navigator: renamed the different RTL states

src/modules/commander/commander.cpp

@@ -1300,7 +1300,7 @@ int commander_thread_main(int argc, char *argv[])
 
 					/* if we have a global position, we can switch to RTL, if not, we can try to land */
 					if (status.condition_global_position_valid) {
-						status.failsafe_state = FAILSAFE_STATE_RTL_RC;
+						status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
 					} else {
 						status.failsafe_state = FAILSAFE_STATE_LAND;
 					}
@@ -1313,10 +1313,10 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
 		if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
-		    mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RTL_RC) {
+		    mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) {
 			/* if we have a global position, we can switch to RTL, if not, we can try to land */
 			if (status.condition_global_position_valid) {
-				status.failsafe_state = FAILSAFE_STATE_RTL_RC;
+				status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
 				mavlink_log_info(mavlink_fd, "#audio: RTL after Mission is finished");
 			} else {
 				/* this probably doesn't make sense since we are in mission and have global position */
@@ -1719,8 +1719,8 @@ set_control_mode()
 	case NAVIGATION_STATE_AUTO_MISSION:
 	case NAVIGATION_STATE_AUTO_LOITER:
 	case NAVIGATION_STATE_AUTO_RTL:
-	case NAVIGATION_STATE_AUTO_RTL_RC:
-	case NAVIGATION_STATE_AUTO_RTL_DL:
+	case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
+	case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = true;
 		control_mode.flag_control_rates_enabled = true;

src/modules/commander/state_machine_helper.cpp

@@ -406,12 +406,12 @@ void set_nav_state(struct vehicle_status_s *status)
 		}
 		break;
 
-	case FAILSAFE_STATE_RTL_RC:
-		status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_RC;
+	case FAILSAFE_STATE_RC_LOSS:
+		status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS;
 		break;
 
-	case FAILSAFE_STATE_RTL_DL:
-		status->set_nav_state = NAVIGATION_STATE_AUTO_RTL_DL;
+	case FAILSAFE_STATE_DL_LOSS:
+		status->set_nav_state = NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS;
 		break;
 
 	case FAILSAFE_STATE_LAND:

src/modules/mavlink/mavlink_messages.cpp

@@ -161,8 +161,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			break;
 
 		case NAVIGATION_STATE_AUTO_RTL:
-		case NAVIGATION_STATE_AUTO_RTL_RC:
-		case NAVIGATION_STATE_AUTO_RTL_DL:
+		case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
+		case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;

src/modules/navigator/navigator_main.cpp

@@ -351,8 +351,8 @@ Navigator::task_main()
 				_navigation_mode = &_loiter;
 				break;
 			case NAVIGATION_STATE_AUTO_RTL:
-			case NAVIGATION_STATE_AUTO_RTL_RC:
-			case NAVIGATION_STATE_AUTO_RTL_DL:
+			case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
+			case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 				_navigation_mode = &_rtl;
 				break;
 			case NAVIGATION_STATE_LAND:

src/modules/uORB/topics/vehicle_status.h

@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (C) 2012 - 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
@@ -45,6 +41,11 @@
  * All apps should write to subsystem_info:
  *
  *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef VEHICLE_STATUS_H_
@@ -90,25 +91,25 @@ typedef enum {
 
 typedef enum {
 	FAILSAFE_STATE_NORMAL = 0,		/**< Normal operation */
-	FAILSAFE_STATE_RTL_RC,			/**< Return To Launch on remote control loss */
-	FAILSAFE_STATE_RTL_DL,			/**< Return To Launch on datalink loss */
+	FAILSAFE_STATE_RC_LOSS,			/**< Return To Launch on remote control loss */
+	FAILSAFE_STATE_DL_LOSS,			/**< Return To Launch on datalink loss */
 	FAILSAFE_STATE_LAND,			/**< Land as safe as possible */
 	FAILSAFE_STATE_TERMINATION,		/**< Disable motors and use parachute, can't be recovered */
 	FAILSAFE_STATE_MAX,
 } failsafe_state_t;
 
 typedef enum {
-	NAVIGATION_STATE_MANUAL = 0,
-	NAVIGATION_STATE_ACRO,
-	NAVIGATION_STATE_ALTCTL,
-	NAVIGATION_STATE_POSCTL,
-	NAVIGATION_STATE_AUTO_MISSION,
-	NAVIGATION_STATE_AUTO_LOITER,
-	NAVIGATION_STATE_AUTO_RTL,
-	NAVIGATION_STATE_AUTO_RTL_RC,
-	NAVIGATION_STATE_AUTO_RTL_DL,
-	NAVIGATION_STATE_LAND,
-	NAVIGATION_STATE_TERMINATION,
+	NAVIGATION_STATE_MANUAL = 0,		/**< Manual mode */
+	NAVIGATION_STATE_ACRO,			/**< Acro mode */
+	NAVIGATION_STATE_ALTCTL,		/**< Altitude control mode */
+	NAVIGATION_STATE_POSCTL,		/**< Position control mode */
+	NAVIGATION_STATE_AUTO_MISSION,		/**< Auto mission mode */
+	NAVIGATION_STATE_AUTO_LOITER,		/**< Auto loiter mode */
+	NAVIGATION_STATE_AUTO_RTL,		/**< Auto RTL mode */
+	NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS,	/**< Auto failsafe on RC loss mode */
+	NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS,	/**< Auto failsafe on datalink loss mode */
+	NAVIGATION_STATE_LAND,			/**< Land mode */
+	NAVIGATION_STATE_TERMINATION,		/**< Termination mode */
 } navigation_state_t;
 
 enum VEHICLE_MODE_FLAG {