Merged master into driver_framework

msg/fw_virtual_attitude_setpoint.msg

@@ -0,0 +1,23 @@
+
+uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
+
+float32 roll_body				# body angle in NED frame
+float32 pitch_body				# body angle in NED frame
+float32 yaw_body				# body angle in NED frame
+
+float32 yaw_sp_move_rate		# rad/s (commanded by user)
+
+float32[9] R_body				# Rotation matrix describing the setpoint as rotation from the current body frame
+bool R_valid					# Set to true if rotation matrix is valid
+
+# For quaternion-based attitude control
+float32[4] q_d					# Desired quaternion for quaternion control
+bool q_d_valid					# Set to true if quaternion vector is valid
+float32[4] q_e					# Attitude error in quaternion
+bool q_e_valid					# Set to true if quaternion error vector is valid
+
+float32 thrust					# Thrust in Newton the power system should generate
+
+bool roll_reset_integral			# Reset roll integral part (navigation logic change)
+bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
+bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)

msg/mc_virtual_attitude_setpoint.msg

@@ -0,0 +1,23 @@
+
+uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
+
+float32 roll_body				# body angle in NED frame
+float32 pitch_body				# body angle in NED frame
+float32 yaw_body				# body angle in NED frame
+
+float32 yaw_sp_move_rate		# rad/s (commanded by user)
+
+float32[9] R_body				# Rotation matrix describing the setpoint as rotation from the current body frame
+bool R_valid					# Set to true if rotation matrix is valid
+
+# For quaternion-based attitude control
+float32[4] q_d					# Desired quaternion for quaternion control
+bool q_d_valid					# Set to true if quaternion vector is valid
+float32[4] q_e					# Attitude error in quaternion
+bool q_e_valid					# Set to true if quaternion error vector is valid
+
+float32 thrust					# Thrust in Newton the power system should generate
+
+bool roll_reset_integral			# Reset roll integral part (navigation logic change)
+bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
+bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)

msg/vehicle_gps_position.msg

@@ -3,6 +3,7 @@ uint64 timestamp_position	# Timestamp for position information
 int32 lat			# Latitude in 1E-7 degrees 
 int32 lon			# Longitude in 1E-7 degrees 
 int32 alt			# Altitude in 1E-3 meters (millimeters) above MSL  
+int32 alt_ellipsoid # Altitude in 1E-3 meters (millimeters) above Ellipsoid
 
 uint64 timestamp_variance
 float32 s_variance_m_s		# speed accuracy estimate m/s 

msg/vehicle_status.msg

@@ -115,6 +115,7 @@ uint32 system_id			# system id, inspired by MAVLink's system ID field
 uint32 component_id			# subsystem / component id, inspired by MAVLink's component ID field
 
 bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
+bool vtol_in_transition		# True if VTOL is doing a transition
 bool is_vtol				# True if the system is VTOL capable
 bool vtol_fw_permanent_stab		# True if vtol should stabilize attitude for fw in manual mode
 bool in_transition_mode