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

Conflicts:
	src/modules/commander/commander.cpp
	src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
	src/modules/uORB/topics/manual_control_setpoint.h

src/modules/uORB/topics/manual_control_setpoint.h

@@ -86,10 +86,10 @@ struct manual_control_setpoint_s {
 	float aux4;			/**< default function: camera roll */
 	float aux5;			/**< default function: payload drop */
 
-	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 loiter_switch;	/**< mission 2 position switch (optional): mission, loiter */
+	switch_pos_t mode_switch;			/**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
+	switch_pos_t return_switch;			/**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
+	switch_pos_t posctl_switch;			/**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
+	switch_pos_t loiter_switch;			/**< loiter 2 position switch (optional): _MISSION_, LOITER */
 }; /**< manual control inputs */
 
 /**

src/modules/uORB/topics/rc_channels.h

@@ -64,7 +64,7 @@ enum RC_CHANNELS_FUNCTION {
 	YAW      = 3,
 	MODE = 4,
 	RETURN = 5,
-	ASSISTED = 6,
+	POSCTL = 6,
 	LOITER = 7,
 	OFFBOARD_MODE = 8,
 	FLAPS   = 9,

src/modules/uORB/topics/vehicle_status.h

@@ -63,8 +63,8 @@
 /* main state machine */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_SEATBELT,
-	MAIN_STATE_EASY,
+	MAIN_STATE_ALTCTL,
+	MAIN_STATE_POSCTL,
 	MAIN_STATE_AUTO,
 	MAIN_STATE_MAX
 } main_state_t;