Merged master

src/modules/uORB/objects_common.cpp

@@ -46,16 +46,23 @@
 #include <drivers/drv_orb_dev.h>
 
 #include <drivers/drv_mag.h>
-ORB_DEFINE(sensor_mag, struct mag_report);
+ORB_DEFINE(sensor_mag0, struct mag_report);
+ORB_DEFINE(sensor_mag1, struct mag_report);
+ORB_DEFINE(sensor_mag2, struct mag_report);
 
 #include <drivers/drv_accel.h>
-ORB_DEFINE(sensor_accel, struct accel_report);
+ORB_DEFINE(sensor_accel0, struct accel_report);
+ORB_DEFINE(sensor_accel1, struct accel_report);
+ORB_DEFINE(sensor_accel2, struct accel_report);
 
 #include <drivers/drv_gyro.h>
-ORB_DEFINE(sensor_gyro, struct gyro_report);
+ORB_DEFINE(sensor_gyro0, struct gyro_report);
+ORB_DEFINE(sensor_gyro1, struct gyro_report);
+ORB_DEFINE(sensor_gyro2, struct gyro_report);
 
 #include <drivers/drv_baro.h>
-ORB_DEFINE(sensor_baro, struct baro_report);
+ORB_DEFINE(sensor_baro0, struct baro_report);
+ORB_DEFINE(sensor_baro1, struct baro_report);
 
 #include <drivers/drv_range_finder.h>
 ORB_DEFINE(sensor_range_finder, struct range_finder_report);

src/modules/uORB/topics/actuator_armed.h

@@ -56,6 +56,7 @@ struct actuator_armed_s {
 	bool		armed;		/**< Set to true if system is armed */
 	bool		ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool		lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+	bool		force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */
 };
 
 /**
@@ -65,4 +66,4 @@ struct actuator_armed_s {
 /* register this as object request broker structure */
 ORB_DECLARE(actuator_armed);
 
-#endif
+#endif

src/modules/uORB/topics/position_setpoint_triplet.h

@@ -95,6 +95,8 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s previous;
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
+
+	unsigned nav_state;				/**< report the navigation state */
 };
 
 /**

src/modules/uORB/topics/sensor_combined.h

@@ -95,6 +95,30 @@ struct sensor_combined_s {
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
 	uint64_t magnetometer_timestamp;	/**< Magnetometer timestamp         */
 
+	int16_t	gyro1_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro1_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro1_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer1_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer1_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer1_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer1_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer1_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer1_timestamp;	/**< Magnetometer timestamp         */
+
+	int16_t	gyro2_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro2_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro2_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer2_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer2_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer2_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer2_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer2_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer2_timestamp;	/**< Magnetometer timestamp         */
+
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */

src/modules/uORB/topics/tecs_status.h

@@ -66,6 +66,7 @@ struct tecs_status_s {
 
 	float altitudeSp;
 	float altitude;
+	float altitudeFiltered;
 	float flightPathAngleSp;
 	float flightPathAngle;
 	float flightPathAngleFiltered;

src/modules/uORB/topics/telemetry_status.h

@@ -57,7 +57,8 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 
 struct telemetry_status_s {
 	uint64_t timestamp;
-	uint64_t heartbeat_time;	/**< Time of last received heartbeat from remote system */
+	uint64_t heartbeat_time;		/**< Time of last received heartbeat from remote system */
+	uint64_t telem_time;			/**< Time of last received telemetry status packet, 0 for none */
 	enum TELEMETRY_STATUS_RADIO_TYPE type;	/**< type of the radio hardware     */
 	uint8_t rssi;				/**< local signal strength                      */
 	uint8_t remote_rssi;			/**< remote signal strength                     */

src/modules/uORB/topics/vehicle_command.h

@@ -76,6 +76,7 @@ enum VEHICLE_CMD {
 	VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
 	VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */

src/modules/uORB/topics/vehicle_global_position.h

@@ -70,8 +70,8 @@ struct vehicle_global_position_s {
 	float vel_e;			/**< Ground east velocity, m/s							   */
 	float vel_d;			/**< Ground downside velocity, m/s						   */
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
-	float eph;
-	float epv;
+	float eph;			/**< Standard deviation of position estimate horizontally */
+	float epv;			/**< Standard deviation of position vertically */
 };
 
 /**

src/modules/uORB/topics/vehicle_status.h

@@ -186,7 +186,7 @@ struct vehicle_status_s {
 	bool condition_system_sensors_initialized;
 	bool condition_system_returned_to_home;
 	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_global_position_valid;		/**< set to true by the commander app if the quality of the position estimate is good enough to use it for navigation */
 	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_local_position_valid;
@@ -226,6 +226,7 @@ struct vehicle_status_s {
 	uint16_t errors_count4;
 
 	bool circuit_breaker_engaged_power_check;
+	bool circuit_breaker_engaged_airspd_check;
 };
 
 /**