navigator: lot's of cleanup (WIP)

src/modules/uORB/topics/mission.h

@@ -93,6 +93,8 @@ struct mission_item_s {
 	bool autocontinue;		/**< true if next waypoint should follow after this one */
 	enum ORIGIN origin;		/**< where the waypoint has been generated		*/
 	int do_jump_mission_index;	/**< the mission index that we want to jump to		*/
+	int do_jump_repeat_count;	/**< how many times the jump should be repeated		*/
+	int do_jump_current_count;	/**< how many times the jump has already been repeated	*/
 };
 
 struct mission_s

src/modules/uORB/topics/position_setpoint_triplet.h

@@ -45,7 +45,6 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "../uORB.h"
-#include <navigator/navigator_state.h>
 
 /**
  * @addtogroup topics
@@ -74,6 +73,17 @@ struct position_setpoint_s
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
 };
 
+typedef enum {
+	NAV_STATE_NONE_ON_GROUND = 0,
+	NAV_STATE_NONE_IN_AIR,
+	NAV_STATE_AUTO_ON_GROUND,
+	NAV_STATE_LOITER,
+	NAV_STATE_MISSION,
+	NAV_STATE_RTL,
+	NAV_STATE_LAND,
+	NAV_STATE_MAX
+} nav_state_t;
+
 /**
  * Global position setpoint triplet in WGS84 coordinates.
  *

src/modules/uORB/topics/vehicle_global_position.h

@@ -36,7 +36,7 @@
  * Definition of the global fused WGS84 position uORB topic.
  *
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
@@ -66,16 +66,16 @@ struct vehicle_global_position_s {
 	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					   */
+	uint64_t time_gps_usec; 	/**< GPS timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
 	float alt;			/**< Altitude AMSL in meters						 	   */
-	float vel_n; 		/**< Ground north velocity, m/s				 			   */
-	float vel_e;		/**< Ground east velocity, m/s							   */
-	float vel_d;		/**< Ground downside velocity, m/s						   */
+	float vel_n; 			/**< Ground north velocity, m/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 baro_alt;			/**< Barometric altitude (not raw baro but fused with accelerometer) */
 };
 
 /**

src/modules/uORB/topics/vehicle_status.h

@@ -54,8 +54,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-#include <navigator/navigator_state.h>
-
 /**
  * @addtogroup topics @{
  */
@@ -93,6 +91,14 @@ typedef enum {
 	FAILSAFE_STATE_MAX
 } failsafe_state_t;
 
+typedef enum {
+	NAVIGATION_STATE_NONE = 0,
+	NAVIGATION_STATE_MISSION,
+	NAVIGATION_STATE_LOITER,
+	NAVIGATION_STATE_RTL,
+	NAVIGATION_STATE_LAND
+} navigation_state_t;
+
 enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
 	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
@@ -152,8 +158,7 @@ struct vehicle_status_s {
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	main_state_t main_state;				/**< main state machine */
-	unsigned int set_nav_state;	/**< set navigation state machine to specified value */
-	uint64_t set_nav_state_timestamp;	/**< timestamp of latest change of set_nav_state */
+	navigation_state_t set_nav_state;		/**< set navigation state machine to specified value */
 	arming_state_t arming_state;			/**< current arming state */
 	hil_state_t hil_state;					/**< current hil state */
 	failsafe_state_t failsafe_state;		/**< current failsafe state */