ALTCTRL/POSCTRL renamed to ALTCTL/POSCTL

src/drivers/blinkm/blinkm.cpp

@@ -638,11 +638,11 @@ BlinkM::led()
 
 						if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
 							/* indicate main control state */
-							if (vehicle_status_raw.main_state == MAIN_STATE_POSCTRL)
+							if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
 								led_color_4 = LED_GREEN;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
 								led_color_4 = LED_BLUE;
-							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTRL)
+							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
 								led_color_4 = LED_YELLOW;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
 								led_color_4 = LED_WHITE;

src/modules/commander/commander.cpp

@@ -435,13 +435,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 					/* MANUAL */
 					main_res = main_state_transition(status, MAIN_STATE_MANUAL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) {
-					/* ALTCTRL */
-					main_res = main_state_transition(status, MAIN_STATE_ALTCTRL);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
+					/* ALTCTL */
+					main_res = main_state_transition(status, MAIN_STATE_ALTCTL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) {
-					/* POSCTRL */
-					main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
+					/* POSCTL */
+					main_res = main_state_transition(status, MAIN_STATE_POSCTL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
 					/* AUTO */
@@ -456,8 +456,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 				} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 					if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
-						/* POSCTRL */
-						main_res = main_state_transition(status, MAIN_STATE_POSCTRL);
+						/* POSCTL */
+						main_res = main_state_transition(status, MAIN_STATE_POSCTL);
 
 					} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
 						/* MANUAL */
@@ -634,8 +634,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	char *main_states_str[MAIN_STATE_MAX];
 	main_states_str[0] = "MANUAL";
-	main_states_str[1] = "ALTCTRL";
-	main_states_str[2] = "POSCTRL";
+	main_states_str[1] = "ALTCTL";
+	main_states_str[2] = "POSCTL";
 	main_states_str[3] = "AUTO";
 
 	char *arming_states_str[ARMING_STATE_MAX];
@@ -1335,8 +1335,8 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		// TODO remove this hack
-		/* flight termination in manual mode if assist switch is on posctrl position */
-		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) {
+		/* flight termination in manual mode if assist switch is on POSCTL position */
+		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) {
 			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
 				tune_positive(armed.armed);
 			}
@@ -1593,25 +1593,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 		break;
 
 	case SWITCH_POS_MIDDLE:		// ASSIST
-		if (sp_man->posctrl_switch == SWITCH_POS_ON) {
-			res = main_state_transition(status, MAIN_STATE_POSCTRL);
+		if (sp_man->posctl_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status, MAIN_STATE_POSCTL);
 
 			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
 			}
 
-			// else fallback to ALTCTRL
-			print_reject_mode(status, "POSCTRL");
+			// else fallback to ALTCTL
+			print_reject_mode(status, "POSCTL");
 		}
 
-		res = main_state_transition(status, MAIN_STATE_ALTCTRL);
+		res = main_state_transition(status, MAIN_STATE_ALTCTL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this mode
 		}
 
-		if (sp_man->posctrl_switch != SWITCH_POS_ON) {
-			print_reject_mode(status, "ALTCTRL");
+		if (sp_man->posctl_switch != SWITCH_POS_ON) {
+			print_reject_mode(status, "ALTCTL");
 		}
 
 		// else fallback to MANUAL
@@ -1626,9 +1626,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
 			break;	// changed successfully or already in this state
 		}
 
-		// else fallback to ALTCTRL (POSCTRL likely will not work too)
+		// else fallback to ALTCTL (POSCTL likely will not work too)
 		print_reject_mode(status, "AUTO");
-		res = main_state_transition(status, MAIN_STATE_ALTCTRL);
+		res = main_state_transition(status, MAIN_STATE_ALTCTL);
 
 		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this state
@@ -1674,7 +1674,7 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_ALTCTRL:
+		case MAIN_STATE_ALTCTL:
 			control_mode.flag_control_manual_enabled = true;
 			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;
@@ -1685,7 +1685,7 @@ set_control_mode()
 			control_mode.flag_control_velocity_enabled = false;
 			break;
 
-		case MAIN_STATE_POSCTRL:
+		case MAIN_STATE_POSCTL:
 			control_mode.flag_control_manual_enabled = true;
 			control_mode.flag_control_auto_enabled = false;
 			control_mode.flag_control_rates_enabled = true;

src/modules/commander/commander_tests/state_machine_helper_test.cpp

@@ -320,15 +320,15 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
 	// MANUAL to ALTCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = true;
-	new_main_state = MAIN_STATE_ALTCTRL;
+	new_main_state = MAIN_STATE_ALTCTL;
 	ut_assert("tranisition: manual to altctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state);
+	ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state);
 
 	// MANUAL to ALTCTRL, invalid local altitude.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_altitude_valid = false;
-	new_main_state = MAIN_STATE_ALTCTRL;
+	new_main_state = MAIN_STATE_ALTCTL;
 	ut_assert("no transition: invalid local altitude",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
@@ -336,15 +336,15 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
 	// MANUAL to POSCTRL.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = true;
-	new_main_state = MAIN_STATE_POSCTRL;
+	new_main_state = MAIN_STATE_POSCTL;
 	ut_assert("transition: manual to posctrl",
 		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state);
+	ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state);
 
 	// MANUAL to POSCTRL, invalid local position.
 	current_state.main_state = MAIN_STATE_MANUAL;
 	current_state.condition_local_position_valid = false;
-	new_main_state = MAIN_STATE_POSCTRL;
+	new_main_state = MAIN_STATE_POSCTL;
 	ut_assert("no transition: invalid position",
 		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
 	ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);

src/modules/commander/px4_custom_mode.h

@@ -12,8 +12,8 @@
 
 enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
-	PX4_CUSTOM_MAIN_MODE_ALTCTRL,
-	PX4_CUSTOM_MAIN_MODE_POSCTRL,
+	PX4_CUSTOM_MAIN_MODE_ALTCTL,
+	PX4_CUSTOM_MAIN_MODE_POSCTL,
 	PX4_CUSTOM_MAIN_MODE_AUTO,
 };
 

src/modules/commander/state_machine_helper.cpp

@@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 		ret = TRANSITION_CHANGED;
 		break;
 
-	case MAIN_STATE_ALTCTRL:
+	case MAIN_STATE_ALTCTL:
 
 		/* need at minimum altitude estimate */
 		if (!status->is_rotary_wing ||
@@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 
 		break;
 
-	case MAIN_STATE_POSCTRL:
+	case MAIN_STATE_POSCTL:
 
 		/* need at minimum local position estimate */
 		if (status->condition_local_position_valid ||

src/modules/fixedwing_backside/fixedwing.cpp

@@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[CH_RDR] = _manual.yaw;
 		_actuators.control[CH_THR] = _manual.throttle;
 
-	} else if (_status.main_state == MAIN_STATE_ALTCTRL ||
-		_status.main_state == MAIN_STATE_POSCTRL /* TODO, implement pos control */) {
+	} else if (_status.main_state == MAIN_STATE_ALTCTL ||
+		_status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) {
 
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between

src/modules/mavlink/mavlink_messages.cpp

@@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
 
-		} else if (status->main_state == MAIN_STATE_ALTCTRL) {
+		} else if (status->main_state == MAIN_STATE_ALTCTL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTRL;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
 
-		} else if (status->main_state == MAIN_STATE_POSCTRL) {
+		} else if (status->main_state == MAIN_STATE_POSCTL) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTRL;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
 
 		} else if (status->main_state == MAIN_STATE_AUTO) {
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;

src/modules/segway/BlockSegwayController.cpp

@@ -35,8 +35,8 @@ void BlockSegwayController::update() {
 
 	// handle autopilot modes
 	if (_status.main_state == MAIN_STATE_AUTO ||
-	    _status.main_state == MAIN_STATE_ALTCTRL ||
-	    _status.main_state == MAIN_STATE_POSCTRL) {
+	    _status.main_state == MAIN_STATE_ALTCTL ||
+	    _status.main_state == MAIN_STATE_POSCTL) {
 		_actuators.control[0] = spdCmd;
 		_actuators.control[1] = spdCmd;
 

src/modules/uORB/topics/manual_control_setpoint.h

@@ -77,8 +77,8 @@ struct manual_control_setpoint_s {
 	float aux5;				/**< default function: payload drop */
 
 	switch_pos_t mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
-	switch_pos_t return_switch;			/**< rturn to launch 2 position switch (mandatory): no effect, return */
-	switch_pos_t posctrl_switch;			/**< posctrl 2 position switch (optional): altctrl, posctrl */
+	switch_pos_t return_switch;			/**< rturn to launch 2 position switch (mandatory): normal, return */
+	switch_pos_t posctl_switch;			/**< posctrl 2 position switch (optional): altctl, posctl */
 	switch_pos_t loiter_switch;		/**< mission 2 position switch (optional): mission, loiter */
 }; /**< manual control inputs */
 

src/modules/uORB/topics/vehicle_status.h

@@ -63,8 +63,8 @@
 /* main state machine */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_ALTCTRL,
-	MAIN_STATE_POSCTRL,
+	MAIN_STATE_ALTCTL,
+	MAIN_STATE_POSCTL,
 	MAIN_STATE_AUTO,
 	MAIN_STATE_MAX
 } main_state_t;