Merge remote-tracking branch 'px4/master' into pr-land_detector_vehicle_at_rest

msg/CMakeLists.txt

@@ -108,6 +108,7 @@ set(msg_files
 	manual_control_setpoint.msg
 	manual_control_switches.msg
 	mavlink_log.msg
+	mavlink_tunnel.msg
 	mission.msg
 	mission_result.msg
 	mount_orientation.msg

msg/battery_status.msg

@@ -70,7 +70,8 @@ uint8 MAX_INSTANCES = 4
 
 float32 average_power               # The average power of the current discharge
 float32 available_energy            # The predicted charge or energy remaining in the battery
-float32 remaining_capacity          # The compensated battery capacity remaining
+float32 full_charge_capacity_wh     # The compensated battery capacity
+float32 remaining_capacity_wh       # The compensated battery capacity remaining
 float32 design_capacity             # The design capacity of the battery
 uint16 average_time_to_full         # The predicted remaining time until the battery reaches full charge, in minutes
 uint16 over_discharge_count         # Number of battery overdischarge

msg/geofence_result.msg

@@ -1,12 +1,12 @@
-uint64 timestamp			    # time since system start (microseconds)
-uint8 GF_ACTION_NONE = 0                    # no action on geofence violation
-uint8 GF_ACTION_WARN = 1                    # critical mavlink message
-uint8 GF_ACTION_LOITER = 2                  # switch to AUTO|LOITER
-uint8 GF_ACTION_RTL = 3                     # switch to AUTO|RTL
-uint8 GF_ACTION_TERMINATE = 4               # flight termination
-uint8 GF_ACTION_LAND = 5		    # switch to AUTO|LAND
+uint64 timestamp                # time since system start (microseconds)
+uint8 GF_ACTION_NONE = 0        # no action on geofence violation
+uint8 GF_ACTION_WARN = 1        # critical mavlink message
+uint8 GF_ACTION_LOITER = 2      # switch to AUTO|LOITER
+uint8 GF_ACTION_RTL = 3         # switch to AUTO|RTL
+uint8 GF_ACTION_TERMINATE = 4   # flight termination
+uint8 GF_ACTION_LAND = 5        # switch to AUTO|LAND
 
-bool geofence_violated		# true if the geofence is violated
-uint8 geofence_action       	# action to take when geofence is violated
+bool geofence_violated          # true if the geofence is violated
+uint8 geofence_action           # action to take when geofence is violated
 
-bool home_required		# true if the geofence requires a valid home position
+bool home_required              # true if the geofence requires a valid home position

msg/mavlink_tunnel.msg

@@ -0,0 +1,20 @@
+# MAV_TUNNEL_PAYLOAD_TYPE enum
+
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN = 0                # Encoding of payload unknown
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 = 200    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 = 201    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 = 202    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 = 203    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 = 204    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 = 205    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 = 206    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 = 207    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 = 208    # Registered for STorM32 gimbal controller
+uint8 MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 = 209    # Registered for STorM32 gimbal controller
+
+uint64 timestamp	     # Time since system start (microseconds)
+uint16 payload_type      # A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
+uint8 target_system      # System ID (can be 0 for broadcast, but this is discouraged)
+uint8 target_component   # Component ID (can be 0 for broadcast, but this is discouraged)
+uint8 payload_length     # Length of the data transported in payload
+uint8[128] payload       # Data itself

msg/vehicle_odometry.msg

@@ -62,5 +62,7 @@ float32 yawspeed		# Angular velocity about Z body axis
 # If angular velocity covariance invalid/unknown, 16th cell is NaN
 float32[21] velocity_covariance
 
+uint8 reset_counter
+
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry estimator_visual_odometry_aligned