Updated mavlink version, massive improvements in mission lib, fixes to HIL (state and sensor level)

src/modules/mavlink/mavlink.c

@@ -144,14 +144,6 @@ set_hil_on_off(bool hil_enabled)
 	/* Enable HIL */
 	if (hil_enabled && !mavlink_hil_enabled) {
 
-		/* Advertise topics */
-		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
-		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
-
-		/* sensore level hil */
-		pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
-		pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
-
 		mavlink_hil_enabled = true;
 
 		/* ramp up some HIL-related subscriptions */
@@ -714,6 +706,8 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		lowspeed_counter++;
 
+		mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
+
 		/* sleep quarter the time */
 		usleep(25000);
 
@@ -725,10 +719,13 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		/* send parameters at 20 Hz (if queued for sending) */
 		mavlink_pm_queued_send();
+		mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
 
 		/* sleep quarter the time */
 		usleep(25000);
 
+		mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
+
 		if (baudrate > 57600) {
 			mavlink_pm_queued_send();
 		}

src/modules/mavlink/mavlink_hil.h

@@ -41,15 +41,6 @@
 
 extern bool mavlink_hil_enabled;
 
-extern struct vehicle_global_position_s hil_global_pos;
-extern struct vehicle_attitude_s hil_attitude;
-extern struct sensor_combined_s hil_sensors;
-extern struct vehicle_gps_position_s hil_gps;
-extern orb_advert_t pub_hil_global_pos;
-extern orb_advert_t pub_hil_attitude;
-extern orb_advert_t pub_hil_sensors;
-extern orb_advert_t pub_hil_gps;
-
 /**
  * Enable / disable Hardware in the Loop simulation mode.
  *

src/modules/mavlink/mavlink_receiver.cpp

@@ -0,0 +1,672 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_receiver.c
+ * MAVLink protocol message receive and dispatch
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+/* XXX trim includes */
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <mqueue.h>
+#include <string.h>
+#include <v1.0/common/mavlink.h>
+#include <drivers/drv_hrt.h>
+#include <time.h>
+#include <float.h>
+#include <unistd.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <mathlib/mathlib.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <systemlib/airspeed.h>
+#include <mavlink/mavlink_log.h>
+
+__BEGIN_DECLS
+
+#include "mavlink_bridge_header.h"
+#include "waypoints.h"
+#include "orb_topics.h"
+#include "missionlib.h"
+#include "mavlink_hil.h"
+#include "mavlink_parameters.h"
+#include "util.h"
+
+extern bool gcs_link;
+
+__END_DECLS
+
+/* XXX should be in a header somewhere */
+extern "C" pthread_t receive_start(int uart);
+
+static void handle_message(mavlink_message_t *msg);
+static void *receive_thread(void *arg);
+
+static mavlink_status_t status;
+static struct vehicle_vicon_position_s vicon_position;
+static struct vehicle_command_s vcmd;
+static struct offboard_control_setpoint_s offboard_control_sp;
+
+struct vehicle_global_position_s hil_global_pos;
+struct vehicle_attitude_s hil_attitude;
+struct vehicle_gps_position_s hil_gps;
+struct sensor_combined_s hil_sensors;
+static orb_advert_t pub_hil_global_pos = -1;
+static orb_advert_t pub_hil_attitude = -1;
+static orb_advert_t pub_hil_gps = -1;
+static orb_advert_t pub_hil_sensors = -1;
+static orb_advert_t pub_hil_airspeed = -1;
+
+static orb_advert_t cmd_pub = -1;
+static orb_advert_t flow_pub = -1;
+
+static orb_advert_t offboard_control_sp_pub = -1;
+static orb_advert_t vicon_position_pub = -1;
+static orb_advert_t telemetry_status_pub = -1;
+
+static void
+handle_message(mavlink_message_t *msg)
+{
+	if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
+
+		mavlink_command_long_t cmd_mavlink;
+		mavlink_msg_command_long_decode(msg, &cmd_mavlink);
+
+		if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
+				|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+			//check for MAVLINK terminate command
+			if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
+				/* This is the link shutdown command, terminate mavlink */
+				printf("[mavlink] Terminating .. \n");
+				fflush(stdout);
+				usleep(50000);
+
+				/* terminate other threads and this thread */
+				thread_should_exit = true;
+
+			} else {
+
+				/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+				vcmd.param1 = cmd_mavlink.param1;
+				vcmd.param2 = cmd_mavlink.param2;
+				vcmd.param3 = cmd_mavlink.param3;
+				vcmd.param4 = cmd_mavlink.param4;
+				vcmd.param5 = cmd_mavlink.param5;
+				vcmd.param6 = cmd_mavlink.param6;
+				vcmd.param7 = cmd_mavlink.param7;
+				vcmd.command = cmd_mavlink.command;
+				vcmd.target_system = cmd_mavlink.target_system;
+				vcmd.target_component = cmd_mavlink.target_component;
+				vcmd.source_system = msg->sysid;
+				vcmd.source_component = msg->compid;
+				vcmd.confirmation =  cmd_mavlink.confirmation;
+
+				/* check if topic is advertised */
+				if (cmd_pub <= 0) {
+					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+				} else {
+					/* publish */
+					orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+				}
+			}
+		}
+	}
+
+	if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
+		mavlink_optical_flow_t flow;
+		mavlink_msg_optical_flow_decode(msg, &flow);
+
+		struct optical_flow_s f;
+
+		f.timestamp = flow.time_usec;
+		f.flow_raw_x = flow.flow_x;
+		f.flow_raw_y = flow.flow_y;
+		f.flow_comp_x_m = flow.flow_comp_m_x;
+		f.flow_comp_y_m = flow.flow_comp_m_y;
+		f.ground_distance_m = flow.ground_distance;
+		f.quality = flow.quality;
+		f.sensor_id = flow.sensor_id;
+
+		/* check if topic is advertised */
+		if (flow_pub <= 0) {
+			flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+
+		} else {
+			/* publish */
+			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
+		}
+	}
+
+	if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
+		/* Set mode on request */
+		mavlink_set_mode_t new_mode;
+		mavlink_msg_set_mode_decode(msg, &new_mode);
+
+		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+		vcmd.param1 = new_mode.base_mode;
+		vcmd.param2 = new_mode.custom_mode;
+		vcmd.param3 = 0;
+		vcmd.param4 = 0;
+		vcmd.param5 = 0;
+		vcmd.param6 = 0;
+		vcmd.param7 = 0;
+		vcmd.command = MAV_CMD_DO_SET_MODE;
+		vcmd.target_system = new_mode.target_system;
+		vcmd.target_component = MAV_COMP_ID_ALL;
+		vcmd.source_system = msg->sysid;
+		vcmd.source_component = msg->compid;
+		vcmd.confirmation = 1;
+
+		/* check if topic is advertised */
+		if (cmd_pub <= 0) {
+			cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
+		} else {
+			/* create command */
+			orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+		}
+	}
+
+	/* Handle Vicon position estimates */
+	if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
+		mavlink_vicon_position_estimate_t pos;
+		mavlink_msg_vicon_position_estimate_decode(msg, &pos);
+
+		vicon_position.timestamp = hrt_absolute_time();
+
+		vicon_position.x = pos.x;
+		vicon_position.y = pos.y;
+		vicon_position.z = pos.z;
+
+		vicon_position.roll = pos.roll;
+		vicon_position.pitch = pos.pitch;
+		vicon_position.yaw = pos.yaw;
+
+		if (vicon_position_pub <= 0) {
+			vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
+
+		} else {
+			orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
+		}
+	}
+
+	/* Handle quadrotor motor setpoints */
+
+	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
+		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
+		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
+
+		if (mavlink_system.sysid < 4) {
+
+			/* switch to a receiving link mode */
+			gcs_link = false;
+
+			/*
+			 * rate control mode - defined by MAVLink
+			 */
+
+			uint8_t ml_mode = 0;
+			bool ml_armed = false;
+
+			switch (quad_motors_setpoint.mode) {
+			case 0:
+				ml_armed = false;
+				break;
+
+			case 1:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+				ml_armed = true;
+
+				break;
+
+			case 2:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+				ml_armed = true;
+
+				break;
+
+			case 3:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+				break;
+
+			case 4:
+				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+				break;
+			}
+
+			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1]   / (float)INT16_MAX;
+			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1]  / (float)INT16_MAX;
+			offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1]    / (float)INT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
+
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
+				ml_armed = false;
+			}
+
+			offboard_control_sp.armed = ml_armed;
+			offboard_control_sp.mode = static_cast<enum OFFBOARD_CONTROL_MODE>(ml_mode);
+
+			offboard_control_sp.timestamp = hrt_absolute_time();
+
+			/* check if topic has to be advertised */
+			if (offboard_control_sp_pub <= 0) {
+				offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+
+			} else {
+				/* Publish */
+				orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
+			}
+		}
+	}
+
+	/* handle status updates of the radio */
+	if (msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
+
+		struct telemetry_status_s tstatus;
+
+		mavlink_radio_status_t rstatus;
+		mavlink_msg_radio_status_decode(msg, &rstatus);
+
+		/* publish telemetry status topic */
+		tstatus.timestamp = hrt_absolute_time();
+		tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
+		tstatus.rssi = rstatus.rssi;
+		tstatus.remote_rssi = rstatus.remrssi;
+		tstatus.txbuf = rstatus.txbuf;
+		tstatus.noise = rstatus.noise;
+		tstatus.remote_noise = rstatus.remnoise;
+		tstatus.rxerrors = rstatus.rxerrors;
+		tstatus.fixed = rstatus.fixed;
+
+		if (telemetry_status_pub == 0) {
+			telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
+
+		} else {
+			orb_publish(ORB_ID(telemetry_status), telemetry_status_pub, &tstatus);
+		}
+	}
+
+	/*
+	 * Only decode hil messages in HIL mode.
+	 *
+	 * The HIL mode is enabled by the HIL bit flag
+	 * in the system mode. Either send a set mode
+	 * COMMAND_LONG message or a SET_MODE message
+	 */
+
+	if (mavlink_hil_enabled) {
+
+		uint64_t timestamp = hrt_absolute_time();
+
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_SENSOR) {
+
+			mavlink_hil_sensor_t imu;
+			mavlink_msg_hil_sensor_decode(msg, &imu);
+
+			/* packet counter */
+			static uint16_t hil_counter = 0;
+			static uint16_t hil_frames = 0;
+			static uint64_t old_timestamp = 0;
+
+			/* sensors general */
+			hil_sensors.timestamp = hrt_absolute_time();
+
+			/* hil gyro */
+			static const float mrad2rad = 1.0e-3f;
+			hil_sensors.gyro_counter = hil_counter;
+			hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
+			hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
+			hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
+			hil_sensors.gyro_rad_s[0] = imu.xgyro;
+			hil_sensors.gyro_rad_s[1] = imu.ygyro;
+			hil_sensors.gyro_rad_s[2] = imu.zgyro;
+
+			/* accelerometer */
+			hil_sensors.accelerometer_counter = hil_counter;
+			static const float mg2ms2 = 9.8f / 1000.0f;
+			hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
+			hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
+			hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
+			hil_sensors.accelerometer_m_s2[0] = imu.xacc;
+			hil_sensors.accelerometer_m_s2[1] = imu.yacc;
+			hil_sensors.accelerometer_m_s2[2] = imu.zacc;
+			hil_sensors.accelerometer_mode = 0; // TODO what is this?
+			hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
+
+			/* adc */
+			hil_sensors.adc_voltage_v[0] = 0;
+			hil_sensors.adc_voltage_v[1] = 0;
+			hil_sensors.adc_voltage_v[2] = 0;
+
+			/* magnetometer */
+			float mga2ga = 1.0e-3f;
+			hil_sensors.magnetometer_counter = hil_counter;
+			hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
+			hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
+			hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
+			hil_sensors.magnetometer_ga[0] = imu.xmag;
+			hil_sensors.magnetometer_ga[1] = imu.ymag;
+			hil_sensors.magnetometer_ga[2] = imu.zmag;
+			hil_sensors.magnetometer_range_ga = 32.7f; // int16
+			hil_sensors.magnetometer_mode = 0; // TODO what is this
+			hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
+
+			/* baro */
+			hil_sensors.baro_pres_mbar = imu.abs_pressure;
+			hil_sensors.baro_alt_meter = imu.pressure_alt;
+			hil_sensors.baro_temp_celcius = imu.temperature;
+
+			hil_sensors.gyro_counter = hil_counter;
+			hil_sensors.magnetometer_counter = hil_counter;
+			hil_sensors.accelerometer_counter = hil_counter;
+
+			/* differential pressure */
+			hil_sensors.differential_pressure_pa = imu.diff_pressure;
+			hil_sensors.differential_pressure_counter = hil_counter;
+
+			/* airspeed from differential pressure, ambient pressure and temp */
+			struct airspeed_s airspeed;
+			airspeed.timestamp = hrt_absolute_time();
+
+			float ias = calc_indicated_airspeed(imu.diff_pressure);
+			float tas = calc_true_airspeed_from_indicated(ias, imu.abs_pressure, imu.temperature);
+
+			airspeed.indicated_airspeed_m_s = ias;
+			airspeed.true_airspeed_m_s = tas;
+
+			if (pub_hil_airspeed < 0) {
+				pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+			} else {
+				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
+			}
+			warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
+
+			/* publish */
+			if (pub_hil_sensors > 0) {
+				orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+			} else {
+				pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+			}
+
+			// increment counters
+			hil_counter++;
+			hil_frames++;
+
+			// output
+			if ((timestamp - old_timestamp) > 10000000) {
+				printf("receiving hil sensor at %d hz\n", hil_frames/10);
+				old_timestamp = timestamp;
+				hil_frames = 0;
+			}
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_GPS) {
+
+			mavlink_hil_gps_t gps;
+			mavlink_msg_hil_gps_decode(msg, &gps);
+
+			/* gps */
+			hil_gps.timestamp_position = gps.time_usec;
+			hil_gps.time_gps_usec = gps.time_usec;
+			hil_gps.lat = gps.lat;
+			hil_gps.lon = gps.lon;
+			hil_gps.alt = gps.alt;
+			hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
+			hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+			hil_gps.s_variance_m_s = 5.0f;
+			hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
+			hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
+
+			/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
+			float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
+			/* go back to -PI..PI */
+			if (heading_rad > M_PI_F)
+				heading_rad -= 2.0f * M_PI_F;
+			hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
+			hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
+			hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
+			hil_gps.vel_ned_valid = true;
+			/* COG (course over ground) is spec'ed as -PI..+PI */
+			hil_gps.cog_rad = heading_rad;
+			hil_gps.fix_type = gps.fix_type;
+			hil_gps.satellites_visible = gps.satellites_visible;
+
+			/* publish GPS measurement data */
+			if (pub_hil_gps > 0) {
+				orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
+			} else {
+				pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+			}
+
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE_QUATERNION) {
+
+			mavlink_hil_state_quaternion_t hil_state;
+			mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
+
+			struct airspeed_s airspeed;
+			airspeed.timestamp = hrt_absolute_time();
+			airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
+			airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
+
+			if (pub_hil_airspeed < 0) {
+				pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+			} else {
+				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
+			}
+			warnx("IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
+
+			hil_global_pos.lat = hil_state.lat;
+			hil_global_pos.lon = hil_state.lon;
+			hil_global_pos.alt = hil_state.alt / 1000.0f;
+			hil_global_pos.vx = hil_state.vx / 100.0f;
+			hil_global_pos.vy = hil_state.vy / 100.0f;
+			hil_global_pos.vz = hil_state.vz / 100.0f;
+
+			/* set timestamp and notify processes (broadcast) */
+			hil_global_pos.timestamp = hrt_absolute_time();
+
+			if (pub_hil_global_pos > 0) {
+				orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
+			} else {
+				pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
+			}
+
+			/* Calculate Rotation Matrix */
+			math::Quaternion q(hil_state.attitude_quaternion);
+			math::Dcm C_nb(q);
+			math::EulerAngles euler(C_nb);
+
+			/* set rotation matrix */
+			for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
+				hil_attitude.R[i][j] = C_nb(i, j);
+			
+			hil_attitude.R_valid = true;
+
+			/* set quaternion */
+			hil_attitude.q[0] = q(0);
+			hil_attitude.q[1] = q(1);
+			hil_attitude.q[2] = q(2);
+			hil_attitude.q[3] = q(3);
+			hil_attitude.q_valid = true;
+
+			hil_attitude.roll = euler.getPhi();
+			hil_attitude.pitch = euler.getTheta();
+			hil_attitude.yaw = euler.getPsi();
+			hil_attitude.rollspeed = hil_state.rollspeed;
+			hil_attitude.pitchspeed = hil_state.pitchspeed;
+			hil_attitude.yawspeed = hil_state.yawspeed;
+
+			/* set timestamp and notify processes (broadcast) */
+			hil_attitude.timestamp = hrt_absolute_time();
+
+			if (pub_hil_attitude > 0) {
+				orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+			} else {
+				pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
+			}
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
+			mavlink_manual_control_t man;
+			mavlink_msg_manual_control_decode(msg, &man);
+
+			struct rc_channels_s rc_hil;
+			memset(&rc_hil, 0, sizeof(rc_hil));
+			static orb_advert_t rc_pub = 0;
+
+			rc_hil.timestamp = hrt_absolute_time();
+			rc_hil.chan_count = 4;
+
+			rc_hil.chan[0].scaled = man.x / 1000.0f;
+			rc_hil.chan[1].scaled = man.y / 1000.0f;
+			rc_hil.chan[2].scaled = man.r / 1000.0f;
+			rc_hil.chan[3].scaled = man.z / 1000.0f;
+
+			struct manual_control_setpoint_s mc;
+			static orb_advert_t mc_pub = 0;
+
+			int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+
+			/* get a copy first, to prevent altering values that are not sent by the mavlink command */
+			orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc);
+
+			mc.timestamp = rc_hil.timestamp;
+			mc.roll = man.x / 1000.0f;
+			mc.pitch = man.y / 1000.0f;
+			mc.yaw = man.r / 1000.0f;
+			mc.throttle = man.z / 1000.0f;
+
+			/* fake RC channels with manual control input from simulator */
+
+
+			if (rc_pub == 0) {
+				rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
+
+			} else {
+				orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
+			}
+
+			if (mc_pub == 0) {
+				mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
+
+			} else {
+				orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
+			}
+		}
+	}
+}
+
+
+/**
+ * Receive data from UART.
+ */
+static void *
+receive_thread(void *arg)
+{
+	int uart_fd = *((int *)arg);
+
+	const int timeout = 1000;
+	uint8_t buf[32];
+
+	mavlink_message_t msg;
+
+	prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
+
+	while (!thread_should_exit) {
+
+		struct pollfd fds[1];
+		fds[0].fd = uart_fd;
+		fds[0].events = POLLIN;
+
+		if (poll(fds, 1, timeout) > 0) {
+			/* non-blocking read. read may return negative values */
+			ssize_t nread = read(uart_fd, buf, sizeof(buf));
+
+			/* if read failed, this loop won't execute */
+			for (ssize_t i = 0; i < nread; i++) {
+				if (mavlink_parse_char(chan, buf[i], &msg, &status)) {
+					/* handle generic messages and commands */
+					handle_message(&msg);
+
+					/* Handle packet with waypoint component */
+					mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
+
+					/* Handle packet with parameter component */
+					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
+				}
+			}
+		}
+	}
+
+	return NULL;
+}
+
+pthread_t
+receive_start(int uart)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+
+	// set to non-blocking read
+	int flags = fcntl(uart, F_GETFL, 0);
+	fcntl(uart, F_SETFL, flags | O_NONBLOCK);
+
+	struct sched_param param;
+	param.sched_priority = SCHED_PRIORITY_MAX - 40;
+	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+	pthread_attr_setstacksize(&receiveloop_attr, 3000);
+
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
+	return thread;
+}

src/modules/mavlink/missionlib.c

@@ -60,6 +60,7 @@
 #include <stdlib.h>
 #include <poll.h>
 
+#include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 #include <mavlink/mavlink_log.h>
@@ -73,6 +74,10 @@
 #include "mavlink_parameters.h"
 
 static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+static uint64_t loiter_start_time;
+
+static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
+	struct vehicle_global_position_setpoint_s *sp);
 
 int
 mavlink_missionlib_send_message(mavlink_message_t *msg)
@@ -122,6 +127,52 @@ uint64_t mavlink_missionlib_get_system_timestamp()
 	return hrt_absolute_time();
 }
 
+/**
+ * Set special vehicle setpoint fields based on current mission item.
+ *
+ * @return true if the mission item could be interpreted
+ * successfully, it return false on failure.
+ */
+bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
+	struct vehicle_global_position_setpoint_s *sp)
+{
+	switch (command) {
+		case MAV_CMD_NAV_LOITER_UNLIM:
+			sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+			break;
+		case MAV_CMD_NAV_LOITER_TIME:
+			sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+			loiter_start_time = hrt_absolute_time();
+			break;
+		// case MAV_CMD_NAV_LOITER_TURNS:
+		// 	sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT;
+		// 	break;
+		case MAV_CMD_NAV_WAYPOINT:
+			sp->nav_cmd = NAV_CMD_WAYPOINT;
+			break;
+		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+			sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
+			break;
+		case MAV_CMD_NAV_LAND:
+			sp->nav_cmd = NAV_CMD_LAND;
+			break;
+		case MAV_CMD_NAV_TAKEOFF:
+			sp->nav_cmd = NAV_CMD_TAKEOFF;
+			break;
+		default:
+			/* abort */
+			return false;
+	}
+
+	sp->loiter_radius = param3;
+	sp->loiter_direction = (param3 >= 0) ? 1 : -1;
+
+	sp->param1 = param1;
+	sp->param1 = param2;
+	sp->param1 = param3;
+	sp->param1 = param4;
+}
+
 /**
  * This callback is executed each time a waypoint changes.
  *
@@ -133,9 +184,13 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
 {
 	static orb_advert_t global_position_setpoint_pub = -1;
+	static orb_advert_t global_position_set_triplet_pub = -1;
 	static orb_advert_t local_position_setpoint_pub = -1;
+	static unsigned last_waypoint_index = -1;
 	char buf[50] = {0};
 
+	// XXX include check if WP is supported, jump to next if not
+
 	/* Update controller setpoints */
 	if (frame == (int)MAV_FRAME_GLOBAL) {
 		/* global, absolute waypoint */
@@ -145,8 +200,9 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = false;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		set_special_fields(param1, param2, param3, param4, command, &sp);
 
-		/* Initialize publication if necessary */
+		/* Initialize setpoint publication if necessary */
 		if (global_position_setpoint_pub < 0) {
 			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
 
@@ -154,6 +210,113 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
 
+
+		/* fill triplet: previous, current, next waypoint */
+		struct vehicle_global_position_set_triplet_s triplet;
+
+		/* current waypoint is same as sp */
+		memcpy(&(triplet.current), &sp, sizeof(sp));
+
+		/*
+		 * Check if previous WP (in mission, not in execution order) 
+		 * is available and identify correct index
+		 */
+		int last_setpoint_index = -1;
+		bool last_setpoint_valid = false;
+
+		/* at first waypoint, but cycled once through mission */
+		if (index == 0 && last_waypoint_index > 0) {
+			last_setpoint_index = last_waypoint_index;
+		} else {
+			last_setpoint_index = index - 1;
+		}
+
+		while (last_setpoint_index >= 0) {
+
+			if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL &&
+				(wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
+				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
+				last_setpoint_valid = true;
+				break;
+			}
+
+			last_setpoint_index--;
+		}
+
+		/*
+		 * Check if next WP (in mission, not in execution order) 
+		 * is available and identify correct index
+		 */
+		int next_setpoint_index = -1;
+		bool next_setpoint_valid = false;
+
+		/* at last waypoint, try to re-loop through mission as default */
+		if (index == (wpm->size - 1) && wpm->size > 1) {
+			next_setpoint_index = 0;
+		} else if (wpm->size > 1) {
+			next_setpoint_index = index + 1;
+		}
+
+		while (next_setpoint_index < wpm->size - 1) {
+
+			if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
+					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
+				next_setpoint_valid = true;
+				break;
+			}
+
+			next_setpoint_index++;
+		}
+
+		/* populate last and next */
+
+		triplet.previous_valid = false;
+		triplet.next_valid = false;
+
+		if (last_setpoint_valid) {
+			triplet.previous_valid = true;
+			struct vehicle_global_position_setpoint_s sp;
+			sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f;
+			sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
+			sp.altitude = wpm->waypoints[last_setpoint_index].z;
+			sp.altitude_is_relative = false;
+			sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
+			set_special_fields(wpm->waypoints[last_setpoint_index].param1,
+				wpm->waypoints[last_setpoint_index].param2,
+				wpm->waypoints[last_setpoint_index].param3,
+				wpm->waypoints[last_setpoint_index].param4,
+				wpm->waypoints[last_setpoint_index].command, &sp);
+			memcpy(&(triplet.previous), &sp, sizeof(sp));
+		}
+
+		if (next_setpoint_valid) {
+			triplet.next_valid = true;
+			struct vehicle_global_position_setpoint_s sp;
+			sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f;
+			sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
+			sp.altitude = wpm->waypoints[next_setpoint_index].z;
+			sp.altitude_is_relative = false;
+			sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
+			set_special_fields(wpm->waypoints[next_setpoint_index].param1,
+				wpm->waypoints[next_setpoint_index].param2,
+				wpm->waypoints[next_setpoint_index].param3,
+				wpm->waypoints[next_setpoint_index].param4,
+				wpm->waypoints[next_setpoint_index].command, &sp);
+			memcpy(&(triplet.next), &sp, sizeof(sp));
+		}
+
+		/* Initialize triplet publication if necessary */
+		if (global_position_set_triplet_pub < 0) {
+			global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet);
+
+		} else {
+			orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet);
+		}
+
 		sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
@@ -164,6 +327,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		sp.altitude = param7_alt_z;
 		sp.altitude_is_relative = true;
 		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		set_special_fields(param1, param2, param3, param4, command, &sp);
 
 		/* Initialize publication if necessary */
 		if (global_position_setpoint_pub < 0) {
@@ -173,6 +337,8 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
 		}
 
+
+
 		sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
 
 	} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
@@ -192,8 +358,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
 		}
 
 		sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
+	} else {
+		warnx("non-navigation WP, ignoring");
+		mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring.");
+		return;
 	}
 
+	/* only set this for known waypoint types (non-navigation types would have returned earlier) */
+	last_waypoint_index = index;
+
 	mavlink_missionlib_send_gcs_string(buf);
 	printf("%s\n", buf);
 	//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);

src/modules/mavlink/module.mk

@@ -40,7 +40,7 @@ SRCS		 += mavlink.c \
 			   missionlib.c \
 			   mavlink_parameters.c \
 			   mavlink_log.c \
-			   mavlink_receiver.c \
+			   mavlink_receiver.cpp \
 			   orb_listener.c \
 			   waypoints.c
 

src/modules/mavlink/orb_listener.c

@@ -72,6 +72,8 @@ struct vehicle_status_s v_status;
 struct rc_channels_s rc;
 struct rc_input_values rc_raw;
 struct actuator_armed_s armed;
+struct actuator_controls_effective_s actuators_0;
+struct vehicle_attitude_s att;
 
 struct mavlink_subscriptions mavlink_subs;
 
@@ -116,6 +118,7 @@ static void	l_debug_key_value(const struct listener *l);
 static void	l_optical_flow(const struct listener *l);
 static void	l_vehicle_rates_setpoint(const struct listener *l);
 static void	l_home(const struct listener *l);
+static void	l_airspeed(const struct listener *l);
 
 static const struct listener listeners[] = {
 	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
@@ -140,6 +143,7 @@ static const struct listener listeners[] = {
 	{l_optical_flow,		&mavlink_subs.optical_flow,	0},
 	{l_vehicle_rates_setpoint,	&mavlink_subs.rates_setpoint_sub,	0},
 	{l_home,			&mavlink_subs.home_sub,		0},
+	{l_airspeed,			&mavlink_subs.airspeed_sub,		0},
 };
 
 static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
@@ -202,9 +206,6 @@ l_sensor_combined(const struct listener *l)
 void
 l_vehicle_attitude(const struct listener *l)
 {
-	struct vehicle_attitude_s att;
-
-
 	/* copy attitude data into local buffer */
 	orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
 
@@ -564,28 +565,26 @@ l_manual_control_setpoint(const struct listener *l)
 void
 l_vehicle_attitude_controls(const struct listener *l)
 {
-	struct actuator_controls_effective_s actuators;
-
-	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators);
+	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators_0);
 
 	if (gcs_link) {
 		/* send, add spaces so that string buffer is at least 10 chars long */
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl0    ",
-						   actuators.control_effective[0]);
+						   actuators_0.control_effective[0]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl1    ",
-						   actuators.control_effective[1]);
+						   actuators_0.control_effective[1]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl2     ",
-						   actuators.control_effective[2]);
+						   actuators_0.control_effective[2]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
 						   "eff ctrl3     ",
-						   actuators.control_effective[3]);
+						   actuators_0.control_effective[3]);
 	}
 }
 
@@ -626,6 +625,22 @@ l_home(const struct listener *l)
 	mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
 }
 
+void
+l_airspeed(const struct listener *l)
+{
+	struct airspeed_s airspeed;
+
+	orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed);
+
+	float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
+	float throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1);
+	float alt = global_pos.alt;
+	float climb = global_pos.vz;
+
+	mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed,
+		((att.yaw + M_PI_F) / M_PI_F) * 180.0f, throttle, alt, climb);
+}
+
 static void *
 uorb_receive_thread(void *arg)
 {
@@ -765,6 +780,10 @@ uorb_receive_start(void)
 	mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
 	orb_set_interval(mavlink_subs.optical_flow, 200); 	/* 5Hz updates */
 
+	/* --- AIRSPEED / VFR / HUD --- */
+	mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	orb_set_interval(mavlink_subs.airspeed_sub, 200); 	/* 5Hz updates */
+
 	/* start the listener loop */
 	pthread_attr_t uorb_attr;
 	pthread_attr_init(&uorb_attr);

src/modules/mavlink/orb_topics.h

@@ -52,6 +52,7 @@
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/vehicle_global_position_set_triplet.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/optical_flow.h>
@@ -59,7 +60,9 @@
 #include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/debug_key_value.h>
+#include <uORB/topics/airspeed.h>
 #include <drivers/drv_rc_input.h>
 
 struct mavlink_subscriptions {
@@ -83,6 +86,7 @@ struct mavlink_subscriptions {
 	int optical_flow;
 	int rates_setpoint_sub;
 	int home_sub;
+	int airspeed_sub;
 };
 
 extern struct mavlink_subscriptions mavlink_subs;

src/modules/mavlink/waypoints.c

@@ -347,15 +347,24 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 {
 	static uint16_t counter;
 
-	// Do not flood the precious wireless link with debug data
-	// if (wpm->size > 0 && counter % 10 == 0) {
-	// 	printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id);
-	// }
-
-
 	if (wpm->current_active_wp_id < wpm->size) {
 
-		float orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
+		float orbit;
+		if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT) {
+
+			orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
+
+		} else if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
+
+			orbit = wpm->waypoints[wpm->current_active_wp_id].param3;
+		} else {
+
+			// XXX set default orbit via param
+			orbit = 15.0f;
+		}
+
 		int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame;
 		float dist = -1.0f;
 
@@ -374,10 +383,9 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 		}
 
 		if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw
+
 			wpm->pos_reached = true;
 
-			if (counter % 100 == 0)
-				printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
 		}
 
 //		else
@@ -394,29 +402,47 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
 
 			if (wpm->timestamp_firstinside_orbit == 0) {
 				// Announce that last waypoint was reached
-				printf("Reached waypoint %u for the first time \n", cur_wp->seq);
 				mavlink_wpm_send_waypoint_reached(cur_wp->seq);
 				wpm->timestamp_firstinside_orbit = now;
 			}
 
 			// check if the MAV was long enough inside the waypoint orbit
 			//if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
-			if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param2 * 1000) {
-				printf("Reached waypoint %u long enough \n", cur_wp->seq);
 
+			bool time_elapsed = false;
+
+			if (cur_wp->command == (int)MAV_CMD_NAV_LOITER_TIME) {
+				if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) {
+					time_elapsed = true;
+				}
+			} else if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) {
+				time_elapsed = true;
+			} else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) {
+				time_elapsed = true;
+			}
+
+			if (time_elapsed) {
 				if (cur_wp->autocontinue) {
 					cur_wp->current = 0;
 
-					if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
-						/* the last waypoint was reached, if auto continue is
-						 * activated restart the waypoint list from the beginning
-						 */
-						wpm->current_active_wp_id = 0;
+					/* only accept supported navigation waypoints, skip unknown ones */
+					do {
 
-					} else {
-						if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
-							wpm->current_active_wp_id++;
-					}
+						if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
+							/* the last waypoint was reached, if auto continue is
+							 * activated restart the waypoint list from the beginning
+							 */
+							wpm->current_active_wp_id = 0;
+
+						} else {
+							if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
+								wpm->current_active_wp_id++;
+						}
+			
+					} while (!(wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
+				wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM));
 
 					// Fly to next waypoint
 					wpm->timestamp_firstinside_orbit = 0;