ * 2 will generate RC control data from manual input received via MAVLink instead
+ * of directly forwarding the manual input data.
+ *
+ * @group Commander
+ * @min 0
+ * @max 2
+ */
+PARAM_DEFINE_INT32(COM_RC_IN_MODE, 0);

src/modules/commander/state_machine_helper.cpp

@@ -742,5 +742,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		checkAirspeed = true;
 	}
 
-	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status->circuit_breaker_engaged_gpsfailure_check, true);
+	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
 }

src/modules/dataman/dataman.h

@@ -62,7 +62,11 @@ extern "C" {
 	/** The maximum number of instances for each item type */
 	enum {
 		DM_KEY_SAFE_POINTS_MAX = 8,
+		#ifdef __cplusplus
+		DM_KEY_FENCE_POINTS_MAX = fence_s::GEOFENCE_MAX_VERTICES,
+		#else
 		DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
+		#endif
 		DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
 		DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
 		DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -399,7 +399,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
 		}
 	}
 
-	struct estimator_status_report rep;
+	struct estimator_status_s rep;
 
 	memset(&rep, 0, sizeof(rep));
 

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -399,7 +399,7 @@ private:
 			bool climbout_mode, float climbout_pitch_min_rad,
 			float altitude,
 			const math::Vector<3> &ground_speed,
-			tecs_mode mode = TECS_MODE_NORMAL,
+			unsigned mode = tecs_status_s::TECS_MODE_NORMAL,
 			bool pitch_max_special = false);
 
 };
@@ -1093,7 +1093,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 						0.0f, throttle_max, throttle_land,
 						false,  land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min),
 						_global_pos.alt, ground_speed,
-						land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
+						land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
 
 				if (!land_noreturn_vertical) {
 					mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
@@ -1198,7 +1198,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							math::radians(10.0f)),
 							_global_pos.alt,
 							ground_speed,
-							TECS_MODE_TAKEOFF,
+							tecs_status_s::TECS_MODE_TAKEOFF,
 							takeoff_pitch_max_deg != _parameters.pitch_limit_max);
 
 					/* limit roll motion to ensure enough lift */
@@ -1303,7 +1303,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				math::radians(_parameters.pitch_limit_min),
 				_global_pos.alt,
 				ground_speed,
-				TECS_MODE_NORMAL);
+				tecs_status_s::TECS_MODE_NORMAL);
 	} else {
 		_control_mode_current = FW_POSCTRL_MODE_OTHER;
 
@@ -1521,7 +1521,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		bool climbout_mode, float climbout_pitch_min_rad,
 		float altitude,
 		const math::Vector<3> &ground_speed,
-		tecs_mode mode, bool pitch_max_special)
+		unsigned mode, bool pitch_max_special)
 {
 	if (_mTecs.getEnabled()) {
 		/* Using mtecs library: prepare arguments for mtecs call */
@@ -1559,7 +1559,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		}
 
 /* No underspeed protection in landing mode */
-		_tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM));
+		_tecs.set_detect_underspeed_enabled(!(mode == tecs_status_s::TECS_MODE_LAND || mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM));
 
 		/* Using tecs library */
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
@@ -1577,16 +1577,16 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 
 		switch (s.mode) {
 			case TECS::ECL_TECS_MODE_NORMAL:
-				t.mode = TECS_MODE_NORMAL;
+				t.mode = tecs_status_s::TECS_MODE_NORMAL;
 				break;
 			case TECS::ECL_TECS_MODE_UNDERSPEED:
-				t.mode = TECS_MODE_UNDERSPEED;
+				t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
 				break;
 			case TECS::ECL_TECS_MODE_BAD_DESCENT:
-				t.mode = TECS_MODE_BAD_DESCENT;
+				t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
 				break;
 			case TECS::ECL_TECS_MODE_CLIMBOUT:
-				t.mode = TECS_MODE_CLIMBOUT;
+				t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
 				break;
 		}
 

src/modules/fw_pos_control_l1/mtecs/mTecs.cpp

@@ -83,7 +83,7 @@ mTecs::~mTecs()
 }
 
 int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
-		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+		float airspeedSp, unsigned mode, LimitOverride limitOverride)
 {
 	/* check if all input arguments are numbers and abort if not so */
 	if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
@@ -118,7 +118,7 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
 }
 
 int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
-		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+		float airspeedSp, unsigned mode, LimitOverride limitOverride)
 {
 	/* check if all input arguments are numbers and abort if not so */
 	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -154,7 +154,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
 }
 
 int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
-		float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride)
+		float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride)
 {
 	/* check if all input arguments are numbers and abort if not so */
 	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -200,23 +200,23 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
 	}
 
 	/* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */
-	if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
-		mode = TECS_MODE_UNDERSPEED;
+	if (mode != tecs_status_s::TECS_MODE_LAND && mode != tecs_status_s::TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
+		mode = tecs_status_s::TECS_MODE_UNDERSPEED;
 	}
 
 	/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
 	BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
 	BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
-	if (mode == TECS_MODE_TAKEOFF) {
+	if (mode == tecs_status_s::TECS_MODE_TAKEOFF) {
 		outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
 		outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
-	} else if (mode == TECS_MODE_LAND) {
+	} else if (mode == tecs_status_s::TECS_MODE_LAND) {
 		// only limit pitch but do not limit throttle
 		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
-	} else if (mode == TECS_MODE_LAND_THROTTLELIM) {
+	} else if (mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM) {
 		outputLimiterThrottle = &_BlockOutputLimiterLandThrottle;
 		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
-	} else if (mode == TECS_MODE_UNDERSPEED) {
+	} else if (mode == tecs_status_s::TECS_MODE_UNDERSPEED) {
 		outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle;
 		outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch;
 	}

src/modules/fw_pos_control_l1/mtecs/mTecs.h

@@ -65,19 +65,19 @@ public:
 	 * Control in altitude setpoint and speed mode
 	 */
 	int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
-				float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				float airspeedSp, unsigned mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
 	 */
 	int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
-				       float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				       float airspeedSp, unsigned mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
 	 */
 	int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
-					      float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
+					      float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride);
 
 	/*
 	 * Reset all integrators

src/modules/land_detector/LandDetector.h

@@ -52,19 +52,24 @@ public:
 	virtual ~LandDetector();
 
 	/**
-	* @return true if this task is currently running
-	**/
+	 * @return true if this task is currently running
+	 **/
 	inline bool isRunning() const {return _taskIsRunning;}
 
 	/**
-	* @brief  Tells the Land Detector task that it should exit
-	**/
+	 * @return the current landed state
+	 */
+	bool isLanded() { return _landDetected.landed; }
+
+	/**
+	 * @brief  Tells the Land Detector task that it should exit
+	 **/
 	void shutdown();
 
 	/**
-	* @brief Blocking function that should be called from it's own task thread. This method will
-	*        run the underlying algorithm at the desired update rate and publish if the landing state changes.
-	**/
+	 * @brief Blocking function that should be called from it's own task thread. This method will
+	 *        run the underlying algorithm at the desired update rate and publish if the landing state changes.
+	 **/
 	void start();
 
 protected:

src/modules/land_detector/land_detector_main.cpp

@@ -201,7 +201,7 @@ int land_detector_main(int argc, char *argv[])
 		if (land_detector_task) {
 
 			if (land_detector_task->isRunning()) {
-				warnx("running (%s)", _currentMode);
+				warnx("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
 
 			} else {
 				errx(1, "exists, but not running (%s)", _currentMode);

src/modules/land_detector/land_detector_params.c

@@ -83,7 +83,7 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
  *
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.20f);
+PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.40f);
 
 /**
  * Fixedwing max climb rate

src/modules/mavlink/mavlink_main.cpp

@@ -131,6 +131,7 @@ Mavlink::Mavlink() :
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
+	_generate_rc(false),
 	_use_hil_gps(false),
 	_forward_externalsp(false),
 	_is_usb_uart(false),
@@ -1547,6 +1548,8 @@ Mavlink::task_main(int argc, char *argv[])
 		if (status_sub->update(&status_time, &status)) {
 			/* switch HIL mode if required */
 			set_hil_enabled(status.hil_state == vehicle_status_s::HIL_STATE_ON);
+
+			set_manual_input_mode_generation(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_GENERATED);
 		}
 
 		/* check for requested subscriptions */

src/modules/mavlink/mavlink_main.h

@@ -180,6 +180,23 @@ public:
 	 */
 	int			set_hil_enabled(bool hil_enabled);
 
+	/**
+	 * Set manual input generation mode
+	 *
+	 * Set to true to generate RC_INPUT messages on the system bus from
+	 * MAVLink messages.
+	 *
+	 * @param generation_enabled If set to true, generate RC_INPUT messages
+	 */
+	void			set_manual_input_mode_generation(bool generation_enabled) { _generate_rc = generation_enabled; }
+
+	/**
+	 * Get the manual input generation mode
+	 *
+	 * @return true if manual inputs should generate RC data
+	 */
+	bool			get_manual_input_mode_generation() { return _generate_rc; }
+
 	void			send_message(const uint8_t msgid, const void *msg, uint8_t component_ID = 0);
 
 	/**
@@ -299,6 +316,7 @@ private:
 
 	/* states */
 	bool			_hil_enabled;		/**< Hardware In the Loop mode */
+	bool			_generate_rc;		/**< Generate RC messages from manual input MAVLink messages */
 	bool			_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
 	bool			_forward_externalsp;	/**< Forward external setpoint messages to controllers directly if in offboard mode */
 	bool			_is_usb_uart;		/**< Port is USB */

src/modules/mavlink/mavlink_receiver.cpp

@@ -56,6 +56,8 @@
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
+#include <drivers/drv_range_finder.h>
+#include <drivers/drv_rc_input.h>
 #include <time.h>
 #include <float.h>
 #include <unistd.h>
@@ -307,7 +309,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 			vcmd.param6 = cmd_mavlink.param6;
 			vcmd.param7 = cmd_mavlink.param7;
 			// XXX do proper translation
-			vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
+			vcmd.command = cmd_mavlink.command;
 			vcmd.target_system = cmd_mavlink.target_system;
 			vcmd.target_component = cmd_mavlink.target_component;
 			vcmd.source_system = msg->sysid;
@@ -364,7 +366,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 			vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
 			vcmd.param7 = cmd_mavlink.z;
 			// XXX do proper translation
-			vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
+			vcmd.command = cmd_mavlink.command;
 			vcmd.target_system = cmd_mavlink.target_system;
 			vcmd.target_component = cmd_mavlink.target_component;
 			vcmd.source_system = msg->sysid;
@@ -508,7 +510,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
 	vcmd.param5 = 0;
 	vcmd.param6 = 0;
 	vcmd.param7 = 0;
-	vcmd.command = VEHICLE_CMD_DO_SET_MODE;
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
 	vcmd.target_system = new_mode.target_system;
 	vcmd.target_component = MAV_COMP_ID_ALL;
 	vcmd.source_system = msg->sysid;
@@ -779,7 +781,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
 	mavlink_vision_position_estimate_t pos;
 	mavlink_msg_vision_position_estimate_decode(msg, &pos);
 
-	struct vision_position_estimate vision_position;
+	struct vision_position_estimate_s vision_position;
 	memset(&vision_position, 0, sizeof(vision_position));
 
 	// Use the component ID to identify the vision sensor
@@ -957,28 +959,84 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 	}
 }
 
+static switch_pos_t decode_switch_pos(uint16_t buttons, int sw) {
+	return (buttons >> (sw * 2)) & 3;
+}
+
+static int decode_switch_pos_n(uint16_t buttons, int sw) {
+	if (buttons & (1 << sw)) {
+		return 1;
+	} else {
+		return 0;
+	}
+}
+
 void
 MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 {
 	mavlink_manual_control_t man;
 	mavlink_msg_manual_control_decode(msg, &man);
 
-	struct manual_control_setpoint_s manual;
-	memset(&manual, 0, sizeof(manual));
+	// Check target
+	if (man.target != 0 && man.target != _mavlink->get_system_id()) {
+		return;
+	}
 
-	manual.timestamp = hrt_absolute_time();
-	manual.x = man.x / 1000.0f;
-	manual.y = man.y / 1000.0f;
-	manual.r = man.r / 1000.0f;
-	manual.z = man.z / 1000.0f;
+	if (_mavlink->get_manual_input_mode_generation()) {
 
-	// warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
+		struct rc_input_values rc = {};
+		rc.timestamp_publication = hrt_absolute_time();
+		rc.timestamp_last_signal = rc.timestamp_publication;
 
-	if (_manual_pub == nullptr) {
-		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
+		rc.channel_count = 8;
+		rc.rc_failsafe = false;
+		rc.rc_lost = false;
+		rc.rc_lost_frame_count = 0;
+		rc.rc_total_frame_count = 1;
+		rc.rc_ppm_frame_length = 0;
+		rc.input_source = RC_INPUT_SOURCE_MAVLINK;
+		rc.rssi = RC_INPUT_RSSI_MAX;
+		rc.values[0] = man.x / 2 + 1500;
+		rc.values[1] = man.y / 2 + 1500;
+		rc.values[2] = man.r / 2 + 1500;
+		rc.values[3] = man.z + 1000;
+
+		rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
+		rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;
+		rc.values[6] = decode_switch_pos_n(man.buttons, 2) * 1000 + 1000;
+		rc.values[7] = decode_switch_pos_n(man.buttons, 3) * 1000 + 1000;
+		rc.values[8] = decode_switch_pos_n(man.buttons, 4) * 1000 + 1000;
+		rc.values[9] = decode_switch_pos_n(man.buttons, 5) * 1000 + 1000;
+
+		if (_rc_pub == nullptr) {
+			_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);
+
+		} else {
+			orb_publish(ORB_ID(input_rc), _rc_pub, &rc);
+		}
 
 	} else {
-		orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
+		struct manual_control_setpoint_s manual = {};
+
+		manual.timestamp = hrt_absolute_time();
+		manual.x = man.x / 1000.0f;
+		manual.y = man.y / 1000.0f;
+		manual.r = man.r / 1000.0f;
+		manual.z = man.z / 1000.0f;
+
+		manual.mode_switch = decode_switch_pos(man.buttons, 0);
+		manual.return_switch = decode_switch_pos(man.buttons, 1);
+		manual.posctl_switch = decode_switch_pos(man.buttons, 2);
+		manual.loiter_switch = decode_switch_pos(man.buttons, 3);
+		manual.acro_switch = decode_switch_pos(man.buttons, 4);
+		manual.offboard_switch = decode_switch_pos(man.buttons, 5);
+
+		if (_manual_pub < 0) {
+			_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
+
+		} else {
+			orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
+		}
 	}
 }
 

src/modules/navigator/geofence.cpp

@@ -259,8 +259,8 @@ Geofence::valid()
 	}
 
 	// Otherwise
-	if ((_verticesCount < 4) || (_verticesCount > GEOFENCE_MAX_VERTICES)) {
-		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
+	if ((_verticesCount < 4) || (_verticesCount > fence_s::GEOFENCE_MAX_VERTICES)) {
+		warnx("Fence must have at least 3 sides and not more than %d", fence_s::GEOFENCE_MAX_VERTICES - 1);
 		return false;
 	}
 

src/modules/navigator/mission_feasibility_checker.cpp

@@ -127,7 +127,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 			}
 
 			if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) {
-				mavlink_log_critical(_mavlink_fd, "Geofence violation waypoint %d", i);
+				mavlink_log_critical(_mavlink_fd, "Geofence violation for waypoint %d", i);
 				return false;
 			}
 		}
@@ -177,7 +177,7 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
 
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
 			// not supposed to happen unless the datamanager can't access the SD card, etc.
-			mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Cannot access mission from SD card");
+			mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Cannot access SD card");
 			return false;
 		}
 
@@ -197,7 +197,7 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
 			return false;
 		}
 	}
-	mavlink_log_critical(_mavlink_fd, "Mission is valid!");
+	mavlink_log_info(_mavlink_fd, "Mission ready.");
 	return true;
 }
 

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -325,7 +325,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	memset(&local_pos, 0, sizeof(local_pos));
 	struct optical_flow_s flow;
 	memset(&flow, 0, sizeof(flow));
-	struct vision_position_estimate vision;
+	struct vision_position_estimate_s vision;
 	memset(&vision, 0, sizeof(vision));
 	struct vehicle_global_position_s global_pos;
 	memset(&global_pos, 0, sizeof(global_pos));

src/modules/px4iofirmware/mixer.cpp

@@ -234,7 +234,7 @@ mixer_tick(void)
 		in_mixer = false;
 
 		/* the pwm limit call takes care of out of band errors */
-		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
+		pwm_limit_calc(should_arm, mixed, r_setup_pwm_reverse, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
 			r_page_servos[i] = 0;
@@ -272,8 +272,9 @@ mixer_tick(void)
 
 	if (mixer_servos_armed && should_arm) {
 		/* update the servo outputs. */
-		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
+		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
 			up_pwm_servo_set(i, r_page_servos[i]);
+		}
 
 		/* set S.BUS1 or S.BUS2 outputs */
 

src/modules/px4iofirmware/protocol.h

@@ -233,6 +233,8 @@ enum {							/* DSM bind states */
 #define PX4IO_P_SETUP_FORCE_SAFETY_ON		14	/* force safety switch into 'disarmed' (PWM disabled state) */
 #define PX4IO_FORCE_SAFETY_MAGIC		22027	/* required argument for force safety (random) */
 
+#define PX4IO_P_SETUP_PWM_REVERSE		15	/**< Bitmask to reverse PWM channels 1-8 */
+
 /* autopilot control values, -10000..10000 */
 #define PX4IO_PAGE_CONTROLS			51	/**< actuator control groups, one after the other, 8 wide */
 #define PX4IO_P_CONTROLS_GROUP_0		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */

src/modules/px4iofirmware/px4io.h

@@ -111,6 +111,8 @@ extern uint16_t			r_page_servo_disarmed[];	/* PX4IO_PAGE_DISARMED_PWM */
 #endif
 #define r_setup_rc_thr_failsafe	r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US]
 
+#define r_setup_pwm_reverse	r_page_setup[PX4IO_P_SETUP_PWM_REVERSE]
+
 #define r_control_values	(&r_page_controls[0])
 
 /*

src/modules/px4iofirmware/registers.c

@@ -173,6 +173,7 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_REBOOT_BL]		= 0,
 	[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
 	[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0,
+	[PX4IO_P_SETUP_PWM_REVERSE] = 0,
 };
 
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
@@ -622,6 +623,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			}
 			break;
 
+		case PX4IO_P_SETUP_PWM_REVERSE:
+			r_page_setup[PX4IO_P_SETUP_PWM_REVERSE] = value;
+			break;
+
 		default:
 			return -1;
 		}

src/modules/sdlog2/sdlog2.c

@@ -1072,7 +1072,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct vehicle_global_position_s global_pos;
 		struct position_setpoint_triplet_s triplet;
 		struct vehicle_vicon_position_s vicon_pos;
-		struct vision_position_estimate vision_pos;
+		struct vision_position_estimate_s vision_pos;
 		struct optical_flow_s flow;
 		struct rc_channels_s rc;
 		struct differential_pressure_s diff_pres;
@@ -1082,7 +1082,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct battery_status_s battery;
 		struct telemetry_status_s telemetry;
 		struct distance_sensor_s distance_sensor;
-		struct estimator_status_report estimator_status;
+		struct estimator_status_s estimator_status;
 		struct tecs_status_s tecs_status;
 		struct system_power_s system_power;
 		struct servorail_status_s servorail_status;

src/modules/systemlib/pwm_limit/pwm_limit.c

@@ -53,7 +53,9 @@ void pwm_limit_init(pwm_limit_t *limit)
 	return;
 }
 
-void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
+void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t reverse_mask,
+	const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
+	const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
 {
 
 	/* first evaluate state changes */
@@ -134,7 +136,13 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 						ramp_min_pwm = min_pwm[i];
 					}
 
-					effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
+					float control_value = output[i];
+
+					if (reverse_mask & (1 << i)) {
+						control_value = -1.0f * control_value;
+					}
+
+					effective_pwm[i] = control_value * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
 
 					/* last line of defense against invalid inputs */
 					if (effective_pwm[i] < ramp_min_pwm) {
@@ -147,7 +155,14 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 			break;
 		case PWM_LIMIT_STATE_ON:
 			for (unsigned i=0; i<num_channels; i++) {
-				effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
+
+				float control_value = output[i];
+
+				if (reverse_mask & (1 << i)) {
+					control_value = -1.0f * control_value;
+				}
+
+				effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
 
 				/* last line of defense against invalid inputs */
 				if (effective_pwm[i] < min_pwm[i]) {

src/modules/systemlib/pwm_limit/pwm_limit.h

@@ -72,7 +72,7 @@ typedef struct {
 
 __EXPORT void pwm_limit_init(pwm_limit_t *limit);
 
-__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm,
+__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
 			     const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
 
 __END_DECLS

src/modules/systemlib/rc_check.c

@@ -50,29 +50,72 @@
 #include <mavlink/mavlink_log.h>
 #include <drivers/drv_rc_input.h>
 
-int rc_calibration_check(int mavlink_fd) {
+#define RC_INPUT_MAP_UNMAPPED 0
+
+int rc_calibration_check(int mavlink_fd)
+{
 
 	char nbuf[20];
 	param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
-	_parameter_handles_rev, _parameter_handles_dz;
+		_parameter_handles_rev, _parameter_handles_dz;
 
-	float param_min, param_max, param_trim, param_rev, param_dz;
+	unsigned map_fail_count = 0;
+
+	const char *rc_map_mandatory[] = {	"RC_MAP_MODE_SW",
+						/* needs discussion if this should be mandatory "RC_MAP_POSCTL_SW"*/
+						0 /* end marker */
+					 };
+
+	unsigned j = 0;
 
 	/* first check channel mappings */
-			/* check which map param applies */
-		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
-		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
-		// 	/* give system time to flush error message in case there are more */
-		// 	usleep(100000);
-		// 	count++;
-		// }
+	while (rc_map_mandatory[j] != 0) {
 
-	int channel_fail_count = 0;
+		param_t map_parm = param_find(rc_map_mandatory[j]);
 
-	for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
+		if (map_parm == PARAM_INVALID) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]);
+			/* give system time to flush error message in case there are more */
+			usleep(100000);
+			map_fail_count++;
+			j++;
+			continue;
+		}
+
+		int32_t mapping;
+		param_get(map_parm, &mapping);
+
+		if (mapping > RC_INPUT_MAX_CHANNELS) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]);
+			/* give system time to flush error message in case there are more */
+			usleep(100000);
+			map_fail_count++;
+		}
+
+		if (mapping == 0) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]);
+			/* give system time to flush error message in case there are more */
+			usleep(100000);
+			map_fail_count++;
+		}
+
+		j++;
+	}
+
+	unsigned total_fail_count = 0;
+	unsigned channels_failed = 0;
+
+	for (unsigned i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
 		/* should the channel be enabled? */
 		uint8_t count = 0;
 
+		/* initialize values to values failing the check */
+		float param_min = 0.0f;
+		float param_max = 0.0f;
+		float param_trim = 0.0f;
+		float param_rev = 0.0f;
+		float param_dz = RC_INPUT_MAX_DEADZONE_US * 2.0f;
+
 		/* min values */
 		sprintf(nbuf, "RC%d_MIN", i + 1);
 		_parameter_handles_min = param_find(nbuf);
@@ -99,56 +142,55 @@ int rc_calibration_check(int mavlink_fd) {
 		param_get(_parameter_handles_dz, &param_dz);
 
 		/* assert min..center..max ordering */
-		if (param_min < 500) {
+		if (param_min < RC_INPUT_LOWEST_MIN_US) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MIN < 500", i+1);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
-		if (param_max > 2500) {
+
+		if (param_max > RC_INPUT_HIGHEST_MAX_US) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MAX > 2500", i+1);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
+
 		if (param_trim < param_min) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
+
 		if (param_trim > param_max) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max);
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
 
 		/* assert deadzone is sane */
-		if (param_dz > 500) {
-			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_DZ > 500", i+1);
+		if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
+			mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 			count++;
 		}
 
-		/* check which map param applies */
-		// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
-		// 	mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
-		// 	/* give system time to flush error message in case there are more */
-		// 	usleep(100000);
-		// 	count++;
-		// }
+		total_fail_count += count;
 
-		/* sanity checks pass, enable channel */
 		if (count) {
-			mavlink_log_critical(mavlink_fd, "#audio ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			usleep(100000);
+			channels_failed++;
 		}
-
-		channel_fail_count += count;
 	}
 
-	return channel_fail_count;
+	if (channels_failed) {
+		sleep(2);
+		mavlink_and_console_log_critical(mavlink_fd, "%d config error%s for %d RC channel%s.", total_fail_count,
+						 (total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
+		usleep(100000);
+	}
+
+	return total_fail_count + map_fail_count;
 }

src/modules/uORB/objects_common.cpp

@@ -130,9 +130,6 @@ ORB_DEFINE(vehicle_control_mode, struct vehicle_control_mode_s);
 #include "topics/vehicle_local_position_setpoint.h"
 ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
 
-#include "topics/vehicle_bodyframe_speed_setpoint.h"
-ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s);
-
 #include "topics/position_setpoint_triplet.h"
 ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
 
@@ -160,9 +157,6 @@ ORB_DEFINE(fw_virtual_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/vehicle_control_debug.h"
-ORB_DEFINE(vehicle_control_debug, struct vehicle_control_debug_s);
-
 #include "topics/offboard_control_mode.h"
 ORB_DEFINE(offboard_control_mode, struct offboard_control_mode_s);
 
@@ -172,9 +166,6 @@ ORB_DEFINE(optical_flow, struct optical_flow_s);
 #include "topics/filtered_bottom_flow.h"
 ORB_DEFINE(filtered_bottom_flow, struct filtered_bottom_flow_s);
 
-#include "topics/omnidirectional_flow.h"
-ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
-
 #include "topics/airspeed.h"
 ORB_DEFINE(airspeed, struct airspeed_s);
 
@@ -234,10 +225,10 @@ ORB_DEFINE(esc_status, struct esc_status_s);
 ORB_DEFINE(encoders, struct encoders_s);
 
 #include "topics/estimator_status.h"
-ORB_DEFINE(estimator_status, struct estimator_status_report);
+ORB_DEFINE(estimator_status, struct estimator_status_s);
 
 #include "topics/vision_position_estimate.h"
-ORB_DEFINE(vision_position_estimate, struct vision_position_estimate);
+ORB_DEFINE(vision_position_estimate, struct vision_position_estimate_s);
 
 #include "topics/vehicle_force_setpoint.h"
 ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);
@@ -258,4 +249,4 @@ ORB_DEFINE(time_offset, struct time_offset_s);
 ORB_DEFINE(mc_att_ctrl_status, struct mc_att_ctrl_status_s);
 
 #include "topics/distance_sensor.h"
-ORB_DEFINE(distance_sensor, struct distance_sensor_s);
+ORB_DEFINE(distance_sensor, struct distance_sensor_s);

src/modules/uORB/topics/actuator_direct.h

@@ -1,69 +0,0 @@
-/****************************************************************************
- *
- *   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_direct.h
- *
- * Actuator direct values.
- *
- * Values published to this topic are the direct actuator values which
- * should be passed to actuators, bypassing mixing
- */
-
-#ifndef TOPIC_ACTUATOR_DIRECT_H
-#define TOPIC_ACTUATOR_DIRECT_H
-
-#include <stdint.h>
-#include "../uORB.h"
-
-#define NUM_ACTUATORS_DIRECT		16
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct actuator_direct_s {
-	uint64_t timestamp;				/**< timestamp in us since system boot */
-	float values[NUM_ACTUATORS_DIRECT];		/**< actuator values, from -1 to 1 */
-	unsigned nvalues;				/**< number of valid values */
-};
-
-/**
- * @}
- */
-
-/* actuator direct ORB */
-ORB_DECLARE(actuator_direct);
-
-#endif // TOPIC_ACTUATOR_DIRECT_H

src/modules/uORB/topics/actuator_outputs.h

@@ -1,73 +0,0 @@
-/****************************************************************************
- *
- *   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 */
-
-/**
- * @addtogroup topics
- * @{
- */
-
-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 */
-	unsigned noutputs;					/**< valid outputs */
-};
-
-/**
- * @}
- */
-
-/* actuator output sets; this list can be expanded as more drivers emerge */
-ORB_DECLARE(actuator_outputs);
-
-#endif

src/modules/uORB/topics/airspeed.h

@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   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 airspeed.h
- *
- * Definition of airspeed topic
- */
-
-#ifndef TOPIC_AIRSPEED_H_
-#define TOPIC_AIRSPEED_H_
-
-#include <platforms/px4_defines.h>
-#include <stdint.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Airspeed
- */
-struct airspeed_s {
-	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
-	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		air_temperature_celsius;	/**< air temperature in degrees celsius, -1000 if unknown */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(airspeed);
-
-#endif

src/modules/uORB/topics/battery_status.h

@@ -1,69 +0,0 @@
-/****************************************************************************
- *
- *   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, 0 if unknown           	 */
-	float   	voltage_filtered_v;		/**< Battery voltage in volts, filtered, 0 if unknown  	 */
-	float		current_a;		/**< Battery current in amperes, -1 if unknown */
-	float		discharged_mah;		/**< Discharged amount in mAh, -1 if unknown	 */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(battery_status);
-
-#endif

src/modules/uORB/topics/debug_key_value.h

@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- *   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

src/modules/uORB/topics/differential_pressure.h

@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   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.
- */
-struct differential_pressure_s {
-	uint64_t	timestamp;			/**< Microseconds since system boot, needed to integrate */
-	uint64_t	error_count;			/**< Number of errors detected by driver */
-	float	differential_pressure_raw_pa;		/**< Raw differential pressure reading (may be negative) */
-	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
-	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */
-	float	temperature;				/**< Temperature provided by sensor, -1000.0f if unknown */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(differential_pressure);
-
-#endif

src/modules/uORB/topics/encoders.h

@@ -1,66 +0,0 @@
-/****************************************************************************
- *
- *   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 encoders.h
- *
- * Encoders topic.
- *
- */
-
-#ifndef TOPIC_ENCODERS_H
-#define TOPIC_ENCODERS_H
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-#define NUM_ENCODERS 4
-
-struct encoders_s {
-	uint64_t timestamp;
-	int64_t counts[NUM_ENCODERS]; // counts of encoder
-	float velocity[NUM_ENCODERS]; // counts of encoder/ second
-};
-
-/**
- * @}
- */
-
-ORB_DECLARE(encoders);
-
-#endif

src/modules/uORB/topics/esc_status.h

@@ -1,116 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Marco Bauer <marco@wtns.de>
- *
- * 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 esc_status.h
- * Definition of the esc_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)  --> esc_status --> (mavlink app)
- */
-
-#ifndef ESC_STATUS_H_
-#define ESC_STATUS_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * The number of ESCs supported.
- * Current (Q2/2013) we support 8 ESCs,
- */
-#define CONNECTED_ESC_MAX   8
-
-enum ESC_VENDOR {
-	ESC_VENDOR_GENERIC = 0,					/**< generic ESC */
-	ESC_VENDOR_MIKROKOPTER,					/**< Mikrokopter */
-	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */
-};
-
-enum ESC_CONNECTION_TYPE {
-	ESC_CONNECTION_TYPE_PPM = 0,			/**< Traditional PPM ESC */
-	ESC_CONNECTION_TYPE_SERIAL,			/**< Serial Bus connected ESC */
-	ESC_CONNECTION_TYPE_ONESHOOT,			/**< One Shoot PPM */
-	ESC_CONNECTION_TYPE_I2C,				/**< I2C */
-	ESC_CONNECTION_TYPE_CAN					/**< CAN-Bus */
-};
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Electronic speed controller status.
- * Unsupported float fields should be assigned NaN.
- */
-struct esc_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 */
-
-	uint8_t esc_count;			/**< number of connected ESCs */
-	enum ESC_CONNECTION_TYPE esc_connectiontype;	/**< how ESCs connected to the system */
-
-	struct {
-		enum ESC_VENDOR esc_vendor;		/**< Vendor of current ESC */
-		uint32_t esc_errorcount;		/**< Number of reported errors by ESC - if supported */
-		int32_t esc_rpm;                        /**< Motor RPM, negative for reverse rotation [RPM] - if supported */
-		float esc_voltage;			/**< Voltage measured from current ESC [V] - if supported */
-		float esc_current;			/**< Current measured from current ESC [A] - if supported */
-		float esc_temperature;			/**< Temperature measured from current ESC [degC] - if supported */
-		float esc_setpoint;			/**< setpoint of current ESC */
-		uint16_t esc_setpoint_raw;		/**< setpoint of current ESC (Value sent to ESC) */
-		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
-		uint16_t esc_version;			/**< Version of current ESC - if supported */
-		uint16_t esc_state;			/**< State of ESC - depend on Vendor */
-	} esc[CONNECTED_ESC_MAX];
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-//ORB_DECLARE(esc_status);
-ORB_DECLARE_OPTIONAL(esc_status);
-
-#endif

src/modules/uORB/topics/estimator_status.h

@@ -1,80 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 estimator_status.h
- * Definition of the estimator_status_report uORB topic.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef ESTIMATOR_STATUS_H_
-#define ESTIMATOR_STATUS_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Estimator status report.
- *
- * This is a generic status report struct which allows any of the onboard estimators
- * to write the internal state to the system log.
- *
- */
-struct estimator_status_report {
-
-	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only   */
-
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot */
-	float states[32];			/**< Internal filter states */
-	float n_states;				/**< Number of states effectively used */
-	uint8_t nan_flags;			/**< Bitmask to indicate NaN states */
-	uint8_t health_flags;			/**< Bitmask to indicate sensor health states (vel, pos, hgt) */
-	uint8_t timeout_flags;			/**< Bitmask to indicate timeout flags (vel, pos, hgt) */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(estimator_status);
-
-#endif

src/modules/uORB/topics/fence.h

@@ -1,80 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *
- * 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 fence.h
- * Definition of geofence.
- */
-
-#ifndef TOPIC_FENCE_H_
-#define TOPIC_FENCE_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <platforms/px4_defines.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
-#define GEOFENCE_MAX_VERTICES 16
-
-/**
- * This is the position of a geofence vertex
- *
- */
-struct fence_vertex_s {
-	// Worst case float precision gives us 2 meter resolution at the equator
-	float lat;			/**< latitude in degrees */
-	float lon;			/**< longitude in degrees */
-};
-
-/**
- * This is the position of a geofence
- *
- */
-struct fence_s {
-	unsigned count;     /**< number of actual vertices */
-	struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES];
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(fence);
-
-#endif

src/modules/uORB/topics/geofence_result.h

@@ -1,64 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 geofence_result.h
- * Status of the plance concerning the geofence
- *
- * @author Ban Siesta <bansiesta@gmail.com>
- */
-
-#ifndef TOPIC_GEOFENCE_RESULT_H
-#define TOPIC_GEOFENCE_RESULT_H
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct geofence_result_s {
-	bool geofence_violated;		/**< true if the geofence is violated */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(geofence_result);
-
-#endif

src/modules/uORB/topics/omnidirectional_flow.h

@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- *   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

src/modules/uORB/topics/servorail_status.h

@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   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 servorail_status.h
- *
- * Definition of the servorail status uORB topic.
- */
-
-#ifndef SERVORAIL_STATUS_H_
-#define SERVORAIL_STATUS_H_
-
-#include "../uORB.h"
-#include <stdint.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Servorail voltages and status
- */
-struct servorail_status_s {
-	uint64_t	timestamp;		/**< microseconds since system boot */
-	float   	voltage_v;		/**< Servo rail voltage in volts */
-	float   	rssi_v;			/**< RSSI pin voltage in volts */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(servorail_status);
-
-#endif

src/modules/uORB/topics/subsystem_info.h

@@ -1,96 +0,0 @@
-/****************************************************************************
- *
- *   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"
-
-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
-};
-
-/**
- * @addtogroup topics
- */
-
-/**
- * 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_ */
-

src/modules/uORB/topics/system_power.h

@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   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 system_power.h
- *
- * Definition of the system_power voltage and power status uORB topic.
- */
-
-#ifndef SYSTEM_POWER_H_
-#define SYSTEM_POWER_H_
-
-#include "../uORB.h"
-#include <stdint.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * voltage and power supply status
- */
-struct system_power_s {
-	uint64_t	timestamp;		/**< microseconds since system boot */
-	float   	voltage5V_v;		/**< peripheral 5V rail voltage */
-	uint8_t         usb_connected:1;        /**< USB is connected when 1 */
-	uint8_t         brick_valid:1;          /**< brick power is good when 1 */
-	uint8_t         servo_valid:1;          /**< servo power is good when 1 */
-	uint8_t		periph_5V_OC:1;         /**< peripheral overcurrent when 1 */
-	uint8_t		hipower_5V_OC:1;        /**< hi power peripheral overcurrent when 1 */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(system_power);
-
-#endif

src/modules/uORB/topics/tecs_status.h

@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- */
-
-#ifndef TECS_STATUS_T_H_
-#define TECS_STATUS_T_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-typedef enum {
-	TECS_MODE_NORMAL = 0,
-	TECS_MODE_UNDERSPEED,
-	TECS_MODE_TAKEOFF,
-	TECS_MODE_LAND,
-	TECS_MODE_LAND_THROTTLELIM,
-	TECS_MODE_BAD_DESCENT,
-	TECS_MODE_CLIMBOUT
-} tecs_mode;
-
-/**
-* Internal values of the (m)TECS fixed wing speed alnd altitude control system
-*/
-struct tecs_status_s {
-	uint64_t timestamp;		/**< timestamp, in microseconds since system start */
-
-	float altitudeSp;
-	float altitude_filtered;
-	float flightPathAngleSp;
-	float flightPathAngle;
-	float flightPathAngleFiltered;
-	float airspeedSp;
-	float airspeed_filtered;
-	float airspeedDerivativeSp;
-	float airspeedDerivative;
-
-	float totalEnergyRateSp;
-	float totalEnergyRate;
-	float energyDistributionRateSp;
-	float energyDistributionRate;
-
-	tecs_mode mode;
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(tecs_status);
-
-#endif

src/modules/uORB/topics/test_motor.h

@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 test_motor.h
- *
- * Test a single drive motor while the vehicle is disarmed
- *
- * Publishing values to this topic causes a single motor to spin, e.g. for
- * ground test purposes. This topic will be ignored while the vehicle is armed.
- *
- */
-
-#ifndef TOPIC_TEST_MOTOR_H
-#define TOPIC_TEST_MOTOR_H
-
-#include <stdint.h>
-#include "../uORB.h"
-
-#define NUM_MOTOR_OUTPUTS	8
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct test_motor_s {
-	uint64_t 	timestamp;				/**< output timestamp in us since system boot */
-	unsigned 	motor_number;				/**< number of motor to spin */
-	float		value;					/**< output power, range [0..1] */
-};
-
-/**
- * @}
- */
-
-/* actuator output sets; this list can be expanded as more drivers emerge */
-ORB_DECLARE(test_motor);
-
-#endif

src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h

@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 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_bodyframe_speed_setpoint.h
- * Definition of the bodyframe speed setpoint uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_
-#define TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_
-
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct vehicle_bodyframe_speed_setpoint_s {
-	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
-
-	float vx;		/**< in m/s				  		*/
-	float vy;		/**< in m/s				  		*/
-//	float vz;		/**< in m/s				  		*/
-	float thrust_sp;
-	float yaw_sp;	/**< in radian		-PI +PI		*/
-}; /**< Speed in bodyframe to go to */
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_bodyframe_speed_setpoint);
-
-#endif

src/modules/uORB/topics/vehicle_command.h

@@ -1,172 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Anton Matosov <anton.matosov@gmail.com>
- */
-
-#ifndef TOPIC_VEHICLE_COMMAND_H_
-#define TOPIC_VEHICLE_COMMAND_H_
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * Commands for commander app.
- *
- * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
- * but can contain additional ones.
- */
-enum VEHICLE_CMD {
-	VEHICLE_CMD_CUSTOM_0 = 0, /* test command */
-	VEHICLE_CMD_CUSTOM_1 = 1, /* test command */
-	VEHICLE_CMD_CUSTOM_2 = 2, /* test command */
-	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_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|  */
-	VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	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_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| 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_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value|  */
-	VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| 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_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */
-	VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */
-};
-
-/**
- * Commands for commander app.
- *
- * Should contain all of MAVLink's MAV_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, /*  | */
-};
-
-/**
- * Commands for gimbal app.
- *
- * Should contain all of MAVLink's MAV_MOUNT_MODE values
- * but can contain additional ones.
- */
-typedef enum VEHICLE_MOUNT_MODE
-{
-	VEHICLE_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */
-	VEHICLE_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */
-	VEHICLE_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
-	VEHICLE_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
-	VEHICLE_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
-	VEHICLE_MOUNT_MODE_ENUM_END=5, /*  | */
-} VEHICLE_MOUNT_MODE;
-
-/**
- * @addtogroup topics
- * @{
- */
-
-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.   */
-	double param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
-	double param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
-	enum VEHICLE_CMD 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

src/modules/uORB/topics/vehicle_control_debug.h

@@ -1,86 +0,0 @@
-/****************************************************************************
- *
- *   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_control_debug.h
- * For debugging purposes to log PID parts of controller
- */
-
-#ifndef TOPIC_VEHICLE_CONTROL_DEBUG_H_
-#define TOPIC_VEHICLE_CONTROL_DEBUG_H_
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-struct vehicle_control_debug_s {
-	uint64_t timestamp; /**< in microseconds since system start */
-
-	float roll_p;		/**< roll P control part		*/
-	float roll_i;		/**< roll I control part 		*/
-	float roll_d;		/**< roll D control part 		*/
-
-	float roll_rate_p;	/**< roll rate P control part		*/
-	float roll_rate_i;	/**< roll rate I control part 		*/
-	float roll_rate_d;	/**< roll rate D control part 		*/
-
-	float pitch_p;		/**< pitch P control part		*/
-	float pitch_i;		/**< pitch I control part 		*/
-	float pitch_d;		/**< pitch D control part 		*/
-
-	float pitch_rate_p;	/**< pitch rate P control part		*/
-	float pitch_rate_i;	/**< pitch rate I control part 		*/
-	float pitch_rate_d;	/**< pitch rate D control part 		*/
-
-	float yaw_p;		/**< yaw P control part			*/
-	float yaw_i;		/**< yaw I control part 		*/
-	float yaw_d;		/**< yaw D control part 		*/
-
-	float yaw_rate_p;	/**< yaw rate P control part		*/
-	float yaw_rate_i;	/**< yaw rate I control part 		*/
-	float yaw_rate_d;	/**< yaw rate D control part 		*/
-
-}; /**< vehicle_control_debug */
-
-/**
-* @}
-*/
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_control_debug);
-
-#endif

src/modules/uORB/topics/vehicle_land_detected.h

@@ -1,63 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2015 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 vehicle_land_detected.h
- * Land detected uORB topic
- *
- * @author Johan Jansen <jnsn.johan@gmail.com>
- */
-
-#ifndef __TOPIC_VEHICLE_LANDED_H__
-#define __TOPIC_VEHICLE_LANDED_H__
-
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct vehicle_land_detected_s {
-	uint64_t timestamp;	   /**< timestamp of the setpoint */
-	bool landed;           /**< true if vehicle is currently landed on the ground*/
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_land_detected);
-
-#endif //__TOPIC_VEHICLE_LANDED_H__

src/modules/uORB/topics/vehicle_vicon_position.h

@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   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

src/modules/uORB/topics/vision_position_estimate.h

@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 vision_position_estimate.h
- * Vision based position estimate
- */
-
-#ifndef TOPIC_VISION_POSITION_ESTIMATE_H_
-#define TOPIC_VISION_POSITION_ESTIMATE_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Vision based position estimate in NED frame
- */
-struct vision_position_estimate {
-
-	unsigned id;				/**< ID of the estimator, commonly the component ID of the incoming message */
-
-	uint64_t timestamp_boot;		/**< time of this estimate, in microseconds since system start */
-	uint64_t timestamp_computer;		/**< timestamp provided by the companion computer, in us */
-
-	float x;				/**< X position in meters in NED earth-fixed frame */
-	float y;				/**< Y position in meters in NED earth-fixed frame */
-	float z;				/**< Z position in meters in NED earth-fixed frame (negative altitude) */
-
-	float vx;				/**< X velocity in meters per second in NED earth-fixed frame */
-	float vy;				/**< Y velocity in meters per second in NED earth-fixed frame */
-	float vz;				/**< Z velocity in meters per second in NED earth-fixed frame */
-
-	float q[4];				/**< Estimated attitude as quaternion */
-
-	// XXX Add covariances here
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vision_position_estimate);
-
-#endif /* TOPIC_VISION_POSITION_ESTIMATE_H_ */

src/modules/uORB/topics/vtol_vehicle_status.h

@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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 vtol_status.h
- *
- * Vtol status topic
- *
- */
-
-#ifndef TOPIC_VTOL_STATUS_H
-#define TOPIC_VTOL_STATUS_H
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/* Indicates in which mode the vtol aircraft is in */
-struct vtol_vehicle_status_s {
-
-	uint64_t	timestamp;	/**< Microseconds since system boot */
-	bool vtol_in_rw_mode;	/*true: vtol vehicle is in rotating wing mode */
-	bool fw_permanent_stab;	/**< In fw mode stabilize attitude even if in manual mode*/
-	float airspeed_tot;		/*< Estimated airspeed over control surfaces */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vtol_vehicle_status);
-
-#endif

src/modules/uORB/topics/wind_estimate.h

@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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 wind_estimate.h
- *
- * Wind estimate topic topic
- *
- */
-
-#ifndef TOPIC_WIND_ESTIMATE_H
-#define TOPIC_WIND_ESTIMATE_H
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/** Wind estimate */
-struct wind_estimate_s {
-
-	uint64_t	timestamp;		/**< Microseconds since system boot */
-	float		windspeed_north;	/**< Wind component in north / X direction */
-	float		windspeed_east;		/**< Wind component in east / Y direction */
-	float		covariance_north;	/**< Uncertainty - set to zero (no uncertainty) if not estimated */
-	float		covariance_east;	/**< Uncertainty - set to zero (no uncertainty) if not estimated */
-};
-
-/**
- * @}
- */
-
-ORB_DECLARE(wind_estimate);
-
-#endif

src/modules/uavcan/actuators/esc.cpp

@@ -85,7 +85,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 {
 	if ((outputs == nullptr) || 
             (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
-            (num_outputs > CONNECTED_ESC_MAX)) {
+            (num_outputs > esc_status_s::CONNECTED_ESC_MAX)) {
 		perf_count(_perfcnt_invalid_input);
 		return;
 	}
@@ -159,7 +159,7 @@ void UavcanEscController::arm_single_esc(int num, bool arm)
 
 void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
 {
-	if (msg.esc_index < CONNECTED_ESC_MAX) {
+	if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
 		_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
 		_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
 
@@ -179,7 +179,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
 void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
 {
 	_esc_status.counter += 1;
-	_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
+	_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
 
 	if (_esc_status_pub != nullptr) {
 		(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);