Merge branch 'master' into acro2

src/modules/uORB/Publication.cpp

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 Publication.cpp
+ *
+ */
+
+#include "Publication.hpp"
+#include "topics/vehicle_attitude.h"
+#include "topics/vehicle_local_position.h"
+#include "topics/vehicle_global_position.h"
+#include "topics/debug_key_value.h"
+#include "topics/actuator_controls.h"
+#include "topics/vehicle_global_velocity_setpoint.h"
+#include "topics/vehicle_attitude_setpoint.h"
+#include "topics/vehicle_rates_setpoint.h"
+#include "topics/actuator_outputs.h"
+#include "topics/encoders.h"
+
+namespace uORB {
+
+template<class T>
+Publication<T>::Publication(
+	List<PublicationBase *> * list,
+	const struct orb_metadata *meta) :
+	T(), // initialize data structure to zero
+	PublicationBase(list, meta) {
+}
+
+template<class T>
+Publication<T>::~Publication() {}
+
+template<class T>
+void * Publication<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template class __EXPORT Publication<vehicle_attitude_s>;
+template class __EXPORT Publication<vehicle_local_position_s>;
+template class __EXPORT Publication<vehicle_global_position_s>;
+template class __EXPORT Publication<debug_key_value_s>;
+template class __EXPORT Publication<actuator_controls_s>;
+template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>;
+template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
+template class __EXPORT Publication<vehicle_rates_setpoint_s>;
+template class __EXPORT Publication<actuator_outputs_s>;
+template class __EXPORT Publication<encoders_s>;
+
+}

src/modules/uORB/Publication.hpp

@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 Publication.h
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include <containers/List.hpp>
+
+
+namespace uORB
+{
+
+/**
+ * Base publication warapper class, used in list traversal
+ * of various publications.
+ */
+class __EXPORT PublicationBase : public ListNode<uORB::PublicationBase *>
+{
+public:
+
+	PublicationBase(
+		List<PublicationBase *> * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle(-1) {
+		if (list != NULL) list->add(this);
+	}
+	void update() {
+		if (_handle > 0) {
+			orb_publish(getMeta(), getHandle(), getDataVoidPtr());
+		} else {
+			setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
+		}
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~PublicationBase() {
+		orb_unsubscribe(getHandle());
+	}
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+	void setHandle(orb_advert_t handle) { _handle = handle; }
+	const struct orb_metadata *_meta;
+	orb_advert_t _handle;
+};
+
+/**
+ * Publication wrapper class
+ */
+template<class T>
+class Publication :
+	public T, // this must be first!
+	public PublicationBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	Publication(List<PublicationBase *> * list,
+		const struct orb_metadata *meta);
+	virtual ~Publication();
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr();
+};
+
+} // namespace uORB

src/modules/uORB/Subscription.cpp

@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 Subscription.cpp
+ *
+ */
+
+#include "Subscription.hpp"
+#include "topics/parameter_update.h"
+#include "topics/actuator_controls.h"
+#include "topics/vehicle_gps_position.h"
+#include "topics/sensor_combined.h"
+#include "topics/vehicle_attitude.h"
+#include "topics/vehicle_global_position.h"
+#include "topics/encoders.h"
+#include "topics/position_setpoint_triplet.h"
+#include "topics/vehicle_status.h"
+#include "topics/manual_control_setpoint.h"
+#include "topics/vehicle_local_position_setpoint.h"
+#include "topics/vehicle_local_position.h"
+#include "topics/vehicle_attitude_setpoint.h"
+#include "topics/vehicle_rates_setpoint.h"
+
+namespace uORB
+{
+
+bool __EXPORT SubscriptionBase::updated()
+{
+	bool isUpdated = false;
+	orb_check(_handle, &isUpdated);
+	return isUpdated;
+}
+
+template<class T>
+Subscription<T>::Subscription(
+	List<SubscriptionBase *> * list,
+	const struct orb_metadata *meta, unsigned interval) :
+	T(), // initialize data structure to zero
+	SubscriptionBase(list, meta) {
+	setHandle(orb_subscribe(getMeta()));
+	orb_set_interval(getHandle(), interval);
+}
+
+template<class T>
+Subscription<T>::~Subscription() {}
+
+template<class T>
+void * Subscription<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template<class T>
+T Subscription<T>::getData() {
+	return T(*this);
+}
+
+template class __EXPORT Subscription<parameter_update_s>;
+template class __EXPORT Subscription<actuator_controls_s>;
+template class __EXPORT Subscription<vehicle_gps_position_s>;
+template class __EXPORT Subscription<sensor_combined_s>;
+template class __EXPORT Subscription<vehicle_attitude_s>;
+template class __EXPORT Subscription<vehicle_global_position_s>;
+template class __EXPORT Subscription<encoders_s>;
+template class __EXPORT Subscription<position_setpoint_triplet_s>;
+template class __EXPORT Subscription<vehicle_status_s>;
+template class __EXPORT Subscription<manual_control_setpoint_s>;
+template class __EXPORT Subscription<vehicle_local_position_setpoint_s>;
+template class __EXPORT Subscription<vehicle_local_position_s>;
+template class __EXPORT Subscription<vehicle_attitude_setpoint_s>;
+template class __EXPORT Subscription<vehicle_rates_setpoint_s>;
+
+} // namespace uORB

src/modules/uORB/Subscription.hpp

@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 Subscription.h
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include <containers/List.hpp>
+
+
+namespace uORB
+{
+
+/**
+ * Base subscription warapper class, used in list traversal
+ * of various subscriptions.
+ */
+class __EXPORT SubscriptionBase :
+	public ListNode<SubscriptionBase *>
+{
+public:
+// methods
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	SubscriptionBase(
+		List<SubscriptionBase *> * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle() {
+		if (list != NULL) list->add(this);
+	}
+	bool updated();
+	void update() {
+		if (updated()) {
+			orb_copy(_meta, _handle, getDataVoidPtr());
+		}
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~SubscriptionBase() {
+		orb_unsubscribe(_handle);
+	}
+// accessors
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+// accessors
+	void setHandle(int handle) { _handle = handle; }
+// attributes
+	const struct orb_metadata *_meta;
+	int _handle;
+};
+
+/**
+ * Subscription wrapper class
+ */
+template<class T>
+class __EXPORT Subscription :
+	public T, // this must be first!
+	public SubscriptionBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 * @param interval  The minimum interval in milliseconds between updates
+	 */
+	Subscription(
+		List<SubscriptionBase *> * list,
+		const struct orb_metadata *meta, unsigned interval);
+	/**
+	 * Deconstructor
+	 */
+	virtual ~Subscription();
+
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr();
+	T getData();
+};
+
+} // namespace uORB

src/modules/uORB/module.mk

@@ -41,4 +41,6 @@ MODULE_COMMAND		= uorb
 MODULE_STACKSIZE	= 4096
 
 SRCS			= uORB.cpp \
-			  objects_common.cpp
+			  objects_common.cpp \
+			  Publication.cpp \
+			  Subscription.cpp

src/modules/uORB/objects_common.cpp

@@ -90,6 +90,9 @@ ORB_DEFINE(battery_status, struct battery_status_s);
 #include "topics/servorail_status.h"
 ORB_DEFINE(servorail_status, struct servorail_status_s);
 
+#include "topics/system_power.h"
+ORB_DEFINE(system_power, struct system_power_s);
+
 #include "topics/vehicle_global_position.h"
 ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 
@@ -124,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
 ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
 
 #include "topics/mission.h"
-ORB_DEFINE(mission, struct mission_s);
+ORB_DEFINE(offboard_mission, struct mission_s);
 ORB_DEFINE(onboard_mission, struct mission_s);
 
 #include "topics/mission_result.h"
@@ -190,3 +193,9 @@ ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s);
 
 #include "topics/esc_status.h"
 ORB_DEFINE(esc_status, struct esc_status_s);
+
+#include "topics/encoders.h"
+ORB_DEFINE(encoders, struct encoders_s);
+
+#include "topics/estimator_status.h"
+ORB_DEFINE(estimator_status, struct estimator_status_report);

src/modules/uORB/topics/airspeed.h

@@ -52,9 +52,10 @@
  * Airspeed
  */
 struct airspeed_s {
-	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
+	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
 	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
-	float		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
+	float		true_airspeed_m_s;		/**< true airspeed in meters per second, -1 if unknown */
+	float		air_temperature_celsius;	/**< air temperature in degrees celsius, -1000 if unknown */
 };
 
 /**

src/modules/uORB/topics/differential_pressure.h

@@ -52,12 +52,14 @@
  * Differential pressure.
  */
 struct differential_pressure_s {
-	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
-	uint64_t	error_count;
-	float	differential_pressure_pa;	/**< Differential pressure reading */
-	float	max_differential_pressure_pa;	/**< Maximum differential pressure reading */
-	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
-	float		temperature;			/**< Temperature provided by sensor */
+	uint64_t	timestamp;			/**< Microseconds since system boot, needed to integrate */
+	uint64_t	error_count;			/**< Number of errors detected by driver */
+	float	differential_pressure_pa;		/**< Differential pressure reading */
+	float	differential_pressure_raw_pa;		/**< Raw differential pressure reading (may be negative) */
+	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
+	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */
+	float	voltage;				/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
+	float	temperature;				/**< Temperature provided by sensor, -1000.0f if unknown */
 
 };
 

src/modules/uORB/topics/encoders.h

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 encoders.h
+ *
+ * Encoders topic.
+ *
+ */
+
+#ifndef TOPIC_ENCODERS_H
+#define TOPIC_ENCODERS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+#define NUM_ENCODERS 4
+
+struct encoders_s {
+	uint64_t timestamp;
+	int64_t counts[NUM_ENCODERS]; // counts of encoder
+	float velocity[NUM_ENCODERS]; // counts of encoder/ second
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(encoders);
+
+#endif

src/modules/uORB/topics/esc_status.h

@@ -60,7 +60,7 @@
 enum ESC_VENDOR {
 	ESC_VENDOR_GENERIC = 0,					/**< generic ESC */
 	ESC_VENDOR_MIKROKOPTER,					/**< Mikrokopter */
-	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */	
+	ESC_VENDOR_GRAUPNER_HOTT				/**< Graupner HoTT ESC */
 };
 
 enum ESC_CONNECTION_TYPE {
@@ -79,16 +79,15 @@ enum ESC_CONNECTION_TYPE {
 /**
  * Electronic speed controller status.
  */
-struct esc_status_s
-{
+struct esc_status_s {
 	/* use of a counter and timestamp recommended (but not necessary) */
 
 	uint16_t counter;   		/**< incremented by the writing thread everytime new data is stored */
 	uint64_t timestamp; 		/**< in microseconds since system start, is set whenever the writing thread stores new data */
-	
+
 	uint8_t esc_count;			/**< number of connected ESCs */
 	enum ESC_CONNECTION_TYPE esc_connectiontype;	/**< how ESCs connected to the system */
-	
+
 	struct {
 		uint16_t esc_address;			/**< Address of current ESC (in most cases 1-8 / must be set by driver) */
 		enum ESC_VENDOR esc_vendor;		/**< Vendor of current ESC */

src/modules/uORB/topics/estimator_status.h

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * 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 estimator_status.h
+ * Definition of the estimator_status_report uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef ESTIMATOR_STATUS_H_
+#define ESTIMATOR_STATUS_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Estimator status report.
+ *
+ * This is a generic status report struct which allows any of the onboard estimators
+ * to write the internal state to the system log.
+ *
+ */
+struct estimator_status_report {
+
+	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only   */
+
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot */
+	float states[32];			/**< Internal filter states */
+	float n_states;				/**< Number of states effectively used */
+	bool states_nan;			/**< If set to true, one of the states is NaN */
+	bool covariance_nan;			/**< If set to true, the covariance matrix went NaN */
+	bool kalman_gain_nan;			/**< If set to true, the Kalman gain matrix went NaN */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(estimator_status);
+
+#endif

src/modules/uORB/topics/filtered_bottom_flow.h

@@ -53,8 +53,7 @@
 /**
  * Filtered bottom flow in bodyframe.
  */
-struct filtered_bottom_flow_s
-{
+struct filtered_bottom_flow_s {
 	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
 
 	float sumx;				/**< Integrated bodyframe x flow in meters					   */

src/modules/uORB/topics/manual_control_setpoint.h

@@ -43,6 +43,16 @@
 #include <stdint.h>
 #include "../uORB.h"
 
+/**
+ * Switch position
+ */
+typedef enum {
+	SWITCH_POS_NONE = 0,	/**< switch is not mapped */
+	SWITCH_POS_ON,			/**< switch activated (value = 1) */
+	SWITCH_POS_MIDDLE,		/**< middle position (value = 0) */
+	SWITCH_POS_OFF			/**< switch not activated (value = -1) */
+} switch_pos_t;
+
 /**
  * @addtogroup topics
  * @{
@@ -51,33 +61,43 @@
 struct manual_control_setpoint_s {
 	uint64_t timestamp;
 
-	float roll;			 	/**< ailerons roll / roll rate input */
-	float pitch;				/**< elevator / pitch / pitch rate */
-	float yaw;				/**< rudder / yaw rate / yaw */
-	float throttle;				/**< throttle / collective thrust / altitude */
-
-	float mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
-	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
+	 * Any of the channels may not be available and be set to NaN
 	 * to indicate that it does not contain valid data.
+	 * The variable names follow the definition of the
+	 * MANUAL_CONTROL mavlink message.
+	 * The default range is from -1 to 1 (mavlink message -1000 to 1000)
+	 * The range for the z variable is defined from 0 to 1. (The z field of
+	 * the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
 	 */
+	float x;			/**< stick position in x direction -1..1
+					  in general corresponds to forward/back motion or pitch of vehicle,
+					  in general a positive value means forward or negative pitch and
+					  a negative value means backward or positive pitch */
+	float y;			/**< stick position in y direction -1..1
+					  in general corresponds to right/left motion or roll of vehicle,
+					  in general a positive value means right or positive roll and
+					  a negative value means left or negative roll */
+	float z;			/**< throttle stick position 0..1
+					  in general corresponds to up/down motion or thrust of vehicle,
+					  in general the value corresponds to the demanded throttle by the user,
+					  if the input is used for setting the setpoint of a vertical position
+					  controller any value > 0.5 means up and any value < 0.5 means down */
+	float r;			/**< yaw stick/twist positon, -1..1
+					  in general corresponds to the righthand rotation around the vertical
+					  (downwards) axis of the vehicle */
+	float flaps;			/**< flap position */
+	float aux1;			/**< default function: camera yaw / azimuth */
+	float aux2;			/**< default function: camera pitch / tilt */
+	float aux3;			/**< default function: camera trigger */
+	float aux4;			/**< default function: camera roll */
+	float aux5;			/**< default function: payload drop */
 
-	// XXX needed or parameter?
-	//float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
-
-	float flaps;				/**< flap position */
-
-	float aux1;				/**< default function: camera yaw / azimuth */
-	float aux2;				/**< default function: camera pitch / tilt */
-	float aux3;				/**< default function: camera trigger */
-	float aux4;				/**< default function: camera roll */
-	float aux5;				/**< default function: payload drop */
-
+	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 */
+	switch_pos_t acro_switch;			/**< acro 2 position switch (optional): _MANUAL_, ACRO */
 }; /**< manual control inputs */
 
 /**

src/modules/uORB/topics/mission.h

@@ -77,8 +77,7 @@ enum ORIGIN {
  * This is the position the MAV is heading towards. If it of type loiter,
  * the MAV is circling around it with the given loiter radius in meters.
  */
-struct mission_item_s
-{
+struct mission_item_s {
 	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
 	double lat;			/**< latitude in degrees				*/
 	double lon;			/**< longitude in degrees				*/
@@ -106,7 +105,7 @@ struct mission_s
  */
 
 /* register this as object request broker structure */
-ORB_DECLARE(mission);
+ORB_DECLARE(offboard_mission);
 ORB_DECLARE(onboard_mission);
 
 #endif

src/modules/uORB/topics/mission_result.h

@@ -54,7 +54,8 @@
 struct mission_result_s
 {
 	bool mission_reached;		/**< true if mission has been reached			*/
-	unsigned mission_index;		/**< index of the mission which has been reached	*/
+	unsigned mission_index_reached;	/**< index of the mission which has been reached	*/
+	unsigned index_current_mission; /**< index of the current mission			*/
 };
 
 /**

src/modules/uORB/topics/navigation_capabilities.h

@@ -52,12 +52,12 @@
  * Airspeed
  */
 struct navigation_capabilities_s {
-    float turn_distance;    /**< the optimal distance to a waypoint to switch to the next */
+	float turn_distance;		/**< the optimal distance to a waypoint to switch to the next */
 
-    /* Landing parameters: see fw_pos_control_l1/landingslope.h */
-    float landing_horizontal_slope_displacement;
-    float landing_slope_angle_rad;
-    float landing_flare_length;
+	/* Landing parameters: see fw_pos_control_l1/landingslope.h */
+	float landing_horizontal_slope_displacement;
+	float landing_slope_angle_rad;
+	float landing_flare_length;
 };
 
 /**

src/modules/uORB/topics/offboard_control_setpoint.h

@@ -45,12 +45,11 @@
 
 /**
  * Off-board control inputs.
- * 
+ *
  * Typically sent by a ground control station / joystick or by
  * some off-board controller via C or SIMULINK.
  */
-enum OFFBOARD_CONTROL_MODE
-{
+enum OFFBOARD_CONTROL_MODE {
 	OFFBOARD_CONTROL_MODE_DIRECT = 0,
 	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
 	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,

src/modules/uORB/topics/optical_flow.h

@@ -57,6 +57,7 @@ struct optical_flow_s {
 
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
+	uint64_t flow_timestamp;		/**< timestamp from flow sensor */
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */

src/modules/uORB/topics/position_setpoint_triplet.h

@@ -54,24 +54,24 @@
 
 enum SETPOINT_TYPE
 {
-	SETPOINT_TYPE_NORMAL = 0,	/**< normal setpoint */
-	SETPOINT_TYPE_LOITER,		/**< loiter setpoint */
-	SETPOINT_TYPE_TAKEOFF,		/**< takeoff setpoint */
+	SETPOINT_TYPE_NORMAL = 0,		/**< normal setpoint */
+	SETPOINT_TYPE_LOITER,			/**< loiter setpoint */
+	SETPOINT_TYPE_TAKEOFF,			/**< takeoff setpoint */
 	SETPOINT_TYPE_LAND,			/**< land setpoint, altitude must be ignored, vehicle must descend until landing */
 	SETPOINT_TYPE_IDLE,			/**< do nothing, switch off motors or keep at idle speed (MC) */
 };
 
 struct position_setpoint_s
 {
-	bool valid;					/**< true if setpoint is valid */
+	bool valid;			/**< true if setpoint is valid */
 	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
-	double lat;					/**< latitude, in deg */
-	double lon;					/**< longitude, in deg */
-	float alt;					/**< altitude AMSL, in m */
-	float yaw;					/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
+	double lat;			/**< latitude, in deg */
+	double lon;			/**< longitude, in deg */
+	float alt;			/**< altitude AMSL, in m */
+	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
 	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
 	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
-	float pitch_min;			/**< minimal pitch angle for fixed wing takeoff waypoints */
+	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
 };
 
 /**
@@ -85,7 +85,7 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
 
-	nav_state_t nav_state;		/**< navigation state */
+	nav_state_t nav_state;			/**< navigation state */
 };
 
 /**

src/modules/uORB/topics/rc_channels.h

@@ -52,30 +52,29 @@
  */
 #define RC_CHANNELS_MAPPED_MAX   16
 
-/** 
+/**
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
  * the channel array chan[].
  */
-enum RC_CHANNELS_FUNCTION
-{
-  THROTTLE = 0,
-  ROLL,
-  PITCH,
-  YAW,
-  MODE,
-  RETURN,
-  ASSISTED,
-  MISSION,
-  OFFBOARD_MODE,
-  ACRO,
-  FLAPS,
-  AUX_1,
-  AUX_2,
-  AUX_3,
-  AUX_4,
-  AUX_5,
-  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+enum RC_CHANNELS_FUNCTION {
+	THROTTLE = 0,
+	ROLL     = 1,
+	PITCH    = 2,
+	YAW      = 3,
+	MODE = 4,
+	RETURN = 5,
+	POSCTL = 6,
+	LOITER = 7,
+	OFFBOARD_MODE = 8,
+	ACRO    = 9,
+	FLAPS   = 10,
+	AUX_1   = 11,
+	AUX_2   = 12,
+	AUX_3   = 13,
+	AUX_4   = 14,
+	AUX_5   = 15,
+	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
 /**
@@ -86,16 +85,17 @@ enum RC_CHANNELS_FUNCTION
 struct rc_channels_s {
 
 	uint64_t timestamp;                 /**< In microseconds since boot time. */
-  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
-  struct {
-    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_MAPPED_MAX];
-  uint8_t chan_count;                 /**< number of valid channels */
+	uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+	struct {
+		float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
+	} chan[RC_CHANNELS_MAPPED_MAX];
+	uint8_t chan_count;                 /**< number of valid channels */
 
-  /*String array to store the names of the functions*/
-  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-  int8_t function[RC_CHANNELS_FUNCTION_MAX];
-  uint8_t rssi;                       /**< Overall receive signal strength */
+	/*String array to store the names of the functions*/
+	char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+	int8_t function[RC_CHANNELS_FUNCTION_MAX];
+	uint8_t rssi;                       /**< Overall receive signal strength */
+	bool signal_lost;		/**< control signal lost, should be checked together with topic timeout */
 }; /**< radio control channels. */
 
 /**

src/modules/uORB/topics/sensor_combined.h

@@ -77,34 +77,36 @@ struct sensor_combined_s {
 
 	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
 
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot         */
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot, from gyro         */
 
 	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
-	uint16_t gyro_counter;			/**< Number of raw measurments taken              */
 	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	
+
 	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
-	uint32_t accelerometer_counter;		/**< Number of raw acc measurements taken         */
 	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
 	int accelerometer_mode;			/**< Accelerometer measurement mode */
 	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
+	uint64_t accelerometer_timestamp;	/**< Accelerometer timestamp        */
 
 	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
 	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
 	int magnetometer_mode;			/**< Magnetometer measurement mode */
 	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
-	uint32_t magnetometer_counter;		/**< Number of raw mag measurements taken         */
-	
+	uint64_t magnetometer_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               */
-	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	float adc_voltage_v[10];		/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	unsigned adc_mapping[10];		/**< Channel indices of each of these values */
 	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
-	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
+	uint64_t baro_timestamp;		/**< Barometer timestamp        */
+
+	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */
+	uint64_t differential_pressure_timestamp;		/**< Last measurement timestamp */
+	float differential_pressure_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
 
-	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */ 
-	uint32_t differential_pressure_counter;		/**< Number of raw differential pressure measurements taken */
 };
 
 /**

src/modules/uORB/topics/subsystem_info.h

@@ -50,8 +50,7 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-enum SUBSYSTEM_TYPE
-{
+enum SUBSYSTEM_TYPE {
 	SUBSYSTEM_TYPE_GYRO = 1,
 	SUBSYSTEM_TYPE_ACC = 2,
 	SUBSYSTEM_TYPE_MAG = 4,

src/modules/uORB/topics/system_power.h

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * 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 system_power.h
+ *
+ * Definition of the system_power voltage and power status uORB topic.
+ */
+
+#ifndef SYSTEM_POWER_H_
+#define SYSTEM_POWER_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * voltage and power supply status
+ */
+struct system_power_s {
+	uint64_t	timestamp;		/**< microseconds since system boot */
+	float   	voltage5V_v;		/**< peripheral 5V rail voltage */
+	uint8_t         usb_connected:1;        /**< USB is connected when 1 */
+	uint8_t         brick_valid:1;          /**< brick power is good when 1 */
+	uint8_t         servo_valid:1;          /**< servo power is good when 1 */
+	uint8_t		periph_5V_OC:1;         /**< peripheral overcurrent when 1 */
+	uint8_t		hipower_5V_OC:1;        /**< hi power peripheral overcurrent when 1 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(system_power);
+
+#endif

src/modules/uORB/topics/telemetry_status.h

@@ -44,10 +44,10 @@
 #include "../uORB.h"
 
 enum TELEMETRY_STATUS_RADIO_TYPE {
-    TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
-    TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
-    TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
-    TELEMETRY_STATUS_RADIO_TYPE_WIRE
+	TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
+	TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
+	TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
+	TELEMETRY_STATUS_RADIO_TYPE_WIRE
 };
 
 /**
@@ -57,14 +57,14 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 
 struct telemetry_status_s {
 	uint64_t timestamp;
-    enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
-    uint8_t rssi;              /**< local signal strength                      */
-    uint8_t remote_rssi;       /**< remote signal strength                     */
-    uint16_t rxerrors;          /**< receive errors                             */
-    uint16_t fixed;             /**< count of error corrected packets           */
-    uint8_t noise;              /**< background noise level                     */
-    uint8_t remote_noise;       /**< remote background noise level              */
-    uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
+	enum TELEMETRY_STATUS_RADIO_TYPE type;	/**< type of the radio hardware     */
+	uint8_t rssi;				/**< local signal strength                      */
+	uint8_t remote_rssi;			/**< remote signal strength                     */
+	uint16_t rxerrors;			/**< receive errors                             */
+	uint16_t fixed;				/**< count of error corrected packets           */
+	uint8_t noise;				/**< background noise level                     */
+	uint8_t remote_noise;			/**< remote background noise level              */
+	uint8_t txbuf;				/**< how full the tx buffer is as a percentage  */
 };
 
 /**

src/modules/uORB/topics/vehicle_attitude.h

@@ -76,7 +76,7 @@ struct vehicle_attitude_s {
 	float rate_offsets[3];	/**< Offsets of the body angular rates from zero		*/
 	float R[3][3];		/**< Rotation matrix body to world, (Tait-Bryan, NED)		*/
 	float q[4];		/**< Quaternion (NED)						*/
-	float g_comp[3];	/**< Compensated gravity vector				*/
+	float g_comp[3];	/**< Compensated gravity vector					*/
 	bool R_valid;		/**< Rotation matrix valid					*/
 	bool q_valid;		/**< Quaternion valid						*/
 

src/modules/uORB/topics/vehicle_attitude_setpoint.h

@@ -52,8 +52,7 @@
 /**
  * vehicle attitude setpoint.
  */
-struct vehicle_attitude_setpoint_s
-{
+struct vehicle_attitude_setpoint_s {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	float roll_body;				/**< body angle in NED frame		*/

src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h

@@ -48,8 +48,7 @@
  * @{
  */
 
-struct vehicle_bodyframe_speed_setpoint_s
-{
+struct vehicle_bodyframe_speed_setpoint_s {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	float vx;		/**< in m/s				  		*/

src/modules/uORB/topics/vehicle_command.h

@@ -51,43 +51,42 @@
  * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
  * but can contain additional ones.
  */
-enum VEHICLE_CMD
-{
-	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	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_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|  */
-	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	VEHICLE_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	VEHICLE_CMD_ENUM_END=501, /*  | */
+enum VEHICLE_CMD {
+	VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME = 19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND = 21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE = 114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW = 115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST = 159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE = 176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP = 177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED = 178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME = 179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER = 180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY = 181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	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_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|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE = 245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO = 252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
+	VEHICLE_CMD_ENUM_END = 501, /*  | */
 };
 
 /**
@@ -96,14 +95,13 @@ enum VEHICLE_CMD
  * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
  * but can contain additional ones.
  */
-enum VEHICLE_CMD_RESULT
-{
-	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
-	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
-	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
-	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
-	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
-	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
+enum VEHICLE_CMD_RESULT {
+	VEHICLE_CMD_RESULT_ACCEPTED = 0, /* Command ACCEPTED and EXECUTED | */
+	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1, /* Command TEMPORARY REJECTED/DENIED | */
+	VEHICLE_CMD_RESULT_DENIED = 2, /* Command PERMANENTLY DENIED | */
+	VEHICLE_CMD_RESULT_UNSUPPORTED = 3, /* Command UNKNOWN/UNSUPPORTED | */
+	VEHICLE_CMD_RESULT_FAILED = 4, /* Command executed, but failed | */
+	VEHICLE_CMD_RESULT_ENUM_END = 5, /*  | */
 };
 
 /**
@@ -111,8 +109,7 @@ enum VEHICLE_CMD_RESULT
  * @{
  */
 
-struct vehicle_command_s
-{
+struct vehicle_command_s {
 	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */

src/modules/uORB/topics/vehicle_control_debug.h

@@ -47,8 +47,7 @@
  * @addtogroup topics
  * @{
  */
-struct vehicle_control_debug_s
-{
+struct vehicle_control_debug_s {
 	uint64_t timestamp; /**< in microseconds since system start */
 
 	float roll_p;		/**< roll P control part		*/
@@ -77,9 +76,9 @@ struct vehicle_control_debug_s
 
 }; /**< vehicle_control_debug */
 
- /**
- * @}
- */
+/**
+* @}
+*/
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_control_debug);

src/modules/uORB/topics/vehicle_control_mode.h

@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -38,8 +34,13 @@
 /**
  * @file vehicle_control_mode.h
  * Definition of the vehicle_control_mode uORB topic.
- * 
+ *
  * All control apps should depend their actions based on the flags set here.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef VEHICLE_CONTROL_MODE
@@ -61,8 +62,7 @@
  * Encodes the complete system state and is set by the commander app.
  */
 
-struct vehicle_control_mode_s
-{
+struct vehicle_control_mode_s {
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	bool flag_armed;

src/modules/uORB/topics/vehicle_global_position.h

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
 /**
  * @file vehicle_global_position.h
  * Definition of the global fused WGS84 position uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef VEHICLE_GLOBAL_POSITION_T_H_
@@ -59,13 +60,9 @@
  * estimator, which will take more sources of information into account than just GPS,
  * e.g. control inputs of the vehicle in a Kalman-filter implementation.
  */
-struct vehicle_global_position_s
-{
+struct vehicle_global_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
 
-	bool global_valid;		/**< true if position satisfies validity criteria of estimator */
-	bool baro_valid;		/**< true if baro_alt is valid (vel_d is also valid in this case) */
-
 	uint64_t time_gps_usec; /**< GPS timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
@@ -74,8 +71,8 @@ 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 baro_alt;		/**< Barometric altitude (not raw baro but fused with accelerometer) */
+	float eph;
+	float epv;
 };
 
 /**

src/modules/uORB/topics/vehicle_global_velocity_setpoint.h

@@ -47,8 +47,7 @@
  * @{
  */
 
-struct vehicle_global_velocity_setpoint_s
-{
+struct vehicle_global_velocity_setpoint_s {
 	float vx;		/**< in m/s NED			  		*/
 	float vy;		/**< in m/s NED			  		*/
 	float vz;		/**< in m/s NED			  		*/

src/modules/uORB/topics/vehicle_gps_position.h

@@ -53,13 +53,12 @@
 /**
  * GPS position in WGS84 coordinates.
  */
-struct vehicle_gps_position_s
-{
+struct vehicle_gps_position_s {
 	uint64_t timestamp_position;			/**< Timestamp for position information */
 	int32_t lat;					/**< Latitude in 1E-7 degrees */
 	int32_t lon;					/**< Longitude in 1E-7 degrees */
 	int32_t alt;					/**< Altitude in 1E-3 meters (millimeters) above MSL  */
-	
+
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
 	float p_variance_m;				/**< position accuracy estimate m */

src/modules/uORB/topics/vehicle_local_position.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @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
@@ -35,6 +34,9 @@
 /**
  * @file vehicle_local_position.h
  * Definition of the local fused NED position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
@@ -52,8 +54,7 @@
 /**
  * Fused local position in NED.
  */
-struct vehicle_local_position_s
-{
+struct vehicle_local_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
 	bool xy_valid;			/**< true if x and y are valid */
 	bool z_valid;			/**< true if z is valid */
@@ -73,8 +74,8 @@ struct vehicle_local_position_s
 	bool xy_global;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
 	bool z_global;			/**< true if z is valid and has valid global reference (ref_alt) */
 	uint64_t ref_timestamp;	/**< Time when reference position was set */
-	int32_t ref_lat;		/**< Reference point latitude in 1E7 degrees */
-	int32_t ref_lon;		/**< Reference point longitude in 1E7 degrees */
+	double ref_lat;		/**< Reference point latitude in degrees */
+	double ref_lon;		/**< Reference point longitude in degrees */
 	float ref_alt;			/**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
 	bool landed;			/**< true if vehicle is landed */
 	/* Distance to surface */

src/modules/uORB/topics/vehicle_local_position_setpoint.h

@@ -49,8 +49,7 @@
  * @{
  */
 
-struct vehicle_local_position_setpoint_s
-{
+struct vehicle_local_position_setpoint_s {
 	float x;		/**< in meters NED			  		*/
 	float y;		/**< in meters NED			  		*/
 	float z;		/**< in meters NED			  		*/

src/modules/uORB/topics/vehicle_rates_setpoint.h

@@ -47,8 +47,7 @@
  * @addtogroup topics
  * @{
  */
-struct vehicle_rates_setpoint_s
-{
+struct vehicle_rates_setpoint_s {
 	uint64_t timestamp; /**< in microseconds since system start */
 
 	float roll;	/**< body angular rates in NED frame		*/
@@ -58,9 +57,9 @@ struct vehicle_rates_setpoint_s
 
 }; /**< vehicle_rates_setpoint */
 
- /**
- * @}
- */
+/**
+* @}
+*/
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_rates_setpoint);

src/modules/uORB/topics/vehicle_status.h

@@ -63,13 +63,15 @@
 /* main state machine */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_ACRO,
-	MAIN_STATE_SEATBELT,
-	MAIN_STATE_EASY,
+	MAIN_STATE_ALTCTL,
+	MAIN_STATE_POSCTL,
 	MAIN_STATE_AUTO,
+	MAIN_STATE_ACRO,
 	MAIN_STATE_MAX
 } main_state_t;
 
+// If you change the order, add or remove arming_state_t states make sure to update the arrays
+// in state_machine_helper.cpp as well.
 typedef enum {
 	ARMING_STATE_INIT = 0,
 	ARMING_STATE_STANDBY,
@@ -94,35 +96,6 @@ typedef enum {
 	FAILSAFE_STATE_MAX
 } failsafe_state_t;
 
-typedef enum {
-	MODE_SWITCH_MANUAL = 0,
-	MODE_SWITCH_ASSISTED,
-	MODE_SWITCH_AUTO
-} mode_switch_pos_t;
-
-typedef enum {
-	ASSISTED_SWITCH_SEATBELT = 0,
-	ASSISTED_SWITCH_EASY
-} assisted_switch_pos_t;
-
-typedef enum {
-	RETURN_SWITCH_NONE = 0,
-	RETURN_SWITCH_NORMAL,
-	RETURN_SWITCH_RETURN
-} return_switch_pos_t;
-
-typedef enum {
-	MISSION_SWITCH_NONE = 0,
-	MISSION_SWITCH_LOITER,
-	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,
@@ -138,31 +111,31 @@ enum VEHICLE_MODE_FLAG {
  * Should match 1:1 MAVLink's MAV_TYPE ENUM
  */
 enum VEHICLE_TYPE {
-	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
-	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
-	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
-	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
-	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
-	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
-	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
-	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
-	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
-	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
-	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
-	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
-	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
-	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
-	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
-	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
-	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
-	VEHICLE_TYPE_KITE=17, /* Kite | */
-	VEHICLE_TYPE_ENUM_END=18, /*  | */
+	VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */
+	VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */
+	VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */
+	VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */
+	VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */
+	VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */
+	VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */
+	VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */
+	VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */
+	VEHICLE_TYPE_ROCKET = 9, /* Rocket | */
+	VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */
+	VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */
+	VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */
+	VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */
+	VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */
+	VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
+	VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
+	VEHICLE_TYPE_KITE = 17, /* Kite | */
+	VEHICLE_TYPE_ENUM_END = 18, /*  | */
 };
 
 enum VEHICLE_BATTERY_WARNING {
-    VEHICLE_BATTERY_WARNING_NONE = 0,	/**< no battery low voltage warning active */
-    VEHICLE_BATTERY_WARNING_LOW,	/**< warning of low voltage */
-    VEHICLE_BATTERY_WARNING_CRITICAL	/**< alerting of critical voltage */
+	VEHICLE_BATTERY_WARNING_NONE = 0,	/**< no battery low voltage warning active */
+	VEHICLE_BATTERY_WARNING_LOW,	/**< warning of low voltage */
+	VEHICLE_BATTERY_WARNING_CRITICAL	/**< alerting of critical voltage */
 };
 
 /**
@@ -175,8 +148,7 @@ enum VEHICLE_BATTERY_WARNING {
  *
  * Encodes the complete system state and is set by the commander app.
  */
-struct vehicle_status_s
-{
+struct vehicle_status_s {
 	/* use of a counter and timestamp recommended (but not necessary) */
 
 	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
@@ -195,12 +167,6 @@ struct vehicle_status_s
 
 	bool is_rotary_wing;
 
-	mode_switch_pos_t mode_switch;
-	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 */
 	bool condition_system_sensors_initialized;
@@ -227,7 +193,7 @@ struct vehicle_status_s
 	uint32_t onboard_control_sensors_present;
 	uint32_t onboard_control_sensors_enabled;
 	uint32_t onboard_control_sensors_health;
-	
+
 	float load;					/**< processor load from 0 to 1 */
 	float battery_voltage;
 	float battery_current;

src/modules/uORB/topics/vehicle_vicon_position.h

@@ -52,8 +52,7 @@
 /**
  * Fused local position in NED.
  */
-struct vehicle_vicon_position_s
-{
+struct vehicle_vicon_position_s {
 	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
 	bool valid;				/**< true if position satisfies validity criteria of estimator */