MISSION switch renamed to LOITER

src/modules/commander/commander.cpp

@@ -1231,12 +1231,12 @@ int commander_thread_main(int argc, char *argv[])
 
 			} else {
 				/* MISSION switch */
-				if (sp_man.mission_switch == SWITCH_POS_ON) {
+				if (sp_man.loiter_switch == SWITCH_POS_ON) {
 					/* stick is in LOITER position */
 					status.set_nav_state = NAV_STATE_LOITER;
 					status.set_nav_state_timestamp = hrt_absolute_time();
 
-				} else if (sp_man.mission_switch != SWITCH_POS_NONE) {
+				} else if (sp_man.loiter_switch != SWITCH_POS_NONE) {
 					/* stick is in MISSION position */
 					status.set_nav_state = NAV_STATE_MISSION;
 					status.set_nav_state_timestamp = hrt_absolute_time();

src/modules/sensors/sensor_params.c

@@ -594,13 +594,13 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
 
 /**
- * Mission switch channel mapping.
+ * Loiter switch channel mapping.
  *
  * @min 0
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 
 //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 

src/modules/sensors/sensors.cpp

@@ -254,7 +254,7 @@ private:
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
 		int rc_map_assisted_sw;
-		int rc_map_mission_sw;
+		int rc_map_loiter_sw;
 
 //		int rc_map_offboard_ctrl_mode_sw;
 
@@ -297,7 +297,7 @@ private:
 		param_t rc_map_mode_sw;
 		param_t rc_map_return_sw;
 		param_t rc_map_assisted_sw;
-		param_t rc_map_mission_sw;
+		param_t rc_map_loiter_sw;
 
 //		param_t rc_map_offboard_ctrl_mode_sw;
 
@@ -508,7 +508,7 @@ Sensors::Sensors() :
 
 	/* optional mode switches, not mapped per default */
 	_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
-	_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
+	_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
 
 //	_parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
 
@@ -654,7 +654,7 @@ Sensors::parameters_update()
 		warnx(paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
+	if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
 		warnx(paramerr);
 	}
 
@@ -682,7 +682,7 @@ Sensors::parameters_update()
 	_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
 	_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
 	_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
-	_rc.function[MISSION] = _parameters.rc_map_mission_sw - 1;
+	_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
 
@@ -1416,7 +1416,7 @@ Sensors::rc_poll()
 			/* mode switches */
 			manual.mode_switch = get_rc_switch_position(MODE);
 			manual.assisted_switch = get_rc_switch_position(ASSISTED);
-			manual.mission_switch = get_rc_switch_position(MISSION);
+			manual.loiter_switch = get_rc_switch_position(LOITER);
 			manual.return_switch = get_rc_switch_position(RETURN);
 
 			/* publish manual_control_setpoint topic */

src/modules/uORB/topics/manual_control_setpoint.h

@@ -79,7 +79,7 @@ struct manual_control_setpoint_s {
 	switch_pos_t mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
 	switch_pos_t return_switch;			/**< land 2 position switch (mandatory): land, no effect */
 	switch_pos_t assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
-	switch_pos_t mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
+	switch_pos_t loiter_switch;		/**< mission 2 position switch (optional): mission, loiter */
 }; /**< manual control inputs */
 
 /**

src/modules/uORB/topics/rc_channels.h

@@ -65,7 +65,7 @@ enum RC_CHANNELS_FUNCTION {
 	MODE = 4,
 	RETURN = 5,
 	ASSISTED = 6,
-	MISSION = 7,
+	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,
 	AUX_1   = 10,