generic position controller status/feedback message

msg/CMakeLists.txt

@@ -58,7 +58,6 @@ set(msg_files
 	esc_status.msg
 	estimator_status.msg
 	follow_target.msg
-	fw_pos_ctrl_status.msg
 	geofence_result.msg
 	gps_dump.msg
 	gps_inject_data.msg
@@ -81,6 +80,8 @@ set(msg_files
 	optical_flow.msg
 	parameter_update.msg
 	ping.msg
+	position_controller_landing_status.msg
+	position_controller_status.msg
 	position_setpoint.msg
 	position_setpoint_triplet.msg
 	power_button_state.msg

msg/fw_pos_ctrl_status.msg

@@ -1,14 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-float32 nav_roll
-float32 nav_pitch
-float32 nav_bearing
-
-float32 target_bearing
-float32 wp_dist
-float32 xtrack_error
-float32 turn_distance		# the optimal distance to a waypoint to switch to the next
-
-float32 landing_horizontal_slope_displacement
-float32 landing_slope_angle_rad
-float32 landing_flare_length
-bool abort_landing

msg/position_controller_landing_status.msg

@@ -0,0 +1,9 @@
+uint64 timestamp		# time since system start (microseconds)
+
+float32 horizontal_slope_displacement
+
+float32 slope_angle_rad
+
+float32 flare_length
+
+bool abort_landing				# true if landing should be aborted

msg/position_controller_status.msg

@@ -0,0 +1,14 @@
+uint64 timestamp		# time since system start (microseconds)
+
+float32 nav_roll
+float32 nav_pitch
+float32 nav_bearing
+
+float32 target_bearing
+float32 xtrack_error
+
+float32 wp_dist
+
+float32 acceptance_radius		# the optimal distance to a waypoint to switch to the next
+
+float32 yaw_acceptance			# NaN if not set