Merge remote-tracking branch 'upstream/master' into PR_RCLossDur2

src/modules/uORB/module.mk

@@ -44,3 +44,5 @@ SRCS			= uORB.cpp \
 			  objects_common.cpp \
 			  Publication.cpp \
 			  Subscription.cpp
+
+MAXOPTIMIZATION	 = -Os

src/modules/uORB/objects_common.cpp

@@ -201,6 +201,9 @@ ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
 
+#include "topics/test_motor.h"
+ORB_DEFINE(test_motor, struct test_motor_s);
+
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
 

src/modules/uORB/topics/manual_control_setpoint.h

@@ -47,7 +47,7 @@
  * Switch position
  */
 typedef enum {
-	SWITCH_POS_NONE = 0,	/**< switch is not mapped */
+	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) */
@@ -93,13 +93,13 @@ struct manual_control_setpoint_s {
 	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 */
-	switch_pos_t offboard_switch;		/**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
-}; /**< manual control inputs */
+	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 */
+	switch_pos_t offboard_switch;	/**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
+};
 
 /**
  * @}

src/modules/uORB/topics/rc_channels.h

@@ -34,6 +34,8 @@
 /**
  * @file rc_channels.h
  * Definition of the rc_channels uORB topic.
+ *
+ * @deprecated DO NOT USE FOR NEW CODE
  */
 
 #ifndef RC_CHANNELS_H_
@@ -63,10 +65,13 @@ enum RC_CHANNELS_FUNCTION {
 	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. */
+	AUX_5
 };
 
+// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS
+
+#define RC_CHANNELS_FUNCTION_MAX 18
+
 /**
  * @addtogroup topics
  * @{
@@ -76,7 +81,6 @@ struct rc_channels_s {
 	uint64_t timestamp_last_valid;						/**< Timestamp of last valid RC signal */
 	float channels[RC_CHANNELS_FUNCTION_MAX];			/**< Scaled to -1..1 (throttle: 0..1) */
 	uint8_t channel_count;								/**< Number of valid channels */
-	char function_name[RC_CHANNELS_FUNCTION_MAX][20];	/**< String array to store the names of the functions */
 	int8_t function[RC_CHANNELS_FUNCTION_MAX];			/**< Functions mapping */
 	uint8_t rssi;										/**< Receive signal strength index */
 	bool signal_lost;									/**< Control signal lost, should be checked together with topic timeout */

src/modules/uORB/topics/test_motor.h

@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   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 test_motor.h
+ *
+ * Test a single drive motor while the vehicle is disarmed
+ *
+ * Publishing values to this topic causes a single motor to spin, e.g. for
+ * ground test purposes. This topic will be ignored while the vehicle is armed.
+ *
+ */
+
+#ifndef TOPIC_TEST_MOTOR_H
+#define TOPIC_TEST_MOTOR_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_MOTOR_OUTPUTS	8
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct test_motor_s {
+	uint64_t 	timestamp;				/**< output timestamp in us since system boot */
+	unsigned 	motor_number;				/**< number of motor to spin */
+	float		value;					/**< output power, range [0..1] */
+};
+
+/**
+ * @}
+ */
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(test_motor);
+
+#endif

src/modules/uORB/topics/vehicle_status.h

@@ -108,7 +108,7 @@ typedef enum {
 	NAVIGATION_STATE_AUTO_LANDGPSFAIL,	/**< Auto land on gps failure (e.g. open loop loiter down) */
 	NAVIGATION_STATE_ACRO,			/**< Acro mode */
 	NAVIGATION_STATE_LAND,			/**< Land mode */
-	NAVIGATION_STATE_DESCEND,			/**< Descend mode (no position control) */
+	NAVIGATION_STATE_DESCEND,		/**< Descend mode (no position control) */
 	NAVIGATION_STATE_TERMINATION,		/**< Termination mode */
 	NAVIGATION_STATE_OFFBOARD,
 	NAVIGATION_STATE_MAX,