Merge branch 'master' into offboard2

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

@@ -190,3 +190,6 @@ 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);

src/modules/uORB/topics/differential_pressure.h

@@ -54,8 +54,9 @@
 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	differential_pressure_pa;		/**< Differential pressure reading */
+	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 */
 

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/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/sensor_combined.h

@@ -77,34 +77,35 @@ 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 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/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						*/