Merged release_v1.0.0 into master

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