Merge remote-tracking branch 'upstream/master' into new_state_machine

Conflicts:
	apps/commander/commander.c
	apps/uORB/topics/vehicle_status.h

apps/uORB/objects_common.cpp

@@ -53,6 +53,9 @@ ORB_DEFINE(sensor_gyro, struct gyro_report);
 #include <drivers/drv_baro.h>
 ORB_DEFINE(sensor_baro, struct baro_report);
 
+#include <drivers/drv_range_finder.h>
+ORB_DEFINE(sensor_range_finder, struct range_finder_report);
+
 #include <drivers/drv_pwm_output.h>
 ORB_DEFINE(output_pwm, struct pwm_output_values);
 

apps/uORB/topics/differential_pressure.h

@@ -49,15 +49,16 @@
  */
 
 /**
- * Battery voltages and status
+ * Differential pressure and airspeed
  */
 struct differential_pressure_s {
-	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
 	float   	static_pressure_mbar;		/**< Static / environment pressure */
 	float		differential_pressure_mbar;	/**< Differential pressure reading */
 	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
 	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		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
+	float		voltage;					/**< Voltage from the airspeed sensor (voltage divider already compensated) */
 };
 
 /**
@@ -67,4 +68,4 @@ struct differential_pressure_s {
 /* register this as object request broker structure */
 ORB_DECLARE(differential_pressure);
 
-#endif
+#endif

apps/uORB/topics/subsystem_info.h

@@ -71,7 +71,8 @@ enum SUBSYSTEM_TYPE
 	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
 	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
 	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
-	SUBSYSTEM_TYPE_MOTORCONTROL = 65536
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
+	SUBSYSTEM_TYPE_RANGEFINDER = 131072
 };
 
 /**

apps/uORB/topics/vehicle_status.h

@@ -191,12 +191,16 @@ struct vehicle_status_s
 	bool condition_auto_mission_available;
 	bool condition_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
 	bool condition_launch_position_valid;		/**< indicates a valid launch position */
-	bool condition_home_position_valid;			/**< indicates a valid home position (a valid home position is not always a valid launch) */
+	bool condition_home_position_valid;		/**< indicates a valid home position (a valid home position is not always a valid launch) */
 	bool condition_local_position_valid;
+	bool condition_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
+
+	// bool condition_auto_flight_mode_ok;		/**< conditions of auto flight mode apply plus a valid takeoff position lock has been aquired */
+	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
 
 	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
 	bool flag_fmu_armed;				/**< true is motors / actuators of FMU are armed  */
-	bool flag_io_armed;					/**< true is motors / actuators of IO are armed */
+	bool flag_io_armed;				/**< true is motors / actuators of IO are armed */
 	bool flag_system_emergency;
 	bool flag_preflight_calibration;
 
@@ -208,10 +212,10 @@ struct vehicle_status_s
 	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
 	bool flag_control_position_enabled;		/**< true if position is controlled */
 
-
 	// bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */
 	// bool flag_preflight_mag_calibration;		/**< true if mag calibration is requested */
 	// bool flag_preflight_accel_calibration;
+	// bool flag_preflight_airspeed_calibration;
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception is terminally lost */
@@ -242,10 +246,6 @@ struct vehicle_status_s
 	uint16_t errors_count3;
 	uint16_t errors_count4;
 
-	// bool flag_vector_flight_mode_ok;		/**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
-	// bool flag_auto_flight_mode_ok;			/**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
-	bool flag_external_manual_override_ok;		/**< external override non-fatal for system. Only true for fixed wing */
-	
 };
 
 /**

apps/uORB/uORB.cpp

@@ -429,6 +429,12 @@ ORBDevNode::appears_updated(SubscriberData *sd)
 	/* avoid racing between interrupt and non-interrupt context calls */
 	irqstate_t state = irqsave();
 
+	/* check if this topic has been published yet, if not bail out */
+	if (_data == nullptr) {
+		ret = false;
+		goto out;
+	}
+
 	/*
 	 * If the subscriber's generation count matches the update generation
 	 * count, there has been no update from their perspective; if they
@@ -485,6 +491,7 @@ ORBDevNode::appears_updated(SubscriberData *sd)
 		break;
 	}
 
+out:
 	irqrestore(state);
 
 	/* consider it updated */