ACRO mode implemented

src/modules/uORB/topics/manual_control_setpoint.h

@@ -60,6 +60,7 @@ struct manual_control_setpoint_s {
 	float return_switch;			/**< land 2 position switch (mandatory): land, no effect */
 	float assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
 	float mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
+	float acro_switch;			/**< acro 2 position switch (optional): normal, acro */
 
 	/**
 	 * Any of the channels below may not be available and be set to NaN

src/modules/uORB/topics/rc_channels.h

@@ -68,11 +68,12 @@ enum RC_CHANNELS_FUNCTION
   ASSISTED = 6,
   MISSION = 7,
   OFFBOARD_MODE = 8,
-  FLAPS   = 9,
-  AUX_1   = 10,
-  AUX_2   = 11,
-  AUX_3   = 12,
-  AUX_4   = 13,
+  ACRO	= 9,
+  FLAPS   = 10,
+  AUX_1   = 11,
+  AUX_2   = 12,
+  AUX_3   = 13,
+  AUX_4   = 14,
   AUX_5   = 14,
   RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };

src/modules/uORB/topics/vehicle_status.h

@@ -63,6 +63,7 @@
 /* main state machine */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
+	MAIN_STATE_ACRO,
 	MAIN_STATE_SEATBELT,
 	MAIN_STATE_EASY,
 	MAIN_STATE_AUTO,
@@ -116,6 +117,12 @@ typedef enum {
 	MISSION_SWITCH_MISSION
 } mission_switch_pos_t;
 
+typedef enum {
+	ACRO_SWITCH_NONE = 0,
+	ACRO_SWITCH_NORMAL,
+	ACRO_SWITCH_ACRO
+} acro_switch_pos_t;
+
 enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
 	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
@@ -192,6 +199,7 @@ struct vehicle_status_s
 	return_switch_pos_t return_switch;
 	assisted_switch_pos_t assisted_switch;
 	mission_switch_pos_t mission_switch;
+	acro_switch_pos_t acro_switch;
 
 	bool condition_battery_voltage_valid;
 	bool condition_system_in_air_restore;	/**< true if we can restore in mid air */