Merge branch 'master' into offboard2_merge

Conflicts:
	src/modules/uORB/topics/rc_channels.h

src/modules/mavlink/mavlink_main.cpp

@@ -474,7 +474,7 @@ Mavlink::get_instance_id()
 	return _instance_id;
 }
 
-const mavlink_channel_t
+mavlink_channel_t
 Mavlink::get_channel()
 {
 	return _channel;
@@ -2109,7 +2109,7 @@ Mavlink::task_main(int argc, char *argv[])
                 write_ptr = (uint8_t*)&msg;
 
                 // Pull a single message from the buffer
-                int read_count = available;
+                size_t read_count = available;
                 if (read_count > sizeof(mavlink_message_t)) {
                     read_count = sizeof(mavlink_message_t);
                 }
@@ -2266,13 +2266,13 @@ Mavlink::start(int argc, char *argv[])
 }
 
 void
-Mavlink::status()
+Mavlink::display_status()
 {
 	warnx("running");
 }
 
 int
-Mavlink::stream(int argc, char *argv[])
+Mavlink::stream_command(int argc, char *argv[])
 {
 	const char *device_name = DEFAULT_DEVICE_NAME;
 	float rate = -1.0f;
@@ -2360,7 +2360,7 @@ int mavlink_main(int argc, char *argv[])
 		// 	mavlink::g_mavlink->status();
 
 	} else if (!strcmp(argv[1], "stream")) {
-		return Mavlink::stream(argc, argv);
+		return Mavlink::stream_command(argc, argv);
 
 	} else {
 		usage();

src/modules/mavlink/mavlink_main.h

@@ -123,9 +123,9 @@ public:
 	/**
 	 * Display the mavlink status.
 	 */
-	void			status();
+	void			display_status();
 
-	static int		stream(int argc, char *argv[]);
+	static int		stream_command(int argc, char *argv[]);
 
 	static int		instance_count();
 
@@ -213,15 +213,15 @@ public:
 	 */
 	int			enable_flow_control(bool enabled);
 
-	const mavlink_channel_t	get_channel();
+	mavlink_channel_t	get_channel();
 
-	void configure_stream_threadsafe(const char *stream_name, const float rate);
+	void configure_stream_threadsafe(const char *stream_name, float rate);
 
 	bool			_task_should_exit;	/**< if true, mavlink task should exit */
 
 	int			get_mavlink_fd() { return _mavlink_fd; }
 
-	MavlinkStream * get_streams() { return _streams; } const
+	MavlinkStream * get_streams() const { return _streams; }
 
 
 	/* Functions for waiting to start transmission until message received. */
@@ -311,15 +311,15 @@ private:
 
 	pthread_mutex_t		_message_buffer_mutex;
 
-	perf_counter_t		_loop_perf;			/**< loop performance counter */
-	perf_counter_t		_txerr_perf;			/**< TX error counter */
-
 	bool			_param_initialized;
 	param_t			_param_system_id;
 	param_t			_param_component_id;
 	param_t			_param_system_type;
 	param_t			_param_use_hil_gps;
 
+	perf_counter_t		_loop_perf;			/**< loop performance counter */
+	perf_counter_t		_txerr_perf;			/**< TX error counter */
+
 	/**
 	 * Send one parameter.
 	 *

src/modules/mavlink/mavlink_messages.cpp

@@ -45,7 +45,6 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/rc_channels.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -678,7 +677,7 @@ protected:
 						     cm_uint16_from_m_float(gps.epv),
 						     gps.vel_m_s * 100.0f,
 						     _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
-						     gps.satellites_visible);
+						     gps.satellites_used);
 		}
 	}
 };

src/modules/mavlink/mavlink_orb_subscription.cpp

@@ -47,10 +47,10 @@
 #include "mavlink_orb_subscription.h"
 
 MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
-	_fd(orb_subscribe(_topic)),
-	_published(false),
+	next(nullptr),
 	_topic(topic),
-	next(nullptr)
+	_fd(orb_subscribe(_topic)),
+	_published(false)
 {
 }
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -728,9 +728,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.vel_ned_valid = true;
 	hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
 
-	hil_gps.timestamp_satellites = timestamp;
 	hil_gps.fix_type = gps.fix_type;
-	hil_gps.satellites_visible = gps.satellites_visible;
+	hil_gps.satellites_used = gps.satellites_visible;  //TODO: rename mavlink_hil_gps_t sats visible to used?
 
 	if (_gps_pub < 0) {
 		_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);

src/modules/mavlink/mavlink_stream.cpp

@@ -43,7 +43,11 @@
 #include "mavlink_stream.h"
 #include "mavlink_main.h"
 
-MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
+MavlinkStream::MavlinkStream() :
+	next(nullptr),
+	_channel(MAVLINK_COMM_0),
+	_interval(1000000),
+	_last_sent(0)
 {
 }